Sorting device and product sorting method

Abstract

The present invention relates to a sorting apparatus and a method for sorting products, the sorting apparatus comprising a conveyor having a number of sorting units each capable of supporting a product, the number of sorting units being designed to move the products laterally from the sorting units to a sorting position, with a joint between two sorting units, a control system and a removal device arranged along the conveying path for removing products on the joint from the conveyor at a removal position, the removal device being arranged inside a bend in the conveying path and the removal position being provided outside the bend.

Description

[Technical field]

[0001] The present invention relates to a sorting device and a method for sorting products. [Background technology]

[0002] WO2020128917 A1 relates to a sorting device having a removal device for removing products that are positioned in an incorrect way on a transverse conveyor-type sorting device.

[0003] EP 3566982 A1 relates to a sorting apparatus for sorting products, which comprises a conveyor movable in a conveying direction along a conveying track and equipped with sorting units for conveying the products thereon. The sorting apparatus has a removal device capable of removing selected products laterally from the conveyor. The removal device comprises a support element movable longitudinally parallel to the conveying track on guide means extending parallel along the conveyor, and a pushing element carried by the support element and laterally movable to remove the products from the conveyor. Summary of the Invention

[0004] A disadvantage of the known sorting device is that its removal device occupies a relatively large amount of space and its efficiency cannot be improved.

[0005] It is an object of the present invention to provide a sorting machine with an improved removal device.It is a further object of the present invention to provide a sorting machine with a more efficient removal device.It is a further object of the present invention to provide a sorting machine with a removal device which has reduced space requirements.

[0006] One or more of the above objects are achieved by a sorting apparatus according to a first aspect of the invention for sorting products, the sorting apparatus comprising a conveyor having a plurality of sorting units and a transport device for transporting the sorting units along an endless transport path. Each sorting unit has a support surface for supporting the products to be sorted and is adapted to laterally displace the products from the support surface of the sorting unit at a desired sorting position of the plurality of sorting positions. The plurality of sorting units comprises successive sorting units with a link between them. The sorting apparatus further comprises a control system adapted to issue control signals to the sorting units to displace the products supplied to the sorting units for sorting from the support surface of each sorting unit at a desired sorting position of the plurality of sorting positions. The sorting apparatus further comprises a removal device arranged along the transport path, the control system being further designed to issue control signals to the removal device such that operation of the removal device removes the products on the link from the conveyor at the removal position. The removal device is arranged inside a bend in the transport path, the removal position being provided outside the bend.

[0007] The advantage of the sorting device according to the invention is that the space required by the removal device is significantly reduced due to the arrangement of the removal device inside the bend of the conveying path. The bend is usually a part of the sorting device where no feed or discharge locations are provided. The advantage of removing products from the conveyor at the bend in a direction towards the outside of the bend where the removal location is located is that less force is required for the removal operation. When passing through the bend at a certain speed, there is already in any case an outward centrifugal force acting on the products, as a result of which less additional force is required from the removal device to remove the products from the connection between two successive sorting units. Thus, according to the invention, a more efficient removal device is provided.

[0008] In the context of this specification and the claims, the term "sorting position" is understood to mean a position where products are removed from a sorting unit for further transport in the sorting system, i.e. where they are sorted. For example, products with the same destination can be sorted in one sorting position. The sorting positions may be located on both sides along the transport path.

[0009] In the context of this description and the claims, the term "removal position" is understood to mean a position where a product on a connection, i.e. a product that is at least partially over the connection, i.e. a product that is at least partially supported by the connection, is removed from the connection. The reason for this may be that the product cannot be sorted in a reliable or sufficiently reliable manner, since at least a part of it is not located on the support surface of the sorting unit. Products removed in such a way may, for example, then be fed again to the sorting unit in an automated or non-automated manner and then sorted at the sorting position.

[0010] The conveying path is conventionally composed of straight path sections connected by bends. In one embodiment, the removal device is arranged inside a bend in the range of 50 to 230 degrees, preferably inside a bend in the range of 70 to 110 degrees, more preferably inside a 90 degree, i.e. right-angled bend. A 90 degree bend means that the direction of the conveying path immediately after the bend forms an angle of 90 degrees with the direction of the conveying path immediately before the bend. In this case, it is conceivable that the sorting device has two such removal devices, each arranged inside a 90 degree bend, which bend directly into each other and thus form a bend of 180 degrees in total. Bends in the range described provide the removal device with a considerable length of the conveying path accessible by the removal device.

[0011] In one embodiment, the removal device comprises a base part which is stationary arranged adjacent to the conveying path, and a pivot arm which is rotatably connected to the base part about a rotation axis and which has a removal member at its free end. In one embodiment, the removal device comprises a rotation device for rotating the pivot arm about the rotation axis, and the removal device is configured to move the pivot arm together with the product to be removed located on the connection part during the rotation movement of the pivot arm during operation. Here, the term "moving together" means that the pivot arm moves together with the product to be removed in the conveying direction determined by the conveying path. In such an embodiment with a pivot arm, a curved part within the described range is advantageous, since the pivot arm has enough time to move together with the product, so that during operation, the product can be removed from the connection part while passing through a more upstream part of the curved part and then passing through a more downstream part of the curved part. Providing a pivot arm with a rotatable removal member on it inside the curved part also contributes to reducing space requirements, since the base part which forms the support for the pivot arm is fixedly provided and can be designed compactly. This is in contrast to the device according to EP 3566982 A1, in which longitudinal guide means must be provided for a significant length along the path along which the support elements travel.

[0012] In one embodiment, the removal member is movable between a stored state and an extended state, and the removal device is configured such that the removal member moves toward the outside of the curve during movement from the stored state to the extended state, thereby enabling the product to be removed from the connection in an effective manner.

[0013] In one embodiment, the pivot arm is length adjustable and the removal device has an adjustment device for moving the removal member between the retracted and extended states by adjusting the length of the pivot arm. Adjusting the length of the pivot arm is a simple and effective way of moving the removal member between the retracted and extended states. In this case, in one embodiment, the length adjustable pivot arm may comprise at least two arm portions movable parallel to each other and connected to each other. This is a simple way of providing the length adjustment function of the pivot arm.

