US3292341A - Orienting and packing apparatus - Google Patents

Description

Dec. 20, 1966 J. D. FROST 3,292,341

ORIENTING AND PACKING APPARATUS Filed Aug. 27, 1963' 10 Sheets-Sheet l JAMES D. FROST INVENTOI? I ATTORNEYS Dec. 20, 1966 J. D. FROST ORIENTING AND PACKING APPARATUS l0 Sheets-Sheet 2 Filed Aug. 27. 1963 JAMES 0. FROST uvvslvrofi W *M ATTORNEKS g X J jK/g m2 2 Q 5 3d mm 3 l g Fbm LQ N 6 5% \M& n n,

Dec. 20, 1966 J. D. FROST ORIENTING AND PACKING APPARATUS 10 Sheets-Sheet 5 Filed Aug. 27, 1963 JAMES D. FROST IN V5 N 70/? rm Dec. 20, 1966 J. D. FROST ORIENTING AND PACKING APPARATUS l0 Sheets-Sheet 4 Filed Aug. 27, 1963 JAMES 0. FROS7 IN VE N T05 MW fjv w 34/ SECHON 5-5 A TTOPNEKS Dec. 20, 1966 J. D. FROST 3,292,341

ORIENTING AND PACKING APPARATUS Filed Aug. 27, 1963 10 Sheets-Sheet 5 59 /8x og gqlrgg ls snmcmxs 207A 45 4 I8 I INVENTOR m Maw A TTORNEKS JAMES D. FROST Dec. 20, 1966 V J. D. FROST 3,292,341

ORIENTING AND PACKING APPARATUS Filed Aug. 27, 1963 10 Sheets-Sheet 7 A M" r I K/ HI QM lOR B-PACKVPOSITION J E0 F6. 26

If /0 /77 1/93 J Q 7 7-76.27. 4 JAMES 0. mos? I INVENTOE 1 MW 7 A TTORNEVJ Dec. 20, 1966 J. D. FROST ORIENTING AND PACKING APPARATUS l0 Sheets-Sheet 8 Filed Aug. 27, 1963 JAMES D. FROST (NI/ENTO/f W TM ATTORNEYS Dec. 20, 1966 J. D. FROST ORIENTING AND PACKING APPARATUS l0 Sheets-Sheet 9 7 Filed Aug. 27. 1963 A 77'ORNEK9 52mm 02.30 aokm J. D. FROST 3,292,341

ORIENTING AND PACKING APPARATUS l0 Sheets-Sheet l0 Dec. 20, 1966 Filed Aug. 27. 1963 United States Patent 3,292,341 GRIENTING AND PACKING APPARATUS James D. Frost, P.O. Box 775, Porterviile, Calif. 93257 Filed Aug. 27, 1963, Ser. No. 304,824 21 Claims. (Cl. 53--61) This invention relates to apparatus for arranging substantially uniform articles in a predetermined relationship and depositing such articles in a receiving container while maintaining said relationship. The invent-ion provides individual means to perform separate measures in accomplishing the overall objective of packing such articles in a receiving container in predetermined ordered arrangement, and also includes interlock means to insure the successive performance of such measures in accordance with a predetermined schedule.

To effect a maximum utilization of the internal volume of packing containers, many types of articles are advantageously arranged in a predetermined order to accommodate such utilization. In addition, the inherent characteristics of the articles require a predetermined order of arrangement in the packing container to preclude shifting of the articles after packing therein. Otherwise, such shifting, particularly during transit, causes damage to the articles. This is particularly true in the case of fresh fruits, the arranging and packing of which are ably performed by apparatus of the present invention.

The present invention is particularly well suited for the arranging and packing of fresh fruit which is capable of being graded according to size prior to shipment. For purposes of convenient illustration, the present invention is described in the connection with the arranging and packing of fresh oranges it being understood that the invention is equally well-suited to other types of substantially uniform articles to be packed in a predetermined arrangement.

Heretofore, the majority of fresh organges packed in containers for shipment to geographical locations removed from the growing area have been manually packed. Such packing is predominantly performed by temporarily employed agricultural laborers, many of whom are considered of the migratory type in that successive temporary periods of employment involves successive movements from one geographical area to another in which the crop then being harvested has been grown. Althoughv the performance of such workers is normally satisfactory, it will be appreciated that non-uniform results are achieved, due to personal differences in such workers. In addition, considerable cost is incurred in their recruiting and training, and unfortunately, such personnel are sometimes totally unavailable during a short, but critical, harvesting period.

