FR2987826A1 - Device for grouping of cases of products e.g. fruits, sorted in batches, has grouping robots utilized for placing cases, where trajectory of displacement of each robot is minimized with respect to groups of alignment cases - Google Patents

Abstract

The device has a filling device (18) that is utilized for filling of cases of a product e.g. fruit, sorted in batches. A set of robots (21) is utilized for grouping of the cases filled with the product, where the filled cases are delivered by the filling device. Each group of cases corresponds to a batch of sorted product. Each grouping robot is utilized for placing the cases according to specific alignment. A trajectory of displacement of each robot is minimized with respect to groups of alignment cases. An independent claim is also included for a method for grouping of cases of products sorted in batches.

Description

The invention relates to a device and a method for grouping products, such as fruits or vegetables, sorted into batches, each batch corresponding to 5% of the product. products sorted with the same characteristics with respect to predetermined selection criteria such as weight, size, external appearance, etc. Product sorting devices are already known which form batches of products sorted with the same characteristics, having as output at least one crate filling device from said batches of sorted products. In particular, (see for example US Pat. No. 5,230,394, US Pat. No. 5,280,838 and US Pat. No. 5,626,238), devices for conveying and sorting products comprising at least one product conveying line equipped with at least one analysis station for the products. products according to at least one selection criterion and capable of delivering the products sorted according to these selection criteria into a plurality of adjacent parallel hydraulic channels (for example US 2011203612) for sorting the products, each hydraulic channel receiving a batch of products , the different channels having aligned outlets opening into a discharge channel feeding at least one crate filling device, in particular a hydraulic crating device for crates and / or pallet crates generally referred to as "palox" ( see for example US 7159373). The crates filled with products sorted by each crate filling device are recovered and grouped in batches (in particular waiting for their subsequent packaging) by at least one grouping robot adapted to collect the crates into groups of crates, each group corresponding to one Same batch of sorted products, that is to say products with the same characteristics with respect to the selection criteria. These groups may advantageously be batteries, each grouping robot being adapted to stack the boxes on one another. Until now, the groups of cases are systematically arranged along the outputs of the channels in the same order of the 30 lots as that of the batches delivered by the channels. Now, the inventor has now determined that this traditional way of ordering groups of cases is not optimal. Accordingly, the invention aims to optimize the operation of such a device. More particularly, it aims to increase the operating rate of the device and / or to make it possible to save energy and / or to increase the operating speed of each grouping robot and / or to reduce the number of grouping robots. necessary to treat the same flow of products. To do this, the invention relates to a grouping device 10 of boxes of products sorted in batches, such as fruits or vegetables, comprising: - at least one device for sorting the products according to predetermined selection criteria forming batches of products sorted with the same characteristics vis-à-vis said criteria, and having as output at least one crate filling device from said batches, and at least one grouping robot adapted to gather in groups the crates filled with products delivered by each crate filling device, each group corresponding to the same batch of sorted products, characterized in that each grouping robot is adapted to arrange the crate groups with respect to each crate filling device according to at least one alignment of groups of cases and, for each alignment, so as to minimize the travel path of each grouping robot vis-à-vis is groups of cases of the alignment (that is to say in its movements from each alignment or to each alignment). The invention also extends to a method of grouping boxes of products sorted into batches, such as fruits or vegetables, in which: the products are sorted according to predetermined selection criteria in batches of sorted products of the same characteristics with respect to said criteria, the products of each batch are placed in boxes from batches of sorted products, the boxes of batches of sorted products are collected by at least one grouping robot in groups of the same batches, each group corresponding to the same batch of sorted products, characterized in that the groups of boxes are arranged with respect to each box filling device in at least one alignment of groups of boxes and, for each alignment, so minimizing the path of movement of each grouping robot with respect to the groups of boxes of the alignment. Different variants may be envisaged to minimize the travel path of each grouping robot, in particular according to the characteristics and / or the mode of operation of each sorting device of the products and / or according to the possible or expected variations in the characteristics of the products and / or according to any other functions assigned to the grouping robot (for example feeding at least one crate filling device by empty crates). An alignment of groups of boxes is a succession of 15 groups of boxes arranged in a line, straight or curved. In a device and a method according to the invention, when several distinct alignments of groups of cases are made, the groups of boxes may be arranged to minimize the path of movement of each grouping robot vis-à-vis the set of alignments. Nevertheless, this is not always possible, and according to the invention the path of movement of each grouping robot is minimized at least with respect to the different groups of cases of each alignment. This means that the travel path of each grouping robot is not necessarily minimized when the grouping robot moves from one alignment to another. In the simplest cases, the groups of boxes are arranged in a single alignment, and the path of movement of each grouping robot is minimized with respect to all groups of boxes. Advantageously and according to the invention, each grouping robot is adapted to order the groups of boxes with respect to each box filling device according to at least one quantitative distribution criterion in the batches, and so that, for at least one group of box alignment, the distance of movement of each grouping robot between two passages at a box filling device output via a group of boxes is inversely proportional to the value of the quantitative distribution criterion for this group of cases. Such a quantitative distribution criterion may be predetermined depending on an expected quantity of products in each batch, or on the contrary be determined during the sorting process, in particular by a control unit of the sorting device. Such a quantitative distribution criterion is advantageously representative of a quantity (number and / or weight and / or volume ...) of products for each batch and / or boxes for each group. In particular, advantageously and according to the invention, a quantitative distribution criterion is the number and / or the weight of products in each batch determined by a control unit of at least one product sorting device at the time of sampling. a first box of products by a grouping robot. In a variant, advantageously and according to the invention, a quantitative distribution criterion is the order of arrival of the batches at each crate filling device.