[0014] In this case, in one embodiment, the adjustment device may comprise a drive, preferably a belt drive, a rack and pinion drive, a linear motor and / or a spindle drive, more preferably a belt drive, for moving the second arm part with the free end of the pivot arm on which the removal member is provided, relative to the first arm part between the retracted state and the extended state. In this case, it is conceivable that the second arm part is composed of a plurality of arm parts, such as two second arm parts, movable parallel to each other and connected to each other, so that the pivot arm comprises a total of three arm parts. Such mutual movement of at least two, preferably two, arm parts, preferably by belt drive, is cost-effective, effective and sufficiently accurate.

[0015] In one embodiment, in which the adjustment device comprises a belt drive, the belt drive motor is fixedly fixed to the base, and the removal device has a belt pulley rotatable about an axis of rotation and around which both the first belt and the second belt are wound, the first belt also wound around a belt pulley provided on the motor shaft of the belt drive motor, and the second belt also wound around a belt pulley provided on the end of the first arm part facing away from the base part, to which the second arm part is coupled for movement relative to the first arm part. The fact that the belt drive motor is fixed to the base part keeps the rotatable mass low, so that the rotational movement of the pivot arm can be performed in a simpler way and with a lighter drive. Moreover, the use of the belt pulleys functionally decouples the first and second belts from the rotational movement.

[0016] In one embodiment, the removal device comprises a removal member having a pusher head for exerting a force on the product, directed substantially transversely to the conveying path, by contact with the product, and / or a blower arrangement for exerting a force on the product, directed substantially transversely to the conveying path, by an air flow directed towards the product, in order to remove the product from the joint. Removal of the product from the joint by pushing and / or blowing is particularly effective. For example, in the case of small, deformable and thin products, a blower arrangement can be used, while in the case of other products, both a blower arrangement and a pusher head, or even only a pusher head, can be used.

[0017] In one embodiment, the dimension of the pusher head transverse to the extension of the pivot arm, i.e. the width of the pusher head, is at least equal to the average dimension of the joint between two successive sorting units, as seen in the conveying direction, and preferably is approximately equal or equal to the maximum dimension of the joint, as seen in the conveying direction. Such average dimension is the average of the minimum and maximum dimensions when the sorting units pass through the bend in which the removal device is arranged. Such maximum dimension is the maximum dimension when the sorting units pass through the bend. The term "approximately equal" is understood to mean "at least 90%". The effect is that products located on the joint can be removed from the joint with high reliability.

[0018] In one embodiment, the blowing device has a plurality of blowing outlets, and preferably the blowing direction and / or blowing speed of each of the blowing outlets can be adjusted separately. The airflow generated by the blowing device can be, for example, a constant airflow or a pulsed airflow. In one embodiment, it is also possible to generate a turbulent or laminar airflow.

[0019] In order to reliably press the product from the connecting portion, the pusher head has a concave shape for applying a force to the product by contact between the concave pusher head and the product. In this case, it is preferable that the concave pusher head is provided with an air blowing device.

[0020] In one embodiment, for the purpose of laterally displacing the products from the support surface of the sorting unit at a desired sorting position among the multiple sorting positions, each sorting unit has a conveyor belt, the upper surface of which forms the support surface, which conveyor belt can be driven transversely, i.e. laterally, to the conveying direction determined by the conveying path under the influence of control signals from the control system. Such a sorting device is also called a cross belt sorter. With such a cross belt, the sorting process can be carried out in a very efficient manner. Furthermore, in the context of the present invention, it is also conceivable that several products are located on one sorting unit. In that case, the laterally drivable conveyor belt can be driven in such a way that, for example, only one of the products is sorted at the first sorting position and the second or further products are sorted at the second sorting position.

[0021] It is also preferred that the curved section has a contour in the form of an arc of a circle centered on a central point, and that the axis of rotation is a vertical axis of rotation running through the central point, in other words the axis of rotation is perpendicular to the plane determined by the conveying path at the bend, i.e. the axis of rotation is perpendicular to the support surface of the sorting unit as it passes through the bend. By making the axis of rotation coincident with the central point of the bend in this way, the radial distance of the axis of rotation relative to the conveyor at the bend is constant, which facilitates the control of the removal device with respect to the relative position of the removal element relative to the conveyor or the products located thereon.

[0022] In one embodiment, the control system may comprise a control module for issuing said control signals to the sorting unit and a further control module for issuing control signals to the removal device, the further control module being operably connected to the control module.

[0023] In one embodiment, for the purpose of issuing control signals to the removal device, the control system has a detection device, preferably a visual detection device, such as a camera system (vision system), at least upstream of the removal device, for detecting the products on the connection. In one embodiment, the detection device is designed to also detect the lateral position of the products on the connection. On this basis, the products can be removed from the connection in a highly controlled manner using the removal device. When using a pusher head, the lateral position of the pusher head at which it comes into contact with the products is known and it is possible, for example, to match the speed of movement of the pusher head to the extended state thereto.

[0024] In one embodiment, the removal device is designed to remain free from the conveyor during each possible pivotal movement of the pivot arm and each possible movement of the removal member between the retracted and extended state, preferably moving along directly above the conveyor at intervals ranging for example from a few millimeters to a few centimeters, preferably ranging from 5 to 50 millimeters, more preferably ranging from 15 to 40 millimeters. In one embodiment, said intervals are between 5 mm and 15 mm, for example about 10 mm. This makes it possible to prevent damage to the conveyor to a particularly large extent, for example in the event of a malfunction of the removal device control.

[0025] In one embodiment, the removal device comprises a removal member and a manipulator for displacing the removal member at least in height between a lower operating position and a higher offset position, which allows the removal member to be temporarily displaced upwards, for example, in the event of a jam or impending jamming of products under the removal member, i.e. between the conveyor and the removal member. Jamming can occur unintentionally, for example, when flat products or products with flat sides end up partially under the removal member due to the fact that they are not displaced by the blowing device or are not displaced as intended.

