Apparatus for packaging horticultural products

Abstract

An apparatus for packaging horticultural products (A), comprising at least: – a feeding station (2), adapted to supply the horticultural products (A) to a conveying apparatus (3), comprising a plurality of seats (4) for receiving individual horticultural products (A), the seats (4) being distributed along side-by-side lanes (G1, G2) and being movable along a predefined path, – a vision system (5), arranged at least along a first portion (L1) of the path and configured at least for the acquisition of information related to each product (A), – means (6) for rotating each product (A), configured at least to impart to each product (A), directly or indirectly, an independent rotation during its advancement along a second portion (L2) of the path, downstream of the first portion, – a pick-and-place assembly (7), configured for picking up the products (A) from a third portion (L3) of the path downstream of the second portion and depositing them in a packaging area (8), – an electronic control and management unit (9), provided with instructions for actuating at least the rotation means (6) and the assembly (7) on the basis of the information acquired by the vision system (5). The feeding station (2) is adapted to supply the products (A) to the lanes (G1, G2) with an alternating distribution pattern, and the assembly (7) comprises at least one plurality of grip units (10a, 10b) arranged transversely to the path, the grip units (10a, 10b) are configured for picking up the products (A) at a first longitudinal distance (M1) from at least one respective first lane (G1), and at a second longitudinal distance (M2) from at least one respective second lane (G2), which is adjacent to the first one.

Description

[0001] APPARATUS FOR PACKAGING HORTICULTURAL PRODUCTS

[0002] The present invention relates to an apparatus for packaging horticultural products and to the associated packaging method.

[0003] As is known, companies working in the field of packaging and distribution of fruit and horticultural products in general make extensive use of at least partially automated apparatuses, provided with handling elements of various kinds, which have the task of conveying said products along a predefined path, along which stations and instruments of various kinds subject them to a plurality of processes and treatments.

[0004] In some cases (for example, when the products are apples, kiwis or oranges), a section located downstream of these apparatuses provides the packaging in which the products are offered to the end consumer, depositing them in containers constituted by honeycomb trays or crates, in any case such as to form a plurality of recesses or cells arranged side by side and distributed over multiple rows, each of which is adapted to receive a respective product.

[0005] The products must be placed in the cells so that each one is presented with the same orientation. For example, in the case of apples it may be required that they be arranged with the stalk (or pedicel) upward, or so as to keep horizontal the ideal axis that joins the latter to the calyx, or also so as to expose upward portions of peel with the same shade of color.

[0006] These are requirements that typically arise in order to give the resulting package a more pleasing appearance in the eyes of the consumer, but regardless of the underlying reasons, they pose problems that are not easy to be solved by companies in this field.

[0007] In fact, to achieve packaging in the desired manners, first each product is made to advance one at a time along a path that passes through the field of view of a video camera or other optical instrument, which detects its shape and / or the parameters that must guide its correct positioning (the position of the stalk, the coloring of the peel, or others). Then, according to various manners and approaches, various devices operating on the basis of the information acquired by the video camera pick up the product and change its orientation if necessary, so as to arrange it in the desired ways in the cells of the trays.

[0008] Due to obvious production capacity optimization requirements, the products are usually made to advance along the apparatus on multiple parallel lanes so that multiple products can be picked up and deposited simultaneously and, for example, an entire row of cells can be filled in a single work cycle.

[0009] To ensure optimal reading by the video cameras, however, it is necessary to maintain an adequate spacing between the products; otherwise, in fact, proper acquisition of the information of interest might be impaired by shadows or other optical interference effects caused precisely by excessive proximity between adjacent products (which could, for example, preclude viewing by video cameras with lateral vision).

[0010] The latter requirement imposes a lower limit on the distance to be kept between adjacent lanes and thus on the overall space occupation of the line. This accordingly produces an undesirable trade-off for companies in this field: increased productivity (a consequence of the larger number of laterally adjacent lanes) is achieved only at the cost of a high occupation of the space in the facility, which conversely is often limited. This is even more true if one wishes to integrate the apparatus described above into existing facilities, where other apparatuses and machines already operate (in particular those assigned to the treatments that each product must undergo ahead of its packaging) and where, therefore, the limitations of available space, dictated precisely by the other machines already installed and evidently not avoidable, may go so far as to preclude installation of the apparatus.

[0011] US6691854B1 discloses a device for orienting a number of objects. The device has a holder conveyor with holders for the objects, lifts synchronously co-displaceable with the holders and rotatable relative thereto for lifting the objects out of the holders and rotating the objects into and oriented standing rotational position relative to a standing rotation axis on the holders, a detector for detecting the standing rotational position of each object and a control device for the lifts which is connected to the detector and which activates the lifts for a relevant object as long as is required to rotate the oriented standing rotational position.

[0012] The aim of the present invention is to avoid the above-described drawbacks, providing an apparatus capable of arranging the horticultural products in respective packages according to a specific spatial orientation, with a solution that can combine high productivity, small footprint, and optimal performance of the vision system.

[0013] Within this aim, an object of the invention is to provide a method that allows to arrange the horticultural products in respective packages according to a specific spatial orientation, while combining high productivity, small footprint, and optimal performance of the vision system.

[0014] Another object of the invention is to provide an apparatus and a method that ensure higher reliability in orientation through optimal information acquisition by the vision system.

[0015] Another object of the invention is to provide an apparatus and a method that ensure optimal acquisition of the parameters of interest of each horticultural product, with a compact solution that has a small footprint.

[0016] Another object of the invention is to provide an apparatus and a method which are versatile and capable of arranging products so that they are oriented according to various criteria in trays of various formats.

