NL2022386B1

NL2022386B1 - Apparatus and Method for Supplying and Transporting Objects

Info

Publication number: NL2022386B1
Application number: NL2022386A
Authority: NL
Inventors: Struijk Wim; Van Der El Wim; Wagner Andrew
Original assignee: Ig Specials B V
Priority date: 2019-01-11
Filing date: 2019-01-11
Publication date: 2020-08-13
Also published as: EP3908542A1; WO2020144318A1

Abstract

There is discussed an object supply system comprising: an elongate transport- conveyor comprising an obj ect-carrying volume through which objects are to be compelled; a plurality of spaced interference-flights adjacent to and intruding into said obj ect-carrying volume; a obj ect-feeder arranged to supply objects laterally to the elongate transport-conveyor. The apparatus and implementing method are able to provide a regulated, spaced supply of objects.

Description

Apparatus and Method for Supplying and Transporting Objects Field of the invention The invention relates to an apparatus for supplying objects; to an apparatus for supplying and transporting objects; to a method for supplying objects, and to a method of supplying and transporting objects.

Background of the invention Modern handling processes, such as manufacturing processes, packing processes, object (quality) control analysis, and other processes in general, often require that discrete objects are transported from a bulk supply to a handling, analysis or processing station.

Such objects may concern packaged goods; packaging materials; component parts of larger constructs to be assembled; plant materials; or any consumer goods in general.

It may be a requirement of some processes that objects (starting materials for the process) are provided in a particular manner to allow efficiency and/or automation of an operation.

Discrete items such as flower bulbs, fruits (apples, oranges, kiwis, tomatoes etc.), vegetables (onions, garlic bulbs, aubergines, turnips, etc.), packaging materials (containers, caps, cartons, sheet goods etc.) may benefit from a handling system which enables the provision of the discrete objects with a regular, predetermined spacing between objects.

An apparatus which can consistently provide objects at a predetermined spacing may be desirable.

Downstream processes for plant materials such as flower bulbs, fruits and vegetable may be usefully provided in a spaced manner for automated picking for packaging (e.g. with a particular orientation) or for planting (e.g. with a particular orientation.

An example of a relevant pick and plant operation and apparatus for flower bulbs, for combination with the present invention is discussed in copending Dutch patent application NL2020742, the content of which is incorporated herein in its entirety by way of reference.

In particular, the picking and placing discussed therein may benefit from a handling system that provides bulbs with a predetermined spacing and/or alignment upon a transport device (e.g. conveyor). A spaced supply of objects, such as flower bulbs, fruits and/or vegetables may also advantageously allow better (automated) quality control analysis of individual items, e.g. by x-ray or any other analysis technique.

In the common course of events, flower bulbs, or other objects as discussed for example above, may be supplied loose in large crates or boxes. When the objects are manually picked and placed, they may be spread across a picking surface or conveyor from which workers can pick the objects. For automated picking systems and methods using camera imaging for identification and robot arm mounted grippers; or for supplies to a restricted surface area for picking by a worker; a more structured supply may be desirable. In particular, a controlled separation and distribution of the objects to be picked may be advantageous to improve accuracy and/or efficiency.

The present invention is concerned with addressing one or more the above concerns, and with providing further useful devices and methods for supplying and transporting objects, while at the same time maintaining high levels of effectiveness and efficiency.

Summary of the invention In an aspect of the invention there is provided an object supply system comprising: an elongate transport-conveyor comprising an object-carrying volume through which objects are to be compelled; a plurality of spaced interference-flights adjacent to and intruding into said object-carrying volume; an object-feeder arranged to supply objects laterally to the elongate transport- conveyor. In another aspect of the invention there is provided a method for transporting discrete objects along a path, the method comprising the steps of: a. providing a plurality of spaced interference-flights adjacent to and intruding into an object-carrying volume of an elongate transport-conveyor; b. supplying objects into intra-flight volumes; c. transporting the objects of step b. along the transport conveyor.

The present invention concerns most preferably broadly ovoid, cylindrical and/or spherical objects. Preferably the discrete items are flower bulbs, fruits (apples, oranges, kiwis, tomatoes etc.), vegetables (onions, garlic bulbs, aubergines, turnips, etc.). Most preferably the discrete items are flower bulbs.