[0026] In this case, it is preferred that the removal member is connected to the free end of the pivot arm via a manipulator, which is configured to displace the removal member at least in height relative to the pivot arm between a lower operating position and a higher offset position, whereby the removal member can be displaced in an effective and simple manner and the weight to be displaced can be kept small.

[0027] In one embodiment, the removal device comprises a sensor for detecting a jam of products under the removal member in the operating position, preferably the sensor is configured to detect a parameter related to a force having an upward vertical component exerted on the removal member by products present on the conveyor in the operating position. Such a sensor can be used to detect a jam or an imminent jam in an effective manner.

[0028] In one embodiment where the manipulator is configured to displace the removal member at least vertically relative to the pivot arm, the sensor is configured to detect the upward movement of the removal member relative to the pivot arm, which is a simple and reliable way to detect a (impending) jam.

[0029] In one embodiment, the manipulator comprises a parallelogram rod mechanism, which is a robust and structurally simple way to perform the displacement.

[0030] In one embodiment, the manipulator comprises an actuator for displacing the removal member in height. In one embodiment, where the manipulator is configured to displace the removal member at least in height relative to the pivot arm, the actuator preferably operates between the pivot arm and the removal member.

[0031] The actuator preferably comprises a pneumatic cylinder, preferably a double-acting pneumatic cylinder, which is a relatively light solution and contributes to a precise and fast operation of the removal device.

[0032] In this case, the sensor preferably detects the displacement of a piston relative to the cylinder of the pneumatic cylinder.

[0033] In one embodiment of the sorting machine, in which the adjustment device comprises the above-mentioned drive device for moving the second arm part relative to the first arm part, it is preferred that the adjustment device comprises a belt drive device, the belt drive motor being fixedly fixed to the first arm part and the second arm part being coupled to a belt of the belt drive device, said belt being drivable by the belt drive motor for movement relative to the first arm part. In this way, the second arm part can be moved in a simple and reliable manner.

[0034] According to a second aspect, the present invention relates to a method for using a sorting device as described above according to the first aspect of the invention or a method for using a sorting device as described below according to the fourth aspect of the invention, the method comprising: a. feeding products to be sorted to a sorting unit of a plurality of sorting units while transporting the sorting unit along an infinite transport path; b. issuing control signals to the sorting units by the control system to move the products from their support surfaces at desired sorting positions of the plurality of sorting positions for the purpose of sorting the products; and c. issuing a control signal to a removal device by the control system to remove the products on the junction between two successive sorting units from the conveyor at a removal position using the removal device.

[0035] In one embodiment of the method, the latter comprises, for the purposes of step c., moving the pivot arm with the product to be removed located on the linkage during the rotational movement of the pivot arm.

[0036] In an embodiment of the method for using an embodiment of the sorting device according to the invention, in which each sorting unit has a conveyor belt, the method comprises, during step c., driving also the conveyor belt to which the support surface belongs during a removal operation performed using the removal device, with the aim of removing from the conveyor a product located on the joint such that the product is partially located on the joint and partially located on the support surface, said operation of also driving said conveyor belt contributing to said removal operation.

[0037] The embodiments described above in the context of the description of the sorting apparatus according to the invention are also applicable to the method according to the invention and vice versa. The advantages of the sorting apparatus according to the invention are likewise relevant for the method according to the invention.

[0038] According to a third aspect, the present invention relates to a removal device for use in a sorting apparatus according to the first aspect of the invention, in use the removal device being arranged inside the bend in the conveying path and a removal position being provided outside the bend and configured to remove products on the link from the conveyor at the removal position based on control signals of a control system of the sorting apparatus, wherein the removal device also comprises a manipulator as described above for displacing the removal member at least in height between a lower operating position and a higher offset position.

[0039] The embodiment of the removal device comprising a manipulator is also advantageously applied to sorting devices in which the removal device is not arranged inside a bend in the conveying path, but for example along a straight portion of the conveying path. In that sense, it is an object to provide an improved removal device. A further object of the invention is to provide a removal device with improved reliability. One or more of the objects immediately above are achieved by a sorting device according to a fourth aspect of the invention, which relates to a sorting device for sorting products, comprising a conveyor having a plurality of sorting units and a transport device for transporting the sorting units along an endless conveying path, each sorting unit having a support surface for supporting the products to be sorted and designed to laterally displace the products from the support surface of the sorting unit at a desired one of a plurality of sorting positions, the plurality of sorting units comprising successive sorting units with connections between them, the sorting device being arranged to transport the products along an endless conveying path, the plurality of sorting units being successively arranged ... The sorting apparatus further comprises a control system designed to issue control signals to the sorting units to move the products supplied to the sorting units from the support surfaces of the respective sorting units at a desired sorting position among the multiple sorting positions, the sorting apparatus further comprises a removal device arranged along the conveying path, the control system designed to issue control signals to the removal device to remove the products on the connection portion from the conveyor at the removal position by operation of the removal device, the removal device having a removal member and a manipulator for displacing the removal member at least in the height direction between a lower operating position and a higher biased position.

[0040] An advantage of the sorting device according to the fourth aspect of the invention is that by using such a manipulator, it is possible to temporarily displace the removal member upwards, for example in case of a jamming or impending jamming of a product under the removal member, i.e. between the conveyor and the removal member. Jamming can occur unintentionally, for example when a flat product or a product with a flat side ends up partially under the removal member due to the fact that it is not displaced by the blowing device or is not displaced as intended. Due to the fact that such jamming or impending jamming can be prevented or released by the sorting device according to the fourth aspect of the invention, the reliability of the sorting device is increased. Furthermore, the possibility of any damage occurring as a result of a jamming is significantly reduced. Thus, according to the fourth aspect of the invention, an improved sorting device is provided. In one embodiment of the sorting device according to the fourth aspect of the invention, the removal device is arranged inside the bend of the conveying path and the removal position is provided outside the bend. The advantages of arranging the removal device at the bend in such a way have already been explained above in the context of the first aspect of the invention and are also applicable by analogy to this embodiment of the fourth aspect of the invention.

[0041] In its embodiments, the sorting apparatus according to the fourth aspect of the invention also comprises one or more of the means of claims 2 to 23.