This latter variant is advantageous when the feed of the crate filling device is itself dependent on the filling order of the batches of products sorted by the sorting device, that is to say when the batches are fed at the same time. crate filling device as they are completed by the sorting device.

Furthermore, in a device according to the invention, each grouping robot can be adapted to simultaneously transport a plurality of boxes. Nevertheless, particularly in the case of pallet boxes, advantageously and according to the invention, each grouping robot is adapted to transport a box. In a particularly advantageous embodiment, a device according to the invention is also characterized in that it comprises a sorting device comprising at least one product conveying line provided with at least one product analysis station according to least one selection criterion and able to deliver the products according to these selection criteria in a plurality of adjacent parallel channels for sorting products having aligned outputs and in that each grouping robot is adapted to arrange the different groups of boxes according to minus a straight line of groups of cases extending along the channel outlets. Advantageously and according to the invention said channels are hydraulic channels capable of transporting the products in a hydraulic current maintained in the channels. Furthermore, advantageously and according to the invention each grouping robot is adapted to stack the boxes into stacks, each group consisting of a stack. Each grouping robot is adapted to take a box out of the crate filling device, and transport it to an area in which is formed a group (including a stack) of boxes corresponding to the lot of the crate transported. The invention is applicable to different types of sorting devices and crate-filling devices. Nevertheless, advantageously in a device and a method according to the invention, there is provided a product sorting device in the form of a conveying device products delivering the latter in hydraulic channels, each hydraulic channel receiving the corresponding sorted products 15 to a batch (the products of a batch having the same characteristics vis-à-vis the selection criteria), and a hydraulic box filling device (for example according to US 7159373). The invention also advantageously applies to the case of a single crate filling device and a single stacking robot of the boxes in stacks of batches ordered along at least one straight line of stacks extending along the outlets. hydraulic channels, the distance between each stack and the box filling device being inversely proportional to the number of products in the corresponding batch. The invention also relates to a grouping device and method characterized in combination by all or some of the features mentioned above or below. Other objects, features and advantages of the invention will become apparent on reading the following non-limiting description which refers to the appended figures in which: FIG. 1 is a diagram of an exemplary device according to a first variant embodiment of the invention, FIG. 2 is a flowchart giving an example of sampling the products in the batches; FIG. 3 is a top diagram of an exemplary device according to a second variant; embodiment of the invention, - Figure 4 is a top diagram of an exemplary device according to a second embodiment of the invention. The grouping device according to the invention shown in Figure 1 comprises a calibrator 11 (whose general technical characteristics are known and described for example by US 5230394, US 5280838, US 5626238 ...). Such a calibrator 11 comprises in particular at least one conveying line 14 and at least one item 12 of analysis of the products according to predetermined selection criteria such as weight, size, appearance, color, rate. The calibrator 11 also comprises a plurality of hydraulic discharge channels, extending parallel to one another, next to one another, and generally orthogonal to the conveyor line 14. Each analysis station 12 produces measurement signals representative of at least one such criterion, and transmits them to a control unit 13, which is formed of a computer system. The control unit 13 is adapted to control unloading release members adapted to selectively generate lateral unloading of objects arriving at one of the unloading hydraulic channels. The calibrator 11 thus constitutes a device for sorting the products according to said predetermined selection criteria, forming in the discharge channels, batches of sorted products, each discharge channel receiving products having the same characteristics vis-à- with respect to those criteria. In the example shown, the calibrator 11 comprises ten adjacent discharge channels marked in FIG. 1 successively L I, L 2, L 3, L 4, L 5, L 6, L 7, L 8, L 9, L 10.