The cost of manually packaging oranges, as well as other types of articles wherein the units of the type are substantially uniform, normally represents a disproportionate share of the total cost of producing and preparing such articles for shipment. Therefore, a need has also existed for apparatus which can perform equivalent, or superior, packing at a cost substantially less than that of manual packing. To effect such efficient packing, means must be provided for sequentially pre-orienting the articles, transporting the articles to the shipping container, and depositing the articles therein. Power means employed to perform such sequential steps of operation must be controlled to effect the successive performance of such steps. Such a control should ideally include an interlock to prevent any single step from being performed in a non-sequential order.

Accordingly, it is an object of the present invention to provide apparatus adapted to perform a completely auto,- mated packing of substantially uniform articles.

Another object is to provide packing apparatus adapted to perform the sequential operations of arranging a plurality of such articles in a predetermined order and packing such articles in a receiving container while maintaining said order.

Another object of the invention is to provide a pickup means which is specifically adapted for gripping a plurality of substantially uniform articles arranged in a predetermined order.

Anot-her object is to provide in a completely automated packing apparatus a control system to insure the sequential successive steps of arranging such articles in a predetermined order, gripping the articles and transporting them to a packing container, and depositing said articles in the container while maintaining their predetermined order of arrangement.

These, together with other objects, will become more fully apparent upon reference to the following description and accompanying drawings.

In the drawings:

FIG. 1 is 'a top plan view of packing apparatus embodying the principles of the present invention and includes a supply means for the articles to be packed and a supply of packing containers in which the articles are to be deposited in predetermined quantities and a predetermined order of arrangement.

FIG. 2 is a view in side elevation, partly in vertical sect-ion, of the apparatus shown in FIG. 1, portions thereof being shown schematically.

FIG. 3 is an enlarged fragmentary view in horizontal section taken on line 33 of FIG. 2, portions of the power means and control therefor being shown schematically.

FIG. 4 is a view in longitudinal vertical section taken on line 4-4 of FIG. 3.

FIG. 5 is a fragmentary view in transverse vertical section taken at a plane represented by the line 5-5 of FIG. 3.

FIG. 6 is a fragmentary view in side elevation of one of the pickup heads employed in the present invention and showing the individual gripping fingers holding a plurality of the articles to be packed.

FIG. 7 is a. fragmentary bottom plan view of the pickup head of FIG. 6.

FIG. 8 is an enlarged perspective view of the rigid members of one of the gripping fingers provided on each pickup head at each. corner thereof.

FIG. 9 is like FIG. 8 showing the complete finger, including the expansible member thereof.

FIG. 10 is a view in horizontal section taken on line 1010 of FIG. 9.

FIG. 11 is an enlarged perspective view of the rigid member of one of the lateral gripping fingers.

FIG. 12 is like FIG. 11 showing the complete finger structure, including the expansible member thereof.

FIG. 13 is a view in horizontal section taken on line 1313 of FIG. 12.

FIG. 14 is a perspective view of one of the intermediate gripping fingers of the pickup heads.

FIG. 15 is a view in horizontal section taken on line 15-15 of FIG. 14.

FIG. 16 is an enlarged fragmentary view in vertical longitudinal section of one of the movable stops mounted in the orienting station provided in the apparatus.

FIG. 17 is a composite view at a reduced scale in longitudinal vertical section similar to FIG. 4 but somewhat schematic and partly in vertical transverse section taken on line A-A of FIG. 17, showing the supply gate at the terminal portion of its closing cycle and with the charging station filled with articles.

FIG. 18 is like FIG. 17, portions of the control circuitry being shown schematically, with the supply gate a being shown in a closed position and the admission gate in raised position to permit the articles to move from the charging station to the orienting station, section B-B being taken in a vertical transverse plane therethrough.

FIG. 19 is similar to FIG. 18 but shows the admission gate in a closed position and blocking communication between the supply chute and the orienting station, and showing the supply gate in a raised open position so as to permit a new charge of articles to be admitted to the charging station.

FIG. 20 is a fragmentary view in side elevation, and schematically showing a portion of the control circuit for the separate power means to effect initial longitudinal squeezing movement of the articles in the orienting station preparatory to assuming a predetermined order of arrangement, as well as the detecting circuitry to sense completion of this step.

FIG. 21 is similar to FIG. 20 but in front elevation showing a pickup head rotated to a READY position and lowered to grip the articles resting in the orienting station, the articles having been transversely gathered so as to assume respective positions in a predetermined order of arrangement.

FIG. 22 is a view similar to FIG. 21 showing both of the pickup heads raised to a transport elevation'and holding respective quantities of the articles while maintaining their predetermined arrangement, portions of the power means and controls therefor being shown schematically.

FIG. 23 is a top plan view of the apparatus shown in FIG. 22, with the mast on which the pickup heads are supported, rotated 90 counterclockwise to an initial packing position, designated as an A-PACK position.