[0017] Another object of the invention is to provide an apparatus and a method that ensure high reliability of operation.

[0018] Another object of the invention is to provide an apparatus that adopts a technical and structural architecture that is alternative to those of apparatuses of the known type. Not least object of the invention is to provide an apparatus and a method that can be implemented easily starting from commonly commercially available elements and materials.

[0019] Still another object of the invention is to provide an apparatus and a method that are low in cost and of assured application.

[0020] This aim and these and other objects that will become better apparent hereinafter are achieved by an apparatus according to claim 1 and by a method according to claim 11.

[0021] Further characteristics and advantages of the invention will become better apparent from the description of a preferred but not exclusive embodiment of the apparatus and method according to the invention, illustrated by way of non-limiting example in the accompanying drawings, wherein:

[0022] Figure 1 is a front lateral perspective view of the apparatus according to the invention;

[0023] Figure 2 is a rear lateral perspective view of the apparatus of Figure 1;

[0024] Figure 3 is a sectional view, taken along a longitudinal plane, of the apparatus of Figure 1;

[0025] Figure 4 is a sectional view of Figure 3, taken along the plane IV-IV;

[0026] Figures 5-8 are lateral elevation views of the operation of the feeding station and of the conveying apparatus;

[0027] Figures 9-10 are front elevation views of some prerogatives of the pick-and-place assembly;

[0028] Figure 11 is a perspective view of a package that can be prepared by the apparatus of Figure 1;

[0029] Figure 12 is a block diagram of the method according to the invention.

[0030] With reference to the figures, an apparatus for packaging horticultural products A is generally designated by the reference numeral 1. The horticultural products A can be of any type (fruits, vegetables, garden produce, etcetera): the accompanying figures show products A constituted by apples, but this is a merely exemplifying choice, which corresponds to an application of considerable practical interest, which however does not limit the protective scope claimed herein.

[0031] Moreover, although typically (not necessarily) at each production order the apparatus 1 is fed with just one type of product A, the possibility of using the same apparatus 1 for different products A in different production orders is provided without thereby abandoning the protective scope claimed herein.

[0032] It is useful to emphasize at the outset that the primary goal of the apparatus 1 is to arrange the products A in containers B, typically of the type of honeycomb trays or crates, in any case such as to form a plurality of recesses C or cells arranged side by side, each adapted to receive a respective product A, according to a “target” spatial orientation that can be chosen in various ways as a function of the specific requirements.

[0033] Typically, the target spatial orientation is the same for all the products A (or in any case it must comply with a common criterion), but a different target orientation from one product A to another product A may also be provided, for example depending on the spatial placement of each of them in the container B.

[0034] For example, the requirement may consist in needing all the products A to be arranged with the stalk D (or pedicel) facing the same direction (as in Figure 11). Moreover, the target spatial orientation may be required to consist in directing upward the most colorful portion of the product A (or in any case the portion that most closely approximates a given color shade, for example because it is considered more pleasing to the consumer's eyes) or in arranging horizontally the ideal axis E that connects the stalk D and the calyx F of each apple.

[0035] The target spatial orientation may also consist of a combination of two or more requirements / conditions (for example, pedicels D oriented in the same direction and most colorful portion upward).

[0036] In any case, other criteria for defining the target spatial orientation are not ruled out, and it is specified in general that “spatial orientation” in the present description means in any case, in a manner that is anyway intuitive, the arrangement assumed by an object (by the product A) in space, and thus its inclination, direction and / or, indeed, orientation, with respect to the three Cartesian axes or any fixed reference.

[0037] It should be pointed out, however, that the target spatial orientation may correspond to one and only one position of the product A in space, or to a plurality of positions that meet the same criterion. For example, in fact, if just a specific inclination of the ideal axis E joining the pedicel D and the calyx F of each apple is required, the target spatial orientation referenced in the present description can be understood to correspond to the infinite specific arrangements that meet the criterion of interest (and are obtainable by rotating the product A about the ideal axis E).

[0038] In any case, use of the apparatus 1 to arrange the products A in other types of containers B is not excluded, possibly even without worrying about ensuring in the latter an orderly accumulation of said products A (and therefore without taking full advantage of the particularities of the invention that will be described hereinafter, but only indeed for preparing packages of any kind).

[0039] In order to achieve the aim and objects outlined above, the apparatus 1 first of all comprises at least one feeding station 2, which is adapted to supply the horticultural products A to a conveying apparatus 3, which comprises a plurality of seats 4 for receiving individual horticultural products A (identified for the sake of simplicity only in Figures 5-8), which are in turn distributed along mutually laterally adjacent lanes Gi, G2and can move along a predefined path. The path is defined by the movement of the seats 4 indeed along the lanes Gi, G2(shown for the sake of simplicity only in Figure 4) and typically consists of a horizontal (or slightly inclined) rectilinear direction of motion along which each product A moves in the respective lane G G2.

[0040] It should be noted in particular that in the accompanying figures the products A move along the path (in the advancement direction) in the orientation indicated by the arrows H depicted therein.

[0041] As is well shown in Figure 4, the laterally adjacent lanes (which can be any number, without abandoning the protective scope claimed here) are alternately identified by the references Gi or G2, for the reasons that will become better apparent hereinafter.

[0042] The terms “upstream”, “downstream”, “upstream of’ and “downstream of’ are used here, in accordance with common usage, precisely with respect to the advancement orientation imposed on the products A along the path.