[0042] According to a fifth aspect, the present invention relates to a removal device for use in a sorting apparatus according to the fourth aspect of the invention, in use the removal device being arranged along the conveying path and configured to remove products on the connections from the conveyor at a removal position based on control signals of a control system of the sorting apparatus. Advantages of the removal device according to the fifth aspect are similar to the above-mentioned advantages of the sorting apparatus according to the fourth aspect of the invention.

[0043] In one embodiment of the removal device according to the fifth aspect of the invention, in use, the removal device is arranged on the inside of a bend in the transport path and the removal position is provided on the outside of the bend.

[0044] In that embodiment, the removal device according to the fifth aspect of the invention comprises one or more of the means of claims 3 to 12 or 14 to 22. [Brief description of the drawings]

[0045] The invention will now be explained by way of a description of preferred embodiments of the sorting device and method according to the invention and of the removal device, with reference to the following schematic drawings: [Figure 1] FIG. 1 shows in 3D representation a part of a preferred embodiment of a sorting device according to the invention. [Diagram 2] FIG. 2 is a highly schematic top view of a portion of a sorting apparatus according to the invention. [Diagram 3] FIG. 3 shows another 3D representation of the sorting device according to FIG. 1, with some components omitted. [Figure 4] FIG. 4 shows the sorting device according to FIG. 3 in another operating state. [Diagram 5] FIG. 5 shows a 3D representation of the removal device of the sorting device according to FIG. [Figure 6] FIG. 6 shows a detail of the removal device according to FIG. 5 in another operating state. [Figure 7] FIG. 7 shows another detail of the removal device according to FIG. [Figure 8] FIG. 8 is a 3D representation of a further preferred embodiment of a removal device according to the invention, for use in a sorting device according to the invention. [Figure 9a] FIG. 9a shows a detail of the removal device according to FIG. [Figure 9b] FIG. 9b shows a detail from FIG. 9a in another operating state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0046] FIG. 1 shows a sorting apparatus 1 for sorting products 2, or at least part of such a sorting apparatus. The sorting apparatus 1 has a conveyor 4 with a number of sorting units 6 and a transport device 8 for transporting the sorting units 6 along an endless transport path 10. For this purpose, at least in the illustrated example, the transport device 8 has a rail-like guide 12 which determines the contour of the transport path 10. A part of the transport path and therefore a part of the rail-like guide is shown in FIG. 1. Also shown are four sorting units. Such a sorting apparatus typically has several hundred such sorting units.

[0047] The sorting units 6 mounted on the transport units 14 of the transport device 8 are transported on the guides 12. Such a transport unit 14 has a frame 15 supporting one or more sorting units 6 and transport members such as wheels 17 for transporting on the guides 12. For illustrative purposes only, a transport unit 14 without a sorting unit 6 thereon is also shown in FIG. 1. The transport units 14 may be provided with a separate drive or may be driven externally. In this way, the combination of transport units 14 with one or more sorting units 6 thereon forms an endless train running along the transport path 10.

[0048] Each of the sorting units 6 has a support surface 16 for supporting the products 2 to be sorted and is designed to move the products 2 laterally, i.e. in a transverse direction 20 perpendicular to the conveying direction 22 determined by the contour of the conveying path 10, away from the support surface 16 of the sorting unit 6 in question at a desired sorting position 18 of a number of sorting positions. Such a sorting position 18 is only shown in very schematic form in FIG. 2 and usually comprises a discharge conveyor or, for example, a chute and can be present on both sides of the conveyor, as also shown in FIG. 2. For the purpose of moving the products 2 away from the support surface 16 of the sorting unit 6 in question, the sorting unit 6 has a conveyor belt 24, more particularly a transverse conveyor belt, the upper surface of which forms the support surface 16 and which can be driven in the transverse direction, i.e. in the transverse direction, of the sorting unit under the influence of control signals of a control system to be described later. Such a transverse conveyor belt can be used to sort the products on both sides of the conveyor by driving the transverse conveyor belt in a first direction or in an opposite second direction. A sorting machine having such conveyor belts operating laterally is commonly referred to as a crossbelt sorter.

[0049] The plurality of sorting units comprises successive sorting units 6 between which there is a coupling 26. As shown in FIG. 2, said coupling may be between every two successive sorting units 6. However, in the context of the present invention, it is also possible to provide more sorting units between two successive couplings. For example, a coupling can be provided for each set between two successive sets of sorting units. In this case, it is also conceivable to provide a set of sorting units jointly on a single transport unit. Couplings are known per se and serve to prevent products from being pinched between two sorting units or from falling through the conveyor between the two sorting units. The couplings can be formed, for example, as flexible bellows or, for example, as plate-like parts sliding against each other (schematically shown in the figures). In this way, the couplings cover the space between the sorting units even when bends in the transport path are traversed as shown.

[0050] The sorting apparatus 1 further comprises a control system, indicated very diagrammatically in FIG. 1 by reference numeral 30, which is adapted to issue control signals to the sorting units 6 to move products 2 supplied to the sorting units for sorting away from the support surface 16 of the respective sorting unit at a desired sorting position 18 of the multiple sorting positions.

[0051] The sorting device 1 also comprises a removal device 32 arranged along the conveying path 10. The control system 30 is designed to issue control signals to the removal device 32 for removing the product 2 on the connection 26 from the conveyor 4 at a removal position 34 by activation of the removal device 32. In the following text, this is understood to mean both the case where the product is completely on the connection 26, such as the product 2 in FIG. 2, and the case where the product is partially on the connection 26, i.e. extends across the connection 26, such as the product 2' in FIG. 2. If the product is located on the connection such that it is partially on the connection and partially on the support surface, at least in this embodiment on the support surface formed by the transverse conveyor belt 24, it is possible in the context of the present invention that during a removal operation carried out with the removal device 32 for the purpose of removing the product 2' from the conveyor 4, the transverse conveyor belt 24 is also driven to contribute to said removal operation. In order to issue control signals to the removal device 32, the control system 30 comprises a detection device 36 for detecting products 2 on the junction 26 between two sorting units 6 of the conveyor 4, at least upstream of the removal device 32. Such a detection device may for example be an optical detection device, such as a camera system.