The object-feeder preferably simultaneously supplies a plurality of objects laterally to the elongate transport-conveyor, preferably simultaneously loading objects into a plurality or series of intra-flight volumes.

The elongate transport-conveyor compels and transports objects through an object carrying volume. The objects may be compelled via interaction with a moving conveying element, or via gravity induced conveyance such as when the elongate transport-conveyor is a slope with suitably low friction, and/or vibrated or shaken. A moving conveying element is preferably a conveyor belt, preferably an endless loop conveyor belt. Other conveying elements may comprise a table—top, linked chain, moving fluid (e.g. air conveying). In any of these embodiments, the objects may proceed through the object space at a velocity equal to or less than the full compelled velocity.

The objects may slide or slip along one or more support elements of the transport-conveyor and may preferably proceed at a velocity equal to or less than a velocity of the transport-conveyor or its carrying elements.

Preferably the interference-flights are attached to a common flight carrier element arranged to compel the interference flights through the object-carrying volume. The plurality of flights may be disposed at regular intervals upon a carrier belt or chain, and be compelled to traverse a closed path. The spacing is substantially maintained as the flights are compelled to follow the closed path. The flights proceed along the path from an upstream direction to a downstream direction.

The flights interfere with the object carrying volume of the transport-conveyor, dividing the object carrying volume into a series of discrete, intra-flight volumes proceeding from upstream toward the downstream direction. The flights are spaced to create intra-flight spaces at least large enough to accommodate the objects to be transported.

The flights may extend from the flight carrying element in any orientation suitable to the objects being transported. In one embodiment, the flights extend horizontally from a substantially vertical flight carrying belt, e.g. perpendicular to a horizontal object transport-conveyor (see figure 10 to 15 below). In another embodiment, the flights may extend vertically from a substantially horizontal flight carrying element e.g. parallel to a horizontal object transport-conveyor.

In use, each flight transitions repeatedly between a non-interfering position with respect to the object-carrying volume of the transport conveyor, and aninterfering position with respect to the object-carrying volume, as it moves along its fixed path.

The flights are constrained to move along the variable path, preferably at a fixed speed.

The conveyance speed of the flights is preferably different (i.e. faster or slower than) to the conveyance speed of the transport conveyor.

The speed of the flights is preferably less than the object transport speed of the transport conveyor. The objects captured in the intra-flight volumes then come into abutment with a downstream flight’s rear surface and slip with respect to the transport conveyor. Preferably one or more of the interference-flights are shaped on at least a rear side thereof to cup or cradle objects within the object-carrying volume. The cupping or cradling can lead to positioning of the object laterally within the object-carrying volume. This is aided by the faster running transport conveyor pushing the object into engagement with the rear-side of its downstream flight.

The objects proceed from the flighted portion of the transport-conveyor, with even spacing, to the downstream operations.

The fixed speed of the flights may be greater than the object transport speed of the transport conveyor . The object captured in the intra-flight volumes then come into abutment with an upstream flight’s front surface and slip with respect to the transport conveyor, i.e. are pushed over the slower moving transport conveyor. In this exmaple, preferably one or more of the interference-flights are shaped on at least a front side thereof to cup or cradle object within the object-carrying volume. The cupping or cradling can lead to positioning of the object laterally within the object-carrying volume. This is aided by the faster running flights collecting the object into engagement with its front side.

The velocity of the flights and the transport-conveyor are preferably independently variable and controlled. The relative velocity of the flights and the transport-conveyor can be altered to achieve desired spacing of the objects as they are released toward the picking zone.

In preferred use, objects are compelled to move through an object-carrying volume located adjacent to and above the transport conveyor. One or more interference-flights (acting as object capture elements) are disposed and moved alonga constrained path such that they intrude (at least temporarily) into the object-carrying volume.

Preferably, the flights above the conveyor travel at a different speed to the conveyor itself, so that the object are moved into contact with the flights. In a 5 preferred embodiment the flights are shaped to cup an object such that is partially held or encouraged to a particular transverse position on the conveyor. The flights may be concave, cupped or angled with a recess to catch an object and motivate it into a transverse alignment, possibly a central alignment on the conveyor.