[0043] Moreover, the apparatus 1 comprises a vision system 5, which is arranged at least along a first portion Li of the path and is configured to acquire information about each product A (as it advances, conveyed in the seats 4). In particular, the system 5 is configured at least to acquire information related to a first spatial orientation (which does not necessarily correspond to the target spatial orientation and is indeed usually different) assumed by each product A. The first portion Li (as well as the others introduced in the pages that follow) is identified only in Figures 5-8, where its location relative to the entire conveying apparatus 3 is more readily appreciable.

[0044] Moreover, the apparatus 1 comprises at least means 6 for the rotation of each product A, which are configured at least to impart to each product A, either directly or indirectly, an independent rotation during its advancement along a second portion L2of the path, downstream of the first portion LbThis rotation allows to change the spatial orientation of each product A. Moreover, the apparatus 1 comprises at least one pick-and-place assembly 7, which is configured to pick up the products A from a third portion L3of the path downstream of the second portion L2and to deposit them in a packaging area 8, in which at least one respective container B can be placed, said containers being in turn handled in various ways, including those of the known type.

[0045] Moreover, the apparatus 1 comprises at least one electronic control and management unit 9, which is equipped with instructions to actuate at least the rotation means 6 and the assembly 7 on the basis of the information acquired by the system 5, in particular for changing the spatial orientation of each product A and thus to ensure that its deposition in the area 8 (in the respective container B) takes place in the target spatial orientation. As will become apparent hereinafter, to ensure the target spatial orientation, according to the invention the electronic unit 9 can be assigned the task of actuating further movements of the products A.

[0046] The electronic unit 9 (shown only schematically in the accompanying Figure 3) can be of any type, and for example can be a control unit, a PLC or a computer; moreover, it can be dedicated solely to the execution of the task described above or it can be a control unit or PLC that also performs other tasks. Typically, however, it is the same device that oversees and controls the operation of the entire apparatus 1.

[0047] In greater detail, therefore, the electronic unit 9 processes the information received by the system 5 and thus, in particular, the first spatial orientation assumed by the products A at the first portion L in order to determine the extent of the rotation (different in each instance) that the means 6 must impose on each product A in the second portion L2, in order to change the spatial orientation to the point that the products A assume the target orientation in the containers B. To do this, the electronic unit 9 is provided with appropriate computational software, which can, in any case, be chosen from those already on the market or provided ad hoc, in manners known to the person skilled in the art (bearing in mind the specific goal described above).

[0048] According to the invention, the station 2 is adapted to supply the products A to the lanes Gi, G2with an alternating distribution pattern. In this pattern, each seat 4 that receives a product A (to which a product A is supplied) is flanked, along the same lane (upstream and downstream) and at least in the laterally adjacent lanes Gi, G2, by seats 4 that are devoid of the product A (no product A is supplied to them). In the present description, when reference is made to two “adjacent” lanes Gi, G2it should be understood (as is intuitive) that they are located immediately laterally next to each other.

[0049] Preferably, this alternating distribution pattern corresponds to a checkerboard pattern (the one in which the products A are shown in Figure 4), in which there is a perfect alternation between “full” seats 4 and “empty” seats 4 (and a 50% saturation of the seats 4). However, providing a larger number of “empty” seats 4 between two “full” seats 4 (where a saturation of the seats 4 of less than 50% is preferable or acceptable) is not ruled out.

[0050] In practice, therefore, normally each seat 4 that conveys a product A is “surrounded” by at least four empty seats 4 (upstream, downstream, and on both sides). Obviously, in the case of seats 4 along the outer lanes Gi, G2or at the beginning / end of the path, the number of adjacent seats 4 will be smaller.

[0051] The products A are thus always more widely spaced than they would with a complete saturation of the seats 4, and this averts the danger that the acquisition of information by the system 5 regarding each product A might be disturbed by shadows, reflections or other optical effects generated by the surrounding products A, as vice versa could indeed occur if, keeping the lanes Gi, G2close together, all the seats 4 were given a product A.

[0052] Moreover, and precisely in light of the particular alternating distribution in which the products A are handled by the conveying apparatus 3, according to the invention the assembly 7 comprises a plurality of grip units 10a, 10b arranged transversely (and preferably at right angles to the path; the grip units 10a, 10b are configured to pick up the products A at a first longitudinal distance Mi of the third portion L3, from at least one respective first lane Gi, and at a second longitudinal distance M2of the third portion L3, from at least one respective second lane G2, which is adjacent to the first lane Gi.

[0053] The expression “longitudinal distance” means a distance measured along the advancement direction of the products A along the path or along the lanes Gi, G2.

[0054] The grip units are alternately identified by the reference numerals 10a or 10b in a manner corresponding to the lanes Gi, G2: in greater detail, typically one and only one first grip unit 10a acts along each lane Gi, and one and only one second grip unit 10b acts along each lane G2. The second lanes G2are alternated with the first lanes Gi.

[0055] Hereinafter, the grip units operating along respective first lanes Gi (and picking up products A at the first longitudinal distance Mi) shall be referenced as “first” grip units (designating them by the reference numeral 10a), and the grip units operating along respective second lanes G2(and picking up products A at the second longitudinal distance M2) shall be referenced as “second” grip units (designating them by the reference numeral 10b).

[0056] It is specified that the option is provided to equip the assembly 7 with only one first grip unit 10a and / or only one second grip unit 10b, but typically (as in the accompanying figures), the assembly 7 comprises:

[0057] - a plurality of first grip units 10a, each configured to pick up the products A at a first longitudinal distance Mi of the third portion L3from a respective first lane Gi,

[0058] - a plurality of second grip units 10b, each configured to pick up the products A at a second longitudinal distance M2of the third portion L3from a respective second lane G2.