The unloading channels 15 deliver the batches of sorted products at their downstream outlet, on order from the control unit 13, in a hydraulic evacuation channel 16 which extends along the different outlets 17 of the different channels 15. unloading. Each outlet 17 of an unloading channel 15 is provided with a door controlled by the control unit 13 in the open position where it lets the products pass through the evacuation channel 16 or in the closed position where it retains the products in the unloading channel 15 allowing the hydraulic flow to pass. The hydraulic discharge channel 16 opens on a device 18 for filling crates having an inlet 19 receiving empty boxes to fill, and an outlet 20 delivering crates each filled with a batch of sorted products. This device 18 for filling boxes is for example a hydraulic filling device crates and / or pallet crates generally referred to as "palox" (whose general technical characteristics are known and described for example by US 7159373). The control unit 13 carries out a count of the discharged products in each unloading channel 15, that is to say a sampling of the products sorted in batches. When an unloading channel 15 has received a predetermined number of products corresponding to a batch intended to fill a box, the unit 13 controls the opening of the door of the outlet 17 of this unloading channel 15 so that the products are delivered in the evacuation channel 16 and reach the device 18 for filling boxes to fill a box. The control unit 13 is adapted to manage the evacuation of batches of products sorted in the various unloading channels in an optimal manner, in particular according to predetermined priority criteria which may include the order in which the batches are formed in the different unloading channels 15 and / or the position of the unloading channel 15 with respect to the box filling device 18. It is sometimes considered useful to evacuate in the first place the unloading channels 15 closest to the crate filling device 18, even if other more distant discharge channels 15 have been filled more quickly.

FIG. 2 represents an example of counting the number of products delivered in each unloading channel that can be obtained by the control unit 13. The grouping device according to the invention further comprises a grouping robot 21 adapted to be able to enter a box issued at the outlet 20 of the device 18 for filling boxes, transport and deposit in a zone 22 of predetermined grouping. The grouping robot 21 is connected to the control unit 13 so that it can be controlled by the latter to deposit each box in the zone 22 of appropriate grouping.