Preferably the conveyor runs faster than the flights, such that the objects on the conveyor are brought into contact with the flights from behind in the direction of transport, and flights are shaped to cup an object on a rear surface.

An object-feeder is arranged to supply objects laterally to the elongate transport-conveyor. The object-feeder preferably comprises a supply tray comprising a series of, preferably generally parallel, supply lanes, which supply lanes compel objects carried by them towards the elongate transport-conveyor. The supply lanes may be any kind of actively driven conveyor; passive (gravity) based conveyor; or a combination of both. Preferably the supply lanes are sloped and compel the objects by gravity. Alternatively or in additionally, the object-feeder may be vibrated or shaken to encourage movement of the objects along the supply lanes.

An operable barrier may be provided to selectively control passage of objects from the supply lanes to the elongate transport-conveyor. The operable barrier is preferably provided with a first moveable barrier and a shift-barrier adjacent and upstream of the first moveable barrier.

The first moveable barrier acts to block passage of objects from the supply lanes to the elongate transport-conveyor, and can be moved from a blocking position to a release position. The movement may conveniently be a reciprocal vertical retraction and extension into the path of the supply lanes.

The shift-barnier is upstream and adjacent to the first moveable barrier. It has an upper surface upon which an object is able to temporarily rest when the shift- barrier is in a retracted position. The upper surface preferably extends at least 1 cm, preferably 2 cm in the direction of the supply lanes. The upper surface preferably extends maximally 10 cm, preferably 5 cm in the direction of the supply lanes.

Upon actuation of the operable barrier, the first moveable barrier and shift- barrier cycle through blocking and release positions to supply, preferably just one,

object per supply lane to the elongate transport-conveyor. In a first blocking position, the first moveable barrier is extended blocking the supply lanes, while the shift-barrier is retracted so that a object from a supply lane may rest upon its upper surface (the upper surface extends in the direction of the supply lane to provide a temporary object-seat). In an object release position, the first moveable barrier is retracted so that it no longer blocks the supply lanes, and the shift-barrier is raised or otherwise moved to propel the object onto the elongate transport-conveyor. In this respect, the shift- barrier upper surface is preferably angled to propel an object toward the transport conveyor.

In a preferred embodiment, one or more return-conveyors may be provided adjacent one or more of the supply lanes. In the event the supply chutes (linear feeders) supply too many objects, or an object is misaligned, the excess misaligned objects shift to the return-conveyor and are transported by the return conveyor to an input of the linear chutes/feeder(s).

An object sensor may be disposed to detect the presence or absence of objects within one or more volumes between the spaced interference-flights, and insertion of objects to the object carrying volume may be done in registration with one or more empty compartments between the interference-tlights.

In another aspect a method is provided for transporting discrete objects along a path, the method characterized by comprising steps of: a. providing a plurality of spaced interference-flights adjacent to and intruding into a object-carrying volume of an elongate transport-conveyor; b. supplying objects into intra-flight volumes; c. transporting the objects of step b. along the transport conveyor.

Preferably the objects are fed substantially laterally to the elongate transport conveyor, that is, to one or more of the lateral sides thereof. This may be done from any vertical angle.

The method preferably further includes the step of transporting the objects to a downstream object handling or analysis system.

The interference-flights are preferably compelled more slowly than the transport conveyor.

The supply system and method as described so supply objects on a linear feeder, dropping them one by one into intra-flight volumes of a second conveyor, which in turn coveys a single-file, spaced line of objects to a picking area. A single-

file, regularly spaced line of objects allows for a relatively easy identification and pick up of an object by either a worker or a robot arm picker; and maintains regularity in supply for efficiency.

The apparatus for comprise a computer system comprising a processor with peripherals to enable operation of a method of supplying and transporting as described above. The processor may be connected with one or more memory units which are arranged for storing instructions and data, one or more reading units, one or more input devices, such as a keyboard, touch screen, or mouse, and one or more output devices, for example a monitor. Further, a network Input/Output (I/0) device may be provided for a connection to the networks.