[0059] In particular, in the accompanying figures (see Figure 4 for example), the assembly 7 first of all comprises three first grip units 10a that pick up products A at the first longitudinal distance Mi, operating along first lanes Gi; said first units 10a are alternated with four second grip units 10b (including the two outermost ones) that pick up products A at the second longitudinal distance M2, operating along second lanes G2.

[0060] Preferably, each grip unit 10a, 10b can rotate about a vertical axis to further vary, if necessary, the spatial orientation of the supported product A (by virtue of the action of the electronic unit 9), depending on the required spatial orientation. Preferably, rotation with respect to the vertical axis of the grip units 10a, 10b is also controlled by the electronic unit 9.

[0061] Thus, the assembly 7 provides for first grip units 10a which act (along first lanes Gi) between two second grip units 10b, and vice versa, respecting the alternating distribution of the products A. Obviously, the outermost first (or second) grip units 10a will have a respective second (or first) grip unit 10b only on one side. Apart from what will be described hereinafter, the first grip units 10a and the second grip units 10b may be constructively identical, thus differing only in the lanes Gi, G2in which they act.

[0062] In practice, therefore, if a same row of seats 4 is observed, the products A alternately (at most) fill every second seat 4; the first units 10a can pick up all of the products A from the first lanes Gi of a first row (the one located at the first longitudinal distance Mi), while the second units 10b can pick up (preferably simultaneously) the products A from the second lanes G2of a second row (at the second longitudinal distance M2), typically immediately preceding or following the first, or in any case in which the products A are arranged so as to be offset with respect to the latter.

[0063] In the present description, the term “row” of products A (or seats 4, or recesses C) is understood as a succession of products A (or seats 4, or recesses C) which is transverse (perpendicular) to the lanes Gi, G2and / or the advancement direction of the products A in the apparatus 1.

[0064] In a first embodiment, which is in any case within the protective scope claimed herein, the feeding station 2 is manual: i.e., it provides for one or more posts from which one or more operators can pick up products A from a feeder of any type and arrange them in the seats 4 according to the alternating distribution pattern already described.

[0065] Preferably, instead, the feeding station 2 is automated.

[0066] Specifically, in the preferred embodiment, shown in the accompanying figures by way of non-limiting example of the invention (see in particular Figures 5-8), the station 2 comprises a plurality of gates 11, which operate at a loading section of each lane Gi, G2, upstream of the first portion LbEach gate 11 is selectively movable between a first configuration (Figure 5), for hindering the supply of a product A to a respective seat 4, and a second configuration (Figure 7), for allowing the supply of a product A to a respective seat 4. The transition from one configuration to the other and vice versa (shown by the sequence of Figures 5-8) can be actuated by the electronic unit 9 or in any case by an electronic device that is indeed tasked with cyclically switching from one configuration to another whenever, in each lane GbG2, a new seat 4 faces the gate 11, so as to fill said seats according to the alternating distribution.

[0067] More particularly, each gate 11 is interposed between a belt 12 for conveying horticultural products A and a corresponding lane GbG2. As in the accompanying figures, a single belt 12 may be tasked with supplying products A to all the lanes GbG2, and in this case, preferably, longitudinal ribs 13 rise from the end section of the belt 12 and are tasked with conveying the products A one by one to the various gates 11. However, it is not excluded to resort to different ways of feeding the various lanes GbG2, for example by using a different belt 12 for each lane GbG2, without abandoning the protective scope claimed herein.

[0068] It is noted that the accompanying figures show products A that are correctly queued only at some lanes G G2(and not all of them, as is typically expected to be the case) solely to allow a clearer view of the belt 12, of the longitudinal ribs 13, and of the apparatus 1 in general.

[0069] In the accompanying figures, the gate 11 consists of an axially symmetrical bar, which in the first configuration is arranged (horizontally and) so as to affect the products A indeed at their transition from the belt 12 to a respective lane Gi, G2and can move downward to a lower vertical elevation to assume the second configuration. In any case, gates 11 having a different shape can be provided, as a function of the specific requirements and / or shape of the product A they are to affect. For example, instead of the bar, the gate 11 can be shaped like a band folded to form a kind of semicircular pocket or ring, which replicates the shape of apples (or other products A) and partially envelops them in the first configuration (interposing itself between the belt 12 and the lanes Gi, G2).

[0070] Usefully, the gate 11 (of the bar type or not) can be coupled to a support 14 which is preferably movable (to pass from the first configuration to the second one and vice versa) and is shaped like a partition (for containment). The support 14 is arranged alongside the trajectory imposed on the products A along the path and thus contributes to the proper conveyance of each of them toward the seat 4 that faces the gate 11 , along the relevant lane Gi, G2.

[0071] Moreover, it is possible to resort to different solutions, even operating according to other logic systems, in order to achieve the desired distribution. For example, in fact, instead of acting alternately by allowing or preventing the advancement of the products A, as indeed the gates 11 do, it is possible to use a solution such as the one described in WO2023 / 247235, which is tasked with moving products A from a seat 4 to an adjacent seat 4 along the same lane Gi, G2, when two consecutive seats 4 accommodating as many products A arrive at the loading section.

[0072] The feeding station 2 may also comprise, for each lane Gi, G2, a retention element 15, arranged upstream of the gate 11 and configured to retain a respective product A, in particular the product A directly upstream of the one stopped by the gate 11 (when it is in the first configuration). In particular, the retention element 15 may comprise, as in the accompanying figures, a (rigid) plate that can be rested (gently) on the product A. The function of the retention element 15 is to prevent, when the gate 11 passes to the second configuration and after the waiting product A has been allowed to advance, a second product A from being immediately deposited (by gravity) in the seats 4, before the gate 11 has been able to return to the first configuration.