[0052] As shown, the removal device 32 is located on the inside 38 of the bend 40 of the conveying path 10. The removal location 34 is located on the outside 42 of the bend 40. As shown particularly in FIG. 2, the bend 40 is a bend of at least about 90 degrees (the direction of the conveying path 10 upstream of the bend on the right side of the plane of the drawing is approximately perpendicular to the direction of the conveying path 10 downstream of the bend on the left side of the plane of the drawing). The bend 40 has a contour in the form of an arc of a circle about a center point 76, and the axis of rotation 48 is a vertical axis of rotation extending through the center point 76 (see FIG. 5).

[0053] The removal device 32 comprises a base part 44, which is stationarily arranged next to the conveying path 10, and a pivot arm 46, which is connected to the base part 44 so as to be rotatable about a rotation axis 48 and has a removal member 52 at its free end 50. The removal device 32 comprises a rotation device 54 for rotating the pivot arm 46 about the rotation axis 48. In operation, the removal device 32 is configured to move the pivot arm 46 together with the products 2 to be removed, which are located on the connection part 26, during the rotational movement of the pivot arm 46. The rotation device 54 comprises an electric motor 58 connected via a toothed belt 60 to a belt pulley 62, which is fixedly attached to a rotation axis 64 centered on the rotation axis 48, to which the pivot arm 46 is also fixedly connected, and which is rotatable about the rotation axis 48 by the electric motor 58 via the toothed belt 60. In this case, the belt pulley 62 has a working diameter larger than the diameter of the belt pulley provided on the motor shaft of the electric motor 58 so as to increase the rotational torque acting on the pivot arm 46. After removing the product 2 from the conveyor with the removal member 52, the pivot arm 46 can rotate back, i.e. upstream with respect to the conveying direction 22, in order to remove the subsequent product from the connection 26, or the pivot arm can rotate further about the rotation axis 48.

[0054] The removal member 52 is movable between a stored state and an extended state. Compare in this respect Figures 3 and 5, which show a position close to the extended state, with Figures 4 and 6, which show the stored state. If the length of the pivot arm 46 is increased further than that shown in Figures 3 and 5, the (fully) extended state of the removal member 52 is reached, which ensures that the products are laterally removed from the connection 26. In this case, the removal device 32 is configured so that the removal member 52 moves towards the outside of the bend 40 during the movement from the stored state to the extended state and, in the removal position 34, removes the products 2 from the conveyor 4 towards the outside 42 of the bend. During the movement of the pivot arm 46 with the products 2 to be removed, the removal member 52 can be moved towards its extended state, while during the return rotation or further rotation after the products have been removed from the connection 26, the removal member can be moved back to the stored state again.

[0055] In order to allow the removal member 52 to be moved between the stored state and the extended state, the pivot arm 46 is length-adjustable, and the removal device 32 has an adjustment device 66 for adjusting the length of the pivot arm 46 to move the removal member 52 between the stored state and the extended state. The length-adjustable pivot arm 46 has two arm portions 46a and 46b that are movable parallel to each other and connected to each other, at least in this embodiment. The adjustment device 66 has belt drives 67, 68, 69 for moving the second arm portion 46b, which includes the free end 50 of the pivot arm 46 to which the removal member 52 is attached, relative to the first arm portion 46a connected to the base portion 44 so as to be rotatable about the rotation axis 48. An electric belt drive motor 69 of the belt drive device is fixedly fixed to the base portion 44, and the removal device 32 has a belt pulley 70 rotatable around a rotation shaft 48, around which are wound a first belt 67 also wound around a belt pulley 72 provided on a motor shaft 71 of the belt drive motor 69, and a second belt 68 also wound around a belt pulley 73 provided on an end 74 of the first arm portion 46a facing away from the base end, and the second arm portion 46b is connected to the second belt 68 via a connecting bracket 75 in this example so as to move relative to the first arm portion 46a. The belt pulley 70 has a first pulley portion around which the first belt 67 is wound, and a second pulley portion rotatably connected thereto and around which the second belt 68 is wound.

[0056] The removal member 52 of the removal device 32 has a pusher head 80 for exerting a force 86 directed substantially transversely to the conveying path on the product 2 by contact with the product 2, and a blower arrangement 82 for exerting a force 86 directed substantially transversely to the conveying path on the product 2 by an air flow 84 directed toward the product 2, in order to remove the product 2 from the sorting device 1. The pusher head 80 has a concave shape for exerting a force on the product 2 by contact between the concave pusher head 80 and the product 2. As shown in particular in Figures 5 and 6, the blower arrangement 82 is provided on the concave pusher head. Although not shown in detail, the blower arrangement is connected to an air source.

[0057] In an embodiment not shown, the dimension of the pusher head 52 transverse to the extension direction of the pivot arm 46, i.e. the width of the pusher head 52, may be at least approximately equal to the maximum dimension, as seen in the conveying direction 22, of the connection 26 between two successive sorting units 6. Such maximum dimension is relevant when the sorting units pass through the bend 40. For example, with reference to Figure 2, it can be seen that the width of the connection 26, i.e. the dimension in the conveying direction 22, is maximum on the outside of the bend 40 when it is passed through.

[0058] An embodiment of the method according to the invention is described below, by which products can be removed from the sorting units at the sorting position 18 while the sorting device 1 is in operation, and by which products 2, 2' that have unintentionally landed on the connection 26 between two sorting units 6 can also be removed therefrom.

[0059] During the transport of the sorting unit 6 along the endless transport path 10, products to be sorted are supplied to the sorting unit 6 of the plurality of sorting units.

[0060] The control system 30 issues control signals to the sorting units 6 to move the products from the support surfaces 16 of the respective sorting units 6 at a desired sorting location 18 of the plurality of sorting locations to sort the products.

[0061] If products 2, 2' end up on the connections 26, the control system 30 issues a control signal to a removal device 32 to remove such products 2, 2' from the sorting device 1 at a removal station 34 using the removal device 32.