The processor may comprise several processing units functioning in parallel or controlled by one main processor, that may be located remotely from one another, possibly distributed over the local area network, as is known to persons skilled in the art. The functionality of the present invention may be accomplished by a combination of hardware and software components. Hardware components, either analogue or digital, may be present within the processor or may be present as separate circuits which are interfaced with the processor. Further it will be appreciated by persons skilled in the art that software components that are executable by the processor may be present in a memory region of the processor.

Embodiments of the method may be stored on a computer readable medium, for example a DVD or USB-stick, for performing, when executed by the processor within the object placement apparatus, embodiments of the method. The stored data may take the form of a computer program, which computer program is programmed to implement an embodiment of the method when executed by the computer system after loading the computer program from the computer readable medium into the computer system.

Brief description of the drawings Various aspects of the invention will be further explained with reference to embodiments shown in the drawings wherein: FIG. 1 shows a perspective view of a hydroponics tray filled with upright bulbs; FIG. 2 shows a perspective view of a hydroponics crate filled with upright bulbs;

FIGS. 3A-D show an apparatus for picking and placing bulbs into hydroponic trays or crates; FIGs.4A and 4B show an apparatus provided with a bulb supply system, figure 4A is a perspective view, and figure 4B is a plan view; FIGs.5A, 5B and 5C show the bulb supply system of FIGs. 4A and 4B in plan view, perspective view, and plan view respectively; FIG.6 shows a bulb spacer comprising interference flights upon a common flight carrier, as also provided in figures 4 to 6; FIGs.7A and 7B show a lateral feeder for feeding individual bulbs laterally into intra- flight volumes; FIGs.8A, 8B, and 8C show the bulb supply system in use feeding individual bulbs laterally into intra-flight volumes; and F1Gs.9A to 9B show the bulb supply system in use feeding individual bulbs laterally into intra-flight volumes.

Description of illustrative embodiments The following is a description of various embodiments of the invention, given by way of example only and with reference to the drawings.

FIG. 1 shows a perspective view of a hydroponic tray 4 filled with upright bulbs 2. The bulbs 2 are impaled upon upright pins (not shown) as is known in the art. The bulbs 2 may be forced to bloom by hydroponics when in such a tray 4. In order to give reasonable consistency in the height of eventual blooms, the bulbs 2 are upright and vertically oriented.

FI1G.2 shows a perspective view of a hydroponic crate 6 filled with upright bulbs 2. The crate 6 is an alternative to tray 4.

FIG.3 shows an apparatus 8 of picking and placing bulbs into hydroponic trays

4. The apparatus is provided with a bulb supply conveyor in the form of a single-file conveyor belt 10, upon which bulbs 2 are supplied to a picking-zone of a pick-and- place head 12 carried by robot arm 14. The conveyor belt 10 may be any type of conveyor belt, for example a continuous loop conveyor belt. Alternatives to conveyor belts are known and may be used, for example, a line of rotating friction surfaces or brushes that propel a bulb 2 lying atop of them.

For efficiency and accuracy of picking an bulb analysis, it is beneficial if the bulbs 2 are regularly spaced upon the conveyor 10.

The bulbs 2 may be bulbs of any sort, and may include bulbs 2 that are already sprouting. A bulb is a roughly ovoid object, although there is much variation. While bulbs are illustrated, the apparatus and method may be broadly applied to other discrete objections requiring spaced supply, examples including other plant materials, fruits, vegetables, etc.

The shown bulbs 2 supply surface 10 is horizontal, and this provides for a stable distribution of the bulbs over the surface. Supply surfaces angled slightly from horizontal are possible and may still provide a stable distribution, but are not preferred.

The apparatus is further provided with a tray 4 or crate 6 supply system in the form of conveyor belt upon which trays 4 or crates 6 are supplied to an impalement zone. The conveyor belt may be any type of conveyor belt, for example a continuous loop conveyor belt.

The apparatus further comprises a camera system 22 (shown in figure 3D) for identifying the position and orientation of individual bulbs 2. The camera system 22 comprises one or more cameras. Based on images obtained with the one or more cameras, bulb 2 position and orientation are identified using pattern recognition techniques.

The apparatus further comprises a pick-and-place head 12. The pick-and-place head 12 is communicatively coupled to the camera system 22. The pick-and-place head 12 is arranged for picking up bulbs 2 identified by the camera system 22, reorienting them, and (eventually) resulting in their placement in a tray or crate.