[0073] To ensure gentle handling of the products A, the plate can be made of deformable material (at least in the surface layer designed indeed to contact the products A), for example by resorting to a polyurethane foam (“memory foam”).

[0074] Usefully, the system 5 comprises one or more optical vision instruments 16 arranged above the first portions Li of respective said lanes Gi, G2. The optical instruments 16 may for example be electronic video cameras, preferably placed inside a tunnel, not shown in the accompanying figures but of a known type, so as to shield the first portion L i from external light and unwanted environmental disturbances, and in any case directed toward the first portion Li itself. The instruments 16 and / or the electronic unit 9 are thus provided with graphics processing software (of a per se known type) that allows to acquire the information of interest from the images obtained.

[0075] Each instrument 16 is configured (and thus, in particular, appropriately arranged and oriented) at least to acquire information regarding the first spatial orientation assumed by the products A in transit along the respective underlying lane Gi, G2and also, preferably, along corresponding laterally located lanes Gi, G2. In fact, by virtue of the fact that the seats 4 adjacent to the one occupied by a product A are free, the instrument 16 that at a given instant lies above a product A also has optimal views also of the products A placed in the same row two lanes Gi, G2away. Likewise, each instrument 16 can also effectively acquire information on upstream or downstream products A in rows different from the one in which the underlying product A is. The same instrument 16 can be the only one tasked with acquiring information on one or more lanes Gi, G2and equally two or more instruments 16 can be provided to cooperate by observing (from different angles) the same product A. Each instrument 16 can also be configured to acquire other information about the products A in transit, if required.

[0076] Moreover, the accompanying figures show the possibility that a vision element 17, of the type of those described above or different, may be arranged above the second portion L2as well, to carry out further checks about the spatial orientation assumed by the products A and, if necessary, correct any anomalies in operation (as will be better explained later).

[0077] The seats 4 and in general the ways in which the products A are conveyed along the lanes Gi, G2can be various without thereby abandoning the protective scope claimed herein.

[0078] In the preferred, non-limiting embodiment, the conveying apparatus 3 comprises a plurality of substantially axially symmetrical elements 18 which can rotate about an axis of rotation which is transverse (perpendicular) to the path (and to the lanes Gi, G2). The elements 18 are aligned and cyclically movable along the lanes Gi, G2, and the seats 4 are formed between pairs of adjacent elements 18 of the same lane Gi, G2. In practice, in other words, as can be clearly deduced from the accompanying figures, the products A rest along the sides (the lateral surfaces) of adjacent pairs of elements 18, remaining suspended above the interspace between them.

[0079] In this context, therefore, the means 6 are tasked with rotating the elements in the second portion L2(clearly identified in Figures 5-8) 18 about said axis of rotation, so as to achieve (in this case, therefore, by indirect means) the desired rotation of the products A supported by the elements 18. It is noted that typically the means 6 are tasked with rotating both elements 18 on which a product A rests simultaneously.

[0080] The elements 18 can be shaped as cylindrical or otherwise shaped rollers (for example, shaped like an hourglass or a so-called diabolo) as a function of the specific requirements. The accompanying figures instead show the possibility that each element 18 is constituted by a succession of disks of different sizes (so as to evoke a kind of hourglass in any case) distributed asymmetrically (if one element 18 and the adjacent one are observed), so as to form a seat 4 that is in turn asymmetrical, in order to stress the products A unevenly: in fact, it has been seen that this reduces the time needed to arrange them in an optimal way, once they are placed in the seat 4 and in view of the acquisition of information by the video cameras.

[0081] In this regard, it is appropriate to note that preferably (in addition to the independent rotation in the second portion L2) the means 6 are also configured to impart a rotation (of equal extent) to the elements 18 or at least to the products A as they advance along the first portion Li as well (also clearly identified in Figures 5-8).

[0082] The rotation in the second portion L2is of a different extent for each product A (and thus for each pair of adjacent elements 18), while the rotation in the first portion Li can be the same for all the products A (and can be achieved by rotating a suitable number of consecutive elements 18 simultaneously) since it meets a different requirement. In fact, rotation in the first portion Li allows the entire outer surface of the products A to be exposed to the system 5, so as to optimize information acquisition.

[0083] Obviously, since this rotation changes the orientation of the products A, the electronic unit 9 must take this into account when evaluating the extent of the rotation to which each product A will have to be subjected in the second portion L2(typically, it will be based on the spatial orientation assumed at the end of the first portion Li). Therefore, for the purpose of achieving independent rotation of the products A in the second portion L2, in an embodiment of considerable practical interest, the means 6 comprise, for each lane Gi, G2, a succession of fingers 19 which are indeed longitudinally aligned below the second portion L2(and clearly visible in Figures 5-8). Each finger 19 is normally kept in an inactive position, the one of Figures 5-8, in which it is spaced from the trajectory of the elements 18 (so as to not interact in any way with them), but it is selectively movable by virtue of the action of the electronic control and management unit 9 from said inactive position to an active position, and vice versa. In the active position, each finger 19 engages a respective element 18 (or a shank which is integral with it) to cause its independent rotation. More specifically, in the active position the element

[0084] 18 may simply slide over a smooth surface of the finger 19, so that rotation is achieved by friction while the element 18 advances along the path, or the element 18 and the finger 19 may be made to mesh with each other (thanks to respective mutually complementary portions) and in this way achieve rotation during advancement.