[0062] To remove such products 2, 2', the removal device 32 is actuated by the control system 30 so that during the rotational movement of the pivot arm 46, the pivot arm 46 moves together with the products 2, 2' to be removed, which are located on the connection 26. The pivot arm is shown in an operating state, first rotated counterclockwise, so as to move together with the products 2 conveyed on the connection 26 in the indicated direction 22, see for example FIG. 2. Here, i.e. while rotating together, the removal member 52 is moved towards the extended state. FIG. 2 shows the state in which the removal member 52 is almost in contact with the products 2. If the removal member 52 is moved further towards the extended state, i.e. the length of the pivot arm 46 becomes further longer, the products 2 are either pushed from the connection 26, or, if only a blowing installation is used, blown from the connection 26, or pushed and blown at the same time.

[0063] The choice of pushing with a pusher head and / or blowing with a blowing device may depend on the type of product to be removed, as already explained above.

[0064] 8, 9a and 9b show a removal device 132 as a further preferred embodiment of a removal device for use in a sorting apparatus. Components of the removal device 132 which are similar to those of the removal device 32, e.g. having a corresponding function, are designated with corresponding reference numerals, incremented by 100 in each case. The removal device 132 can be used in the sorting apparatus 1 described above instead of the removal device 32. The removal device 132 can also be advantageously used in other sorting apparatuses in which the removal device 132 is not arranged in a bent section of the transport path, but for example along a straight section of the transport path.

[0065] In one embodiment, it is thus possible to arrange the removal device 132 inside the bend 40 along the conveying path 10 of the sorting apparatus 1 instead of the device 32. The above description regarding the removal device 32 and the way in which the latter operates in the sorting apparatus 1 therefore applies analogously to the removal device 132. The control system 30 is thus designed to issue a control signal to the removal device 132 in order that, by operation of the removal device 132, the product 2 on the connection 26 is removed from the conveyor 4 at the removal position 34. In order to issue a control signal to the removal device 132, the control system 30 has, at least upstream of the removal device 132, a detection device 36 for detecting the product 2 on the connection 26 between the two sorting units 6 of the conveyor 4.

[0066] The removal device 132 comprises a base part 144, which in use is stationary and located next to the conveying path 10, and a pivot arm 146 connected to the base part 144 so as to be rotatable about an axis of rotation 148 and having a removal member 152 at a free end 150. The removal device 132 comprises a rotation device 154 for rotating the pivot arm 146 about the axis of rotation 148. In operation, the removal device 132 is configured to move the pivot arm 146 together with the product 2 to be removed, which is located on the connection part 26, during the rotational movement of the pivot arm 146. The rotation device 154 comprises an electric motor 158 connected via a toothed belt 160 to a belt pulley 162 fixedly mounted on a rotation axis 164 centered on the axis of rotation 148, to which the pivot arm 146 is also fixedly connected, the pivot arm 146 being rotatable about the axis of rotation 148 by the electric motor 158 via the toothed belt 160. In this case, the belt pulley 162 has a working diameter larger than that of the belt pulley provided on the motor shaft of the electric motor 158 so as to increase the rotational torque acting on the pivot arm 146. After the product 2 has been removed from the conveyor using the removal member 152, the pivot arm 146 can either rotate back, i.e. upstream with respect to the conveying direction 22, in order to remove the subsequent product from the connection 26, or the pivot arm can rotate further and thus perform a complete rotation about the rotation axis 148. The removal device can comprise an end stop for the pivot arm, such as an upright profile on the frame 144 at the lower left in the plane of the drawing in FIG.

[0067] The removal member 152 is movable between the stored and extended states in a similar manner as shown for the removal device 32 in Figures 3 and 5, which show positions close to the extended state, and in Figures 4 and 6, which show the stored state. In this case, the removal device 132 is configured such that during the movement from the stored state to the extended state, the removal member 152 moves towards the outside of the bend 40, at least when the removal device 132 is arranged at the bend, in the removal position 34, so that the product 2 can be removed from the conveyor 4 towards the outside 42 of the bend. During the movement of the pivot arm 146 with the product 2 to be removed, the removal member 152 can be moved towards its extended state, while during said return rotation or further rotation, after the product has been removed from the connection 26, the removal member can be moved back again to the stored state.

[0068] In order to allow the removal member 152 to move between the stored state and the extended state, the pivot arm 146 is length-adjustable, and the removal device 132 has an adjustment device 166 for adjusting the length of the pivot arm 146 to move the removal member 152 between the stored state and the extended state. The length-adjustable pivot arm 146 has two arm portions 146a and 146b that are movable parallel to each other and connected to each other, at least in this embodiment. The adjustment device 166 has a belt drive device for moving the second arm portion 146b relative to the first arm portion 146a, which is connected to the base portion 144 so as to be rotatable about a rotation axis 148. An electric belt drive motor 169 of the belt drive device is fixed to the pivot arm 146, more specifically, to the end of the first arm portion 146a, at a position where the first arm portion 146a is connected to the base portion 144 so as to be rotatable about the rotation axis 148. In this case, a second belt 168, to which the second arm portion 146b is movably connected relative to the first arm portion 146a, can finally be driven in a manner similar to that of the removal device 32. In contrast to the belt 68, which is wound around pulleys rotatable about respective vertical axes, the belt 168 is wound around pulleys rotatable about respective horizontal axes, one of which, pulley 173, is visible at the free end 150.

[0069] The removal member 152 of the removal device 132 has a pusher head 180 for exerting a force on the product 2, directed substantially transversely to the conveying path, by contact with the product 2, and a blowing arrangement 182 for exerting a force on the product 2, directed substantially transversely to the conveying path, by an air flow directed towards the product 2, in order to remove the product 2 from the sorting device. Like the pusher head 80, the pusher head 180 has a concave shape and the blowing arrangement 182 is provided on the concave pusher head. The blowing arrangement is connected to an air source via a pneumatic connection 181. As shown in Figs. 9a and 9b, the blowing arrangement 182 may comprise one blowing nozzle having an associated opening in the concave surface of the pusher head 180, or may comprise a plurality of nozzles, for example three nozzles, arranged adjacent to each other and each having an associated opening on the pusher head. The same applies to the blowing arrangement 82.