The bulb supply system 1000 is illustrated in figures 4 to 9, and comprises a supply tray 1002 and a bulb spacer 1016.

As can be seen in figures 11, 13 and 14, the supply tray 1002 comprises a series of bulb supply lanes 1004. The supply lanes 1004 are preferably parallel, and are gravity driven chutes or slides along which bulbs 2 can fall in single-file toward the single-file conveyor belt 10. Supply tray 1002 may be vibrated or shaken to motivate the bulbs 2 along the supply chutes 1004. As can be seen in figure 11B, the lateral supply tray 1002 is angled downwardly toward the single-file conveyor belt 10.

The supply tray 1002 supplies bulbs generally laterally to the single-file conveyor 10 along direction Y in figures 11C and 14A; that is, to a side thereof of the single-file conveyor 10, rather than to an end.

The supply tray 1002 is further provided with an operable end barrier 1006, operable to selectively block or release/supply individual bulbs 2 per supply lane 1004 to the single-file conveyor 10. A more detailed discussion is provided in relation to figures 13 to 15.

The bulb supply system 1000 is further provided with a bulb spacer 1016, which as can be seen in figures 5, 6 and 8 has a flight carrier 1018, preferably in the form of a continuous belt of chain, that carries a plurality of spaced interference flights 1020.

The interference flights 1020 extend into, and interfere with, the volume of space above the single-file conveyor 10. That is, they interfere in the bulb carrying volume of the transport-conveyor 10. In this way a series of discrete bulb carrying volumes are formed by the intra-flight volumes 1022. The flights 1020 are spaced to create intra-flight volumes 1022 large enough to accommodate the bulbs 2 supplied by the supply tray 1002.

The interference flights 1020 are compelled by the flight carrier 1018 through the bulb-carrying volume above the single-file conveyor 10. The flight carrier 1018 is propelled in direction Z shown in figures 5.

When in the bulb-carrying volume, the interference flights 1020 are compelled in the same direction as the single-file conveyor 10, namely in the direction of arrow X in figures 5 and 7. Preferably, however, the interference flights 1020 proceed more slowly than the single-file conveyor 10 such that the bulbs 2 on the single-file conveyor 10 tend to gain or catch-up with the rear side 1024 of the interference flights 1020 prior to their passage to the picking zone. In this manner, the bulbs 2 are given a regular spacing in accordance with a rear surface of the interference flights 1020. While in contact with the rear side 1024 the bulbs 2 will tend to slide or slip over the conveyor 10 which then travels faster than them.

As can be seen in figures 5 through 9, especially figures 5 to 6, the interference flights 1018 may be advantageously contoured on their rear side 1024 to cup bulbs 2 as the bulbs 2 come into abutment therewith. This advantageously aids in shifting the bulbs 2 to a desired transverse position on the single-file conveyer 10, typically to a middle-line of the conveyor 10 in the direction of travel.

Referring to figures 7A and 7B, the supply tray 1002 is shown in greater detail, in particular the operable barrier 1006 for selective release of bulbs 2 supply lanes 1004 to the single-file conveyor 10.

The barrier 1006 comprises a moveable divider 1008 and a moveable divider- shifter 1010 upstream of the divider 1008. The divider 1008 and divider-shifter 1010 are reciprocally lowered or raised to either block or allow passage of a bulb 2 toward the conveyor 10.

A process of selectively supplying a single bulb 2 from each supply lane 1004 is illustrated in figures 8A to 8C. In figure 8A, the barrier 1008 is raised blocking passage of bulbs 2 in the direction of the conveyor 10. The shift barrier 1010 is lowered allowing a bulb 2 from each of the supply lanes 1004 to move onto its upper surface 1012 under gravity. In figure 8A, the intra-flight volumes 1022 are empty, and supply of bulbs 2 to those volumes can proceed.

In figure 14B, following figure 8A, the barrier 1008 is lowered allowing passage of bulbs 2 in the direction of the conveyor 10 through v-shaped recesses in its upper profile. The shift barrier 1010 1s raised, blocking the supply lanes 1004, but shifting the bulb 2 upon its upper surface upwards and towards the conveyor 10 such that it clears the barrier 1008. The upper surface of the shift barrier 1010 is preferably angled toward the conveyor 10 to propel the bulbs 2 in the direction Y toward the conveyor 10.