[0085] In this embodiment, therefore, and upon the transit of each product A along the second portion L2, the electronic unit 9 (or other dedicated device) is provided with instructions to actuate the progressive transition from the inactive position to the active position of a number of consecutive fingers

[0086] 19 chosen according to the extent of independent rotation to be imparted to the respective product A (chosen according to the spatial orientation to be given). In other words, the electronic unit 9 is tasked with temporarily raising the fingers 19 one after the other, while the products A supported by the elements 18 pass above them, to cause their rotation by an amount that corresponds to the number of fingers 19 raised. Evidently, if the orientation detected upstream (at the end of the first portion Li) was already the desired one, the number of fingers 19 raised will be zero.

[0087] Preferably, at least two fingers 19 are in the active position at each instant, so that both elements 18 that support the same product A from opposite sides are rotated. In this respect, precisely the alternating distribution (along the same lane Gi, G2) means that at each instant each element 18 supports only one product A, ensuring indeed the possibility of independent rotation described earlier.

[0088] More simply, instead, for the rotation in the first portion Li mentioned in the previous pages, it is possible to resort to a traction belt 20 (or a chain) which extends with a useful portion of its own below the first portion L i and on which all the products A slide (or engage).

[0089] Moreover, it should be noted that provision is made for the possibility (shown in the accompanying Figures 5-8) that the means 6 comprise, in a fourth portion L4of the path interposed between the second and third portions, a safety device 21, provided with additional fingers 19 (even spaced further apart than the ones tasked with independent rotation described above). These additional fingers 19 can be actuated by the electronic unit 9 (or other dedicated device) to produce a further rotation of the elements 18 when the vision element 17 detects an anomaly in the spatial orientation assumed by the products A.

[0090] In the preferred embodiment, in order to cyclically pick and place the products A, the assembly 7 is configured to impose the alternating translation of each grip unit 10a, 10b parallel to the lanes Gi, G2, between the longitudinal distances Mi, M2(at which indeed picking takes place) and the packaging (deposition) area 8. In fact, therefore, first of all each grip unit 10a, 10b can move back and forth along a rectilinear trajectory that coincides with the advancement direction of the products A along the lanes Gi, G2. The alternating translation typically occurs at a higher vertical elevation than the one along which the products A move, and therefore to perform deposition or pick-up the grip units 10, 10b make an additional vertical (downward) translation.

[0091] Moreover, usefully, the assembly 7 can be configured also to impose the relative translation of the first grip units 10a, operating along first lanes Gi, with respect to the second ones, operating along second lanes G2, along a direction which is parallel to the lanes Gi, G2. It should be noted in this regard that preferably during the pick-up step the distance between the first grip units 10a and the second ones is kept unchanged and equal to the distance between the longitudinal distances Mi, M2. Subsequently, during the translation toward the packaging area 8, this distance can be changed according to the distance (typically shorter) between the rows of cells C in which they are to be deposited (as in the accompanying figures), until, preferably, it becomes zero if, as is often required, the products A are to be arranged along a single row of cells C. As the formats of the containers B vary, therefore, the relative translation allows easy adjustment to the different spacing between the rows of cells C.

[0092] Usefully, the assembly 7 can also comprise a device 22 for uniformly varying the center distance between each pair of adjacent grip units 10a, 10b; the device 22 is clearly visible in particular in Figures 9 and 10. It should be noted that the center distance here is considered between each first grip unit 10a and the adjacent second grip unit 10b (i.e., the one operating along the adjacent lane Gi, G2), or vice versa, and uniform variation means indeed that all the center distances are changed in the same way. This functionality makes it possible to change the relative distance between the products A once picked from the lanes Gi, G2, to adapt to the distance between the cells C, which might obviously be different from the center distance between the lanes Gi, G2, again therefore to significantly increase the versatility of the invention.

[0093] In particular, in the embodiment shown in the accompanying figures by way of non-limiting example of the invention, the device 22 comprises first of all a plurality of arms 23 which are rotatably coupled to respective grip units 10a, 10b and are mutually articulated in a pantograph layout. Moreover, the device 22 comprises two actuators 24 (electric motors) configured to impart respective translations to two different grip units 10a, 10b, transversely to the path (preferably at right angles). Imposing the translation of the two grip units 10a, 10b causes the relative rotation of the arms 23 and thus the translation of all the grip units 10a, 10b, which move mutually closer or further apart while maintaining a constant center distance, as indeed desired.

[0094] The specific embodiment adopted for the grip units 10a, 10b, as well as the ways in which they are given the possibilities of movement already described, may be any and chosen even of a known type, as a function of the specific requirements.

[0095] In the embodiment of the accompanying figures, which is an example that does not limit the invention, the assembly 7 comprises a carriage 25 which can perform alternating translation, for example along guides 26, which are arranged parallel to the lanes Gi, G2and within which first toothed belts are provided which are conveniently motorized. The carriage 25 supports the grip units 10a, 10b and thus moves them in a mutually integral manner back and forth between the longitudinal dimensions Mi, M2and the packaging area 8, thanks for example to a pinion-rack mechanism actuated by a drive unit 27.

[0096] Each grip unit 10a, 10b may comprise a sucker preferably provided with, as noted, the possibility of rotation about a vertical axis.

[0097] Moreover, in order to be able to lower or raise itself during the pickup and deposition steps, each sucker (or in any case the component tasked with gripping the products A) can be anchored to the lower end of a respective threaded bar 28, which is movable parallel to itself (in the vertical direction) thanks to a second toothed belt 29 (which is conveniently motorized) with which it engages.

[0098] The relative translation of the first grip units 10a with respect to the second ones can be managed for example pneumatically, by virtue of a cylinder 30. In addition to the apparatus 1 described so far, the protection claimed herein also relates to a method 100 for packaging horticultural products A, which is performed indeed by means of the apparatus 1, which is thus provided with the particularities described above.