[0070] In contrast to the pusher head 80, which is fixedly mounted on the second arm section 46b, the pusher head 180 is mounted on the second arm section 146b so as to be displaceable in height. To this end, the removal device 132 is provided with a manipulator 190. The removal member 152 is connected to the free end 150 of the pivot arm 146 via the manipulator 190. The manipulator 190 is configured to displace the removal member 152 at least in the height direction h relative to the pivot arm 146, in this example relative to the second arm section 146b, between a lower operating position shown in FIG. 9a and a higher offset position shown in FIG. 9b. The manipulator 190 comprises a parallelogram-structured rod mechanism 192 having two lower rods 192a, 192a' arranged adjacent to each other and two rods 192b, 192b' located above the latter and arranged adjacent to each other. In another embodiment, for example, the manipulator may include a vertical guide to allow the removal member to be moved in height.

[0071] The manipulator 190 also has an actuator 194 acting between the pivot arm 146 and the removal member 152 for displacing the removal member 152 in the height direction h. In this embodiment, the actuator 194 is a double-acting pneumatic cylinder having two pneumatic connections 194a,b. The cylinder is fixed by its cylinder rod to the removal member and by its cylinder part to a support plate 196 fixedly provided at the end 150 of the second arm part 146b.

[0072] As shown by Fig. 9a in comparison with Fig. 9b, the rod mechanism can be moved by retracting (Fig. 9b) or extending (Fig. 9a) the cylinder, so that the removal member 152 moves in a height direction h, but its orientation relative to the pivot arm 146 does not change as a result of the rod mechanism being used in the form of a parallelogram. In other words, the removal member 152 performs a translational movement in a height direction h. Fig. 9a shows an operating position in which the pusher head 180 is provided at a height h1 above the link 26 (schematically shown in the form of a dashed line V) which passes below it during operation, and thus also above the support surface 16 of the sorting unit 6 which moves below it. The height h1 can be, for example, a height lying in the range of 5 to 50 mm, preferably in the range of 15 to 40 mm, such as about 15 mm or 40 mm. In contrast, Fig. 9b shows an offset position in which the pusher head 180 is provided at a greater height h2 so as to be able to release in a fast and effective manner any product that is unintentionally stuck under the pusher head 180 during operation. The height h2 may be, for example, a height lying in the range of 30 to 100 mm. In one embodiment, the height h2 may be 20 to 35 mm greater than the height h1.

[0073] The removal device 132 has a sensor 198 for detecting jamming of products under the removal member 152. Jamming can occur unintentionally, for example, due to the fact that flat products or products with flattened sides end up partially under the removal member 152 and are not displaced by the blowing equipment or are not displaced as intended. In this embodiment, the sensor 198 is a reed contact provided on a pneumatic cylinder, the state of which ("on" or "off") changes during the displacement of the piston relative to the cylinder of the pneumatic cylinder from the operating position towards the offset position. In this connection, it is also possible to use a position sensor, for example, which detects the displacement of the piston relative to the cylinder of the pneumatic cylinder, which is therefore configured, like the reed contact described above, to detect the upward movement of the removal member 152 relative to the pivot arm 146. The sensor 198 is therefore an example of a sensor configured to detect a parameter related to a force having an upward vertical component exerted on the removal member by the products present on the conveyor, at least in the operating position.

[0074] The removal device 132 can be used to implement a method similar to that of the removal device 32 described above, which is briefly described below, and for a more detailed description, reference is made to the method described above.

[0075] During the transport of the sorting unit 6 along the endless transport path 10, the products to be sorted are fed to the sorting unit 6 of the multiple sorting units and removed from there again at the sorting position. If the products 2, 2' end up on the connection 26, the control system 30 issues a control signal to the removal device 132 in order to remove such products from the sorting device using the removal device 132. For this purpose, the removal device 132 is actuated by the control system 30 in such a way that the pivot arm 146 moves together with the products to be removed, which are located on the connection, during the rotational movement. In this case, the removal member 152 is moved towards the extended state, so that the products are eventually pushed from the connection or, in the case of using only the blowing installation, blown from the connection 26 or pushed and simultaneously blown. During these operations, the sensor 198 is used to detect whether an unintentional jam has occurred and, in this case, the manipulator is used to temporarily move the removal member upwards in the above-mentioned manner in order to clear the jam.

Claims

1. A sorting device for sorting products, comprising a conveyor having a plurality of sorting units, and a conveying device for conveying the sorting units along an endless conveying path, each of the sorting units comprising a support surface for supporting the products to be sorted, and being designed to laterally move the products from the support surface of the sorting unit at a desired sorting position among a plurality of sorting positions, the plurality of sorting units comprising continuous sorting units having a connecting portion therebetween, the sorting device further comprising a control system designed to issue a control signal to the sorting units so as to separate the products supplied to the sorting units for sorting from the support surfaces of the respective sorting units at a desired sorting position among a number of sorting positions, the sorting device further comprising a removing device arranged along the conveying path, the control system being further designed to issue a control signal to the removing device so as to remove the products on the connecting portion from the conveyor at a removal position by the operation of the removing device, wherein the removing device is arranged inside a bent portion of the conveying path, and the removal position is provided outside the bent portion, the sorting device being characterized in this respect.

2. The sorting device according to claim 1, wherein the removing device is arranged inside a bent portion in the range of 50 to 230 degrees, preferably inside a bent portion in the range of 70 to 110 degrees, and more preferably inside a bent portion of 90 degrees.

3. The sorting device according to claim 1 or 2, wherein the removing device comprises a base portion arranged adjacent to the conveying path in a stationary state, a pivot arm rotatably connected to the base portion about a rotation axis and having a removing member at a free end, the removing device having a rotating device for rotating the pivot arm about the rotation axis, and the removing device being configured to move the pivot arm together with the product to be removed located on the connecting portion during the rotation operation of the pivot arm during operation.

4. The sorting device according to claim 1 or 2, wherein the removing device has a removing member, the removing member being movable between a retracted state and an extended state, and the removing device being configured such that the removing member moves towards the outside of the bent portion during the movement from the retracted state to the extended state.

5. The pivot arm is adjustable in length, and the removing device has an adjusting device for moving the removing member between the retracted state and the extended state by adjusting the length of the pivot arm. The sorting device according to claim 3.