In figure 8C the bulbs 2 have entered the intra-flight volumes 1022 and are transported in direction X toward the picking zone. The barrier 1008 is re-raised, the shift-barrier 1010 is lowered, and as the bulbs 2 are transported away, empty intra- flight volumes are again brought into registration with the supply lanes 1004 to again arrive at the status of figure 8A.

The barrier 1008 and barrier-shifter 1010 have a generally serrated upper profile, with spacing or recesses allowing passage of bulbs 2. The serrated profile may aid in maintaining alignment and position of the bulbs 2 passing the operable barrier

1006.

Figures 9A and 9B further illustrate the process discussed and shown for figures 8A to 8C.

Referring to figures 7 and 9, the supply tray 1002 is further provided with a series of return transports in the form of return conveyors 1030 running in the -Y direction away from the single-file conveyor 10. The return conveyors 1030 collectand recover excess bulbs 2 or detritus that overflows the supply lanes 1004 or may otherwise collect at the operable barrier 1006, ensuring free operation of the barrier mechanism, and individual bulb supply.

The invention has been described by reference to certain embodimentsdiscussed above.

It will be recognized that these embodiments are susceptible to various modifications and alternative forms well known to those of skill in the art without departing from the spirit and scope of the invention.

Accordingly, although specific embodiments have been described, these are examples only and are not limiting upon the scope of the invention, which is defined in the accompanyingclaims.

Claims

Conclusions

An object supply system, comprising: an elongated conveyor belt comprising an object carrying volume for passing objects through; a plurality of separated barrier blades adjacent and intruding into said object-carrying volume; an object supply adapted to supply objects laterally to the elongate conveyor belt.

The object delivery system of claim 1, wherein the boundary blades are attached to a common blade support member adapted to feed the boundary blades through the object carrying volume.

The object delivery system of claim 1 or 2, wherein the blades delimit with the object carrying volume of the elongated conveyor, the object carrying volume being divided from upstream to downstream into a series of discrete intra-blade volumes.

The object feeding system of any of claims 1-3, further comprising a controller, wherein relative speeds of the blades and the conveyor are different from each other.

The object feeding system of any of claims 1-4, wherein the speed of the blades is less than the speed of the conveyor.

The object delivery system of any of claims 1 to 5, wherein at least one back of one or more boundary blades is cup or tray shaped to receive objects.

The object supply system of any one of claims 1 to 6, wherein the speed of the blades and the conveyor belt are independently variable.

The object supply system of any one of claims 1-7, wherein the object supply is configured to supply objects sideways to the elongated conveyor belt.

The object supply system of any one of claims 1 to 8, wherein the object supply comprises a supply tray which includes a series of supply strips, the supply strips carrying and propelling objects towards the elongated conveyor belt.

The object supply system of any of claims 1-9, further comprising an operational barrier for selectively controlling the passage of objects from the supply tray to the elongated conveyor.

The object delivery system of any one of claims 1-10, wherein the operational barrier preferably includes a first movable barrier and a sliding barrier adjacent and upstream of the first movable barrier.

The object delivery system of claim 11 wherein the sliding barrier has a top surface on which an object can rest temporarily when the sliding barrier is in a retracted position.

The object delivery system of claim 12, wherein the top surface of the sliding barrier is deflected to propel an object toward the conveyor belt.

The object supply system of any of claims 1-13, further comprising one or more return bands adjacent the supply strips.

A method of transporting discrete objects along a path, the method comprising the steps of: a. Providing a plurality of separated barrier blades adjacent to and penetrating an object-carrying volume of an elongated conveyor belt; b. supplying objects in intra-sheet volumes; c. transporting objects according to step b, over the conveyor belt.

The method of claim 15, where the objects are fed substantially laterally to the elongated conveyor.

The method of claim 15 or 16, wherein the boundary blades are preferably slower than the conveyor.

The method of any of claims 15-17, wherein the conveyor is a single conveyor for conveying objects.

The method according to any of claims 15-18, wherein the method further comprises the step of transporting objects to a downstream object handling system, preferably wherein the downstream object handling system is a flower grab and place device.