[0099] The method 100 first of all provides, in a step a. and by virtue of the station 2, for supplying the products A to the receiving seats 4, which are distributed along the laterally adjacent lanes Gi, G2, according to the alternating distribution, preferably in a checkerboard pattern.

[0100] Then, in a step b. and by virtue of the conveying apparatus 3, the method 100 provides for conveying along the path the products A, accommodated in the seats 4 according to the alternating distribution.

[0101] During step b. (while the products A advance along the path), the method 100 provides, in a step c. and by virtue of the vision system 5, for acquiring information related to a first spatial orientation, assumed by each product A as it advances along the first portion Li.

[0102] Subsequently, still during step b. (and while the products A continue to advance along the path), the method 100 provides, in a step d. and by virtue of the electronic unit 9, for imparting at least one independent rotation to each product A as it advances along the second portion L2, on the basis of the information acquired by the vision system 5 and according to a target spatial orientation. As shown, provision can also be made to impose a second rotation to correct any anomalies, by virtue of the safety device 21 and the vision element 17.

[0103] Then, in a step e., the method 100 provides for picking up (preferably simultaneously) one or more first products A at a first longitudinal distance Mi of the third portion L3of the path (from respective lanes Gi) and one or more second products A at a second longitudinal distance M2of the third portion L3of the path (from respective lanes G2), by means of the first grip units 10a and the second grip units 10b, respectively.

[0104] Pickup typically involves a joint vertical translation movement of all the grip units 10a, 10b.

[0105] Then the method 100 provides, in a step f., for depositing (preferably simultaneously) each product A into the container B (in a respective cell C) in the target spatial orientation. Between pickup and deposition (step e. and step f.), while the assembly 7 moves (typically translates) the products A from upstream to downstream, from the longitudinal distances Mi, M2for pickup to the packaging area 8, a rotation about the vertical axis of each grip unit 10a, 10b can be provided in order to further change the orientation of the products A.

[0106] Deposition also typically provides for a joint vertical translation of all the grip units 10a, 10b.

[0107] The operation of the apparatus 1 and of the method 100 according to the invention have already been described in the previous pages.

[0108] In summary, however, the apparatus 1 is fed with products A (oriented in any way, even randomly and variably from product A to product A), which are taken by the seats 4 of the conveying apparatus 3, which receive and convey them with an alternating distribution pattern along lanes GbG2.

[0109] Along the path, as they move along a first portion L the products A are viewed by the system 5, which acquires information about a first spatial orientation assumed by each product A, and possibly other data of interest, which are in any case transmitted to the electronic unit 9. In this step, the products A may undergo a preliminary rotation, typically by the same extent (of 360°).

[0110] Then the products A travel along the second portion L2, along which the means 6 impart to each product A a rotation (the extent of which is chosen independently of the one imposed on the other products A).

[0111] Thus, the products A (which are “reoriented”) arrive at the third portion L3: from two neighboring rows (at the first longitudinal distance Mi and at the second longitudinal distance M2), the products A, staggered according to the alternating distribution, are picked up by the grip units 10a, 10b, possibly subjected to further rotation about a vertical axis, and delivered downstream, into the packaging area 8, where a container B awaits them.

[0112] Thus, by choosing in each instance the most appropriate extents of rotation, the products A are placed in the container B in the target spatial orientation, regardless of the one assumed in the initial section of the path.

[0113] As anticipated, the particular alternating distribution allows to achieve the intended aim: in known solutions, in order to maintain the minimum necessary distance between the products A required for the correct acquisition of information by the video cameras, it is necessary to keep the lanes equally distant from each other. This implies high space occupations, if a large number of lanes and therefore high productivity is desired; conversely, to maintain smaller space occupations it is necessary to reduce the number of lanes, consequently lowering productivity. Conversely, in the apparatus 1 according to the invention the required minimum distance is ensured even with closely spaced lanes Gi, G2, indeed by virtue of the alternating distribution. Thus, without affecting the quality of the information acquired by the vision system 5, with respect to known solutions the apparatus 1 provides the packaging of products A in the target spatial orientation with smaller footprints for the same productivity (since the same number of lanes Gi, G2, closer together, occupies less space) or, as an alternative, ensures higher productivity with the same space occupation (since with the same space occupation it is possible to provide a larger number of mutually close lanes Gi, G2).

[0114] The ability to acquire information about the products A in an optimal way, since indeed they are adequately spaced, moreover ensures greater reliability in obtaining the target spatial orientation. This reliability is further increased by resorting to the safety device 21.

[0115] The possibility of relative translation of the first grip units 10a with respect to the second ones allows, with a single translation movement of the assembly 7 (of the carriage 25), to simultaneously pick up and deposit all the products A arranged along both of the two longitudinal distances Mi, M2: in fact, during the movement the products A move closer or further apart indeed thanks to the relative translation and this helps to obtain high productivity (as well as versatility), since it reduces the number of movements required.

[0116] The uniform variation of the center distance further increases the versatility of the invention, allowing the apparatus 1 to handle a variety of formats of the container B.

[0117] The invention thus conceived is susceptible of numerous modifications and variations, all of which are within the scope of the appended claims; all the details may furthermore be replaced with other technically equivalent ones.

[0118] In the exemplary embodiments shown, individual characteristics, given in relation to specific examples, may actually be interchanged with other different characteristics that exist in other exemplary embodiments.

[0119] In practice, the materials used, as well as the dimensions, may be any according to the requirements and the state of the art.

[0120] The disclosures in Italian Patent Application No. 102024000000624 from which this application claims priority are incorporated herein by reference.

[0121] Where technical features mentioned in any claim are followed by reference signs, those reference signs have been included for the sole purpose of increasing the intelligibility of the claims and accordingly such reference signs do not have any limiting effect on the interpretation of each element identified by way of example by such reference signs.