6. The pivot arm with adjustable length is movable parallel to each other and includes at least two arm portions connected to each other. The sorting device according to claim 5.

7. The adjusting device includes a driving device, preferably a belt driving device, a rack and pinion driving device, a linear motor and / or a spindle driving device for moving a second arm portion having the free end of the pivot arm provided with the removing member relative to the first arm portion. The sorting device according to claim 6.

8. The adjusting device includes a belt driving device, the belt driving motor is fixedly fixed to the base portion, the removing device is rotatable about a rotation axis, and has a belt pulley around which both a first belt and a second belt are wound. The first belt is also wound around a belt pulley provided on the motor shaft of the belt driving motor, the second belt is also wound around a belt pulley provided at the end of the first arm portion facing away from the base portion, and the second arm portion is coupled to the second belt so as to move relative to the first arm portion. The sorting device according to claim 7.

9. The removing device has a removing member, and this removing member has a pusher head for applying a force substantially transverse to the conveying path to the product by contact with the product, and / or for the purpose of removing the product from the connecting portion, has a blowing facility for applying a force substantially transverse to the conveying path to the product by an air flow directed in the direction of the product. The sorting device according to claim 1 or 2.

10. The removing member has the pusher head, and the pusher head has a concave shape for exerting a force on the product by contact between the concave pusher head and the product. The sorting device according to claim 9.

11. The blowing facility is provided on the concave pusher head. The sorting device according to claim 10.

12. For the purpose of laterally moving the product from the support surface of the sorting unit at a desired sorting position among a plurality of sorting positions, each sorting unit has a conveyor belt, the upper surface of this conveyor belt forms the support surface, and this conveyor belt is laterally drivable under the influence of a control signal of the control system. The sorting device according to claim 1 or 2.

13. The bending part has a contour in the shape of an arc of a circle centered on a center point, and the rotation axis is a vertical rotation axis extending through the center point. The sorting device according to claim 3.

14. For the purpose of issuing a control signal to the removal device, the control system has a detection device for detecting a product on the connecting part, at least upstream of the removal device. The sorting device according to claim 1 or 2.

15. The removal device has a removal member and a manipulator for displacing the removal member between a lower operating position and a higher offset position, at least in the height direction. The sorting device according to claim 1 or 2.

16. The removal member is connected to the free end of the pivot arm via the manipulator, and the manipulator is configured to displace the removal member between the lower operating position and the higher offset position, at least in the height direction, with respect to the pivot arm. The sorting device according to claim 3.

17. The removal device has a sensor for detecting clogging of the product under the removal member in the operating position. Preferably, the sensor is configured to detect a parameter related to the upward vertical component of the force exerted on the removal member by the product present on the conveyor in the operating position. The sorting device according to claim 15.

18. The sensor is configured to detect upward movement of the removal member with respect to the pivot arm. The sorting device according to claim 16.

19. The manipulator comprises a rod mechanism in the form of a parallelogram structure. The sorting device according to claim 15.

20. The manipulator comprises an actuator for displacing the removal member in the height direction. The sorting device according to claim 15.

21. The actuator comprises a pneumatic cylinder, preferably a double-acting pneumatic cylinder. The sorting device according to claim 20.

22. The sensor is the sorting device according to claim 17, which detects the displacement of the piston with respect to the cylinder of the pneumatic cylinder.

23. The adjusting device includes a belt drive device, a belt drive motor is fixedly fixed to the first arm portion, the second arm portion is coupled to a belt of the belt drive device, and the belt is driven by the belt drive motor to move with respect to the first arm portion. The sorting device according to claim 15, which is drivable.

24. A method for using the sorting device according to claim 1 or 2, comprising: a. Supplying a product to be sorted to a sorting unit among the plurality of sorting units while transporting the sorting unit along the endless transport path; b. Issuing a control signal to the sorting unit by the control system so as to move the product from the support surface of each sorting unit at a desired sorting position among a number of sorting positions for the purpose of sorting the product; and c. Issuing a control signal to the removing device by the control system to remove a product on a connecting portion between two consecutive sorting units from the conveyor at a removal position using the removing device. A method comprising.

25. A method for using the device according to claim 3, comprising: a. Supplying a product to be sorted to a sorting unit among the plurality of sorting units while transporting the sorting unit along the endless transport path; b. Issuing a control signal to the sorting unit by the control system so as to move the product from the support surface of each sorting unit at a desired sorting position among a number of sorting positions for the purpose of sorting the product; c. Issuing a control signal to the removing device by the control system to remove a product on a connecting portion between two consecutive sorting units from the conveyor at a removal position using the removing device; and For the purpose of step c., moving the pivot arm together with the product to be removed located on the connecting portion during the rotational movement of the pivot arm. A method comprising.

26. A method for using the sorting device according to claim 15, comprising: a. Supplying the product to be sorted to the sorting unit among the plurality of sorting units while transporting the sorting unit along the endless transport path; b. Issuing a control signal to the sorting unit so that the control system moves the product from the support surface of each sorting unit at a desired sorting position among a number of sorting positions for the purpose of sorting the product; c. The control system issues a control signal to the removal device to remove the product on the connection part between two consecutive sorting units from the conveyor at the removal position using the removal device, and while detecting clogging of the product under the removal member, displacing the removal member in the height direction from the lower operating position to the direction of the higher offset position by the manipulator. A method comprising this.

27. A method for using the sorting device according to claim 12, comprising: a. Supplying the product to be sorted to the sorting unit among the plurality of sorting units while transporting the sorting unit along the endless transport path; b. Issuing a control signal to the sorting unit so that the control system moves the product from the support surface of each sorting unit at a desired sorting position among a number of sorting positions for the purpose of sorting the product; c. The control system issues a control signal to the removal device to remove the product on the connection part between two consecutive sorting units from the conveyor at the removal position using the removal device, and During step c., driving the conveyor belt to which the support surface belongs during the removal operation performed using the removal device for the purpose of removing the product located on the connection part so that the product is partially located on the connection part and partially on the support surface from the conveyor. A method comprising this.

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