The grouping robot 21 moves autonomously along a rail 23 which extends parallel to the evacuation channel 16 so as to form the alignment of stacks 22 of boxes parallel to the outputs of the channels. It is preferably adapted to stack the boxes into stacks, each group of boxes consisting of a stack of boxes. Thus, the grouping robot 21 preferably comprises a palletizing device comprising a palletizing fork 25 capable of gripping a pallet box at the outlet 20 of the box filling device 18, and a lifting mechanism (not shown) adapted to move the pallet fork 25 and place it at a suitable height to deposit the box carried by the fork 25 on a stack of boxes being formed forming a grouping area 22. Such a grouping robot 21 is for example of the type sold under the ROBOBIN reference by MAF AGROBOTIC, Montauban, France. According to the invention, the grouping robot 21 is adapted to arrange the groups of boxes, with respect to the device 18 for filling boxes, according to an alignment (which is a straight line in the example) of piles 22 of boxes, and in order to minimize the path of movement of this grouping robot 21 to access these stacks 22 of boxes. To do this, the order in which the grouping cells 22 are arranged in alignment with the outlet 20 of the box filling device 18 is determined by the grouping robot 21 and / or by the unit 13 of the box. control so that the traveling distance of the robot 21 grouping between two passages at the outlet 20 of the device 18 for filling boxes is minimized. To do this, advantageously, the order of the stacks 22 is determined according to at least one quantitative distribution criterion in the batches so that the moving distance of the grouping robot between two passages at an outlet 20 of the device 18 filling of crates via a stack 22 is inversely proportional to the value of this quantitative distribution criterion for this stack 22. This quantitative criterion of distribution in batches can be a criterion determined by the control unit 13, on the contrary provided to the latter and / or the grouping robot 21 in the form of an external signal, for example inputted by an operator. This quantitative distribution criterion can be determined by the control unit 13 and / or by the grouping robot 21 at the time of sampling of a first box of products by the grouping robot 21 at the outlet 20 of the device 18 filling crates. It can also be reevaluated at each pickup of a box by the grouping robot 21 at the outlet 20, for a batch for which no grouping zone 22 has been defined yet. This quantitative distribution criterion may be the number and / or weight of products in each batch, as determined by the sampling of the control unit 13. It can also be the number of crates expected in each lot, if this number is previously known. If no specific priority is provided for the evacuation of the unloading channels, the quantitative distribution criterion may simply be the order of arrival of the batches at the box filling device 18. In other words, the box of the first batch filled by the box filling device 18 is placed in the next grouping zone 22, the box of the second batch is placed in the grouping zone 22 immediately after, etc.

FIG. 2 represents an example of sampling that can be obtained by the control unit 13 at the end of the filling of a first box in the box filling device 18. This sampling may be used as quantitative distribution criteria to determine the order in which the stacks of the crates corresponding to the different batches from the different unloading channels will be arranged.

2 9 8 7 8 2 6 10 The different grouping zones 22 in parallel alignment with the channel outputs are shown in FIG. 1P1, P2, P3, P4, P5, P6, P7, P8, P9. P10, in the order of the distance that separates them from the outlet 20 of the box filling device 18, that is to say the distance that the grouping robot 21 must travel to deposit a box on the zone 22 groupage. An example of a distribution order of the batches L1, L2, L3, L4, L5, L6, L7, L8, L9, L10 in these zones to minimize the path of movement of the robot 21 according to the invention in the example of FIG. FIG. 1, in which the grouping robot 21 has no other function than arranging the boxes taken at the outlet 20 of the box filling device 18 on the different zones 22, is given in the following Table I. In the variant of FIG. 3, the grouping robot 21 also has the function of supplying the device 18 for filling crates with a filter. taking an empty crate on at least one stack 24 of empty crates, to deposit it at the inlet 19 of the device 18 for filling crates. This supply is performed at each cycle, that is to say after each deposit of a full box in a grouping area 22. In this case, the optimization of the displacement distance is slightly different, and is represented in FIG.

In the variant of FIG. 4, the device according to the invention comprises two box filling devices 18, each of these devices receiving products from part of the unloading channels. In this variant, the device according to the invention can be provided with a single grouping robot 21 which picks up the boxes as well on one or the other of these two box filling devices 18, alternatively, or according to their order of arrival. Here again, the arrangement of the grouping zones 22 of the different stack of cases is determined so as to minimize the distance of movement of the grouping robot 21. To do this, the majority lots are placed in a grouping zone 22 located between the two box filling devices 18, as shown in FIG. 4. The invention notably makes it possible to considerably increase the production rate of the groups of cases of products. sorted in batches at the output of the sorting device. The invention can be the subject of numerous variants with respect to the variants described above and shown in the figures. In particular, the device may comprise several grouping robots, each grouping robot may be adapted to transport not a single piece, but a plurality of boxes simultaneously and deposit successively or at least partly simultaneously in the grouping areas. Grouping areas are not necessarily stacks but can be formed of either stacks or another form. Each grouping robot can be adapted to perform several alignments, in a straight line or curve, parallel or not between them. For example, a grouping robot may be provided to perform the two parallel alignments on either side of a rectilinear moving rail of this grouping robot. It is also possible to provide at least one buffer zone within an alignment so as to facilitate the management of the different groups of boxes of the different alignments ...