Claims

CLAIMS1. An apparatus for packaging horticultural products (A), comprising at least:- a feeding station (2), adapted to supply the horticultural products (A) to a conveying apparatus (3), comprising a plurality of seats (4) for receiving individual horticultural products (A), said seats (4) being distributed along side-by-side lanes (Gi, G2) and being movable along a predefined path,- a vision system (5), arranged at least along a first portion (Li) of said path and configured at least for the acquisition of information related to each product (A),- means (6) for rotating each product (A), configured at least to impart to each product (A), directly or indirectly, an independent rotation during its advancement along a second portion (L2) of said path, downstream of said first portion (Li),- a pick-and-place assembly (7), configured for picking up the products (A) from a third portion (L3) of said path downstream of said second portion (L2), and depositing them in a packaging area (8),- an electronic control and management unit (9), provided with instructions for actuating at least said rotation means (6) and said assembly (7) on the basis of the information acquired by said vision system (5), characterized in that:- said feeding station (2) is adapted to supply the products (A) to said lanes (Gi, G2) with an alternating distribution pattern, according to which each said seat (4) that receives a product (A) is flanked, along said lane (Gi, G2) and at least in said laterally adjacent lanes (G2, Gi), by said seats (4) that are devoid of the product (A),- said assembly (7) comprises a plurality of grip units (10a, 10b) arranged transversely to said path, said grip units (10a, 10b) being configured for picking up the products (A) at a first longitudinal distance(Mi) of said third portion (L3), from at least one respective first said lane (Gi), and at a second longitudinal distance (M2) of said third portion (L3), from at least one respective second said lane (G2), which is adjacent to said first lane (Gi).

2. The apparatus according to claim 1, characterized in that said station (2) comprises a plurality of gates (11), operating at a loading section of each of said lanes (Gi, G2), upstream of said first portion (Li), each of said gates (11) being selectively movable between a first configuration, for hindering the supply of a product (A) to a respective said seat (4), and a second configuration, for allowing the supply of a product (A) to a respective said seat (4).

3. The apparatus according to claim 1 or 2, characterized in that said vision system (5) comprises one or more optical vision instruments (16) arranged above said first portions (L i) of respective said lanes (Gi, G2), each of said instruments (16) being configured at least to acquire information related to a first spatial orientation assumed by the products (A) in transit along said respective underlying lane (Gi, G2) and, preferably, along corresponding laterally adjacent said lanes (Gi, G2).

4. The apparatus according to one or more of the preceding claims, characterized in that said conveying apparatus (3) comprises a plurality of substantially axially symmetrical elements (18) which can rotate about an axis of rotation that is transverse to said path, are aligned and are cyclically movable along said lanes (Gi, G2), said seats (4) being formed between pairs of said adjacent elements (18) of the same said lane (Gi, G2).

5. The apparatus according to claim 4, characterized in that said rotation means (6) comprise, for each said lane (Gi, G2), a succession of fingers (19) which are aligned longitudinally below said second portion (L2) and are normally maintained in an inactive position, in which they are spaced from the trajectory of said elements (18), each of said fingers (19) being selectively movable by virtue of the action of said electronic unit (9)from said inactive position to an active position, in which it is engageable with a respective said element (18) to cause its independent rotation, and vice versa.

6. The apparatus according to claim 5, characterized in that, upon the transit of each product (A) along said second portion (L2), said electronic control and management unit (9) is provided with instructions for actuating the progressive transition from said inactive position to said active position of a number of consecutive fingers (19) which is chosen according to the amount of independent rotation to be imparted to the respective product (A).

7. The apparatus according to one or more of the preceding claims, characterized in that said assembly (7) is configured for the alternating translation of each of said grip units (10a, 10b) parallel to said lanes (Gi, G2), between said longitudinal dimensions (Mi, M2) and said packaging area (8).

8. The apparatus according to one or more of the preceding claims, characterized in that said assembly (7) is configured for the relative translation of said first grip units (10a), operating along said first lanes (Gi), with respect to said second grip units (10b), operating along said second lanes (G2), along a direction which is parallel to said lanes (Gi, G2).

9. The apparatus according to one or more of the preceding claims, characterized in that said assembly (7) comprises a device (22) for uniformly varying the center distance between each pair of said adjacent grip units (10a, 10b).

10. The apparatus according to claim 9, characterized in that said device (22) comprises:- a plurality of arms (23) rotatably coupled to respective said grip units (10a, 10b) and mutually articulated in a pantograph layout,- two actuators (24) configured to impart respective translations to two different said grip units (10a, 10b), transversely to said path.

11. A method for packaging horticultural products (A), performed bymeans of an apparatus (1) according to one or more of the preceding claims, characterized in that it comprises at least the following steps: a. supplying the products (A) to the receiving seats (4), distributed along the laterally adjacent lanes (Gi, G2), according to the alternating distribution, b. conveying along the path the products (A), accommodated in the seats (4) according to the alternating distribution, c. during said step b., acquiring information regarding a first spatial orientation, assumed by each product (A) as it advances along the first portion (Li), d. during said step b., imparting at least one independent rotation to each product (A) as it advances along the second portion (L2), on the basis of the information acquired by the vision system (5) and according to a target spatial orientation, e. picking up one or more first products (A) at a first longitudinal distance (Mi) of the third portion (L3) of the path and one or more second products (A) at a second longitudinal distance (M2) of the third portion (L3) of the path, by means of the first grip units (10a) and the second grip units (10b), respectively, f. depositing each product (A) in the container (B) in the target spatial orientation.

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