Claims (2)

CLAIMS1 / - Device for grouping boxes of products sorted in batches, such as fruits or vegetables, comprising: - at least one device (11) for sorting the products according to five predetermined selection criteria forming batches of products sorted by same characteristics vis-à-vis said criteria, and comprising at the output at least one device (18) for filling boxes from said batches, - and at least one robot (21) grouping adapted to gather in groups the boxes filled with products delivered by each box filling device (18), each group corresponding to the same batch of sorted products, characterized in that each grouping robot (21) is adapted to arrange the groups of boxes with respect to each device ( 18) for filling crates in at least one crate group alignment and, for each alignment, so as to minimize the path of movement of each robot (21) of gro upage vis-à-vis the groups of boxes of the alignment. 2 / - Device according to claim 1, characterized in that each robot (21) grouping is adapted to order the groups of cases with respect to each device (18) for filling boxes according to at least one quantitative criterion in the batches, and such that, for at least one group of crate alignment, the movement distance of each robot (21) for grouping between two passages at an outlet (20) of the filling device (18) of cases via a group of cases is inversely proportional to the value of the quantitative distribution criterion for this group of cases. 3 / - Device according to claim 2, characterized in that at least one sorting device comprises a control unit (13) adapted to determine the number and / or weight of products in each batch, and in that a quantitative distribution criterion is the number and / or weight of products in each batch determined by said control unit (13) at the time of sampling of a first box of products by a grouping robot (21). . 2/8 7 8 2 6 13 4 / - Device according to claim 2, characterized in that a quantitative distribution criterion is the order of arrival of the batches to each device (18) for filling boxes. 5 / - Device according to one of claims 1 to 4, characterized in that it comprises a sorting device comprising at least one line (14) for conveying the products provided with at least one station (12) d ' analyzing the products according to at least one selection criterion and able to deliver the products according to these selection criteria in a plurality of adjacent parallel channels (15) for sorting the products having aligned outlets (17) and in that each robot 10 ( 21) is adapted to arrange the different groups of cases in at least one straight line of groups of boxes extending along the outputs (17) of the channels (15). 6 / - Device according to one of claims 1 to 5, characterized in that each robot (21) grouping is adapted to stack the 15 boxes in stacks, each group consisting of a stack. 7 / - Method of grouping boxes of products sorted in batches, such as fruits or vegetables, in which: the products are sorted according to predetermined selection criteria in batches of products sorted with the same characteristics vis-à-vis said 20 criteria, - the products of each batch are placed in boxes from batches of sorted products, - the cases of batches of sorted products are collected by at least one robot (21) for grouping into groups of the same batches, each group corresponding to the same batch of sorted products, characterized in that the groups of cases are arranged with respect to each crate-filling device (18) according to at least one group of crate alignment and, for each alignment, so as to minimizing the path of movement of each robot (21) grouping vis-a-vis groups of boxes of the alignment. 8. The method as claimed in claim 7, characterized in that each robot (21) for grouping is adapted to order the groups of boxes relative to each box filling device (18) according to at least one quantitative criterion of distribution in the batches, and such that, for at least one group of crate alignment, the movement distance of each robot (21) grouping between two passages to an outlet (20) of the filling device (18). cases via a group of cases is inversely proportional to the value of the quantitative distribution criterion for this group of cases. 9 / - Method according to claim 8, characterized in that a quantitative distribution criterion is the number and / or weight of products in each batch determined by a control unit (13) of at least one device (11). sorting products at the time of sampling a first box of products by a robot (21) grouping. 10 / - Method according to claim 8, characterized in that a quantitative distribution criterion is the order of arrival of the batches to each device (18) for filling boxes. 11 / - Method according to one of claims 7 to 10, characterized in that each robot (21) grouping is adapted to arrange the different groups of boxes in at least one straight line of groups of boxes extending along the outputs (17) of the channels (15). 12 / - Method according to one of claims 7 to 11, 20 characterized in that each robot (21) grouping is adapted to stack the boxes in stacks, each group of boxes consisting of a stack.