FIG. 24 is a fragmentary view similar to FIG. 23, but in side elevation and showing the mast lowered to a packing position with one pickup head disposed within a container and in the act of depositing a first layer of articles therein.

FIG. 25 is similar to FIG. 24 but showing the mast and pickup heads raised to a transport elevation and wherein the articles have been released from one of the pickup heads.

FIG. 26 is a top plan view of the apparatus of FIG. 25, but shown rotated 180 in a clockwise direction about the axis of the mast.

FIG. 27 is a fragmentary view in side elevation of the apparatus of FIG. 26, but showing the other pickup head in a lowered packing position.

FIG. 28 is similar to FIG. 27 but showing the pickup heads raised to a transport position with the articles re leased from both pickup heads.

FIG. 29 is a top plan 'view of the apparatus of FIG. 28 but rotated 90 in a counterclockwise direction about the axis of the mast to position the pickup heads for,

movement to a lowered grip in osition, as shown FIG. 21. p g p m FIG. 30 is a schematic view of the pickup heads and supporting mast and includes power actuators therefor including an integrated control circuitry and switches to achieve sequential performance of the various separate measures during the packing operation; and

FIG. 31 is a schematic view similar to FIG. 30 and is to be taken in conjunction therewith as showing the remaining portion of the control circuitry and operating switches to effect orienting of the articles in a predetermined order of arrangement by separate measures and to achieve sequential performance thereof.

FIG. 32 is a schematic illustration of a top plan view of the crosshead of the packing apparatus of FIG. 1 showing the pickup heads in an elevated A-PACK position after having been swung from a READY position, shown in dashed lines.

FIG. 33 is similar to FIG. 32, but showing the pickup heads in an elevated B-PACK position.

FIG. 34 is similar to FIG. 32, but showing the pickup heads returned to an elevated READY position.

FIG. 35 is a schematic plan view of the fixed cam mem-;

ber employed in controlling sequential swinging of the crosshea-d.

The apparatus of the present invention was designed for the purpose of arranging a plurality of substantially identical articles and packing such articles in a container For illustrative convenience, the invention is described herein in While maintaining their predetermined order.

connection with the arranging and packing of substantially identical articles in the form of oranges 10. Referring in greater particularity to FIGS. 1, 2 and 3, a

quantity of oranges 10 are delivered by means of a pair of inclined parallel delivery chutes 11. It is to be under.- stood that the oranges 10 have been previously graded as to size and quality by any suitable means, not shown,

cleaned, and surface treated as desired. Accordingly,

the present invention has been designed to accommodate the mean diametral dimension of such oranges, and the oranges can be considered as constituting substantially uniform articles. It is also to be understood that the supply chutes 11 are substantially identical so that the de-: scription of one will sufiioe. As the description pI'O-.

gresses, wherever apparatus is duplicated in parallel relationship, the same reference numeral is used to designate like elements. In certain instances, such reference numerals. are provided with an identifying suffix to distinguish between parallel apparatus, such as the supply chutes 11, one of which is designated 11A and the other Each of the supply chutes 11 is provided with chan nels 12 to align the oranges 10 in a pre-oriented arrangement immediately before reaching a supply gate 13 and to constrain the oranges to parallel adjacent paths of travel. As indicated by the arrows in FIG. 1, the supply chutes 11 are alternately transversely inclined to insure a supply of oranges in each of the pre-orienting channels 12. As can be seen more clearly in FIG. 2, the supply in FIG. 19. When in a raised position, the supply gate permits oranges to move to a charging station, indicated at 15, the longitudinal limits of which are determined by the supply gate 13 and an admission gate 16 spaced downstream therefrom. The admission gate is likewise.

adapted for movement between a lowered closed position, as shown in FIG. 2, and a raised open position, as shown in FIG. 18, by means of transversely aligned pivot pins 17 mounting the gate on the supply chute 11. When moved to a raised open position, the gate 16 admits four 1 parallel columns of the pre-oriented longitudinally aligned oranges from the charging station 15 to an orienting station 18. Power means, subsequently to be described move the oranges in the orienting station 18 to a predetermined order of arrangement preparatory to subsequent transporting to and packing in receiving containers.

A plurality of packing containers 20 are supported on a conveyor 21, which includes means, not shown, to ad- Vance the containers to a packing station to which the oranges are transferred from the orienting station 18.

As illustrated in FIGS. 3 and 4, an actuating solenoid 25 is operatively connected to the supply gate 13 by means of an armature rod 26, a connecting pin 2 7,and a lever 28. The armature for the solenoid is not shown,

it being conventional in form. Upon energizing the sole-.

noid 25, the armature is drawn inwardly to retract .the

rod 26 to effect raising of the gate 13. A dash-pot 29 is connected to the armature rod 26 by means of a link 30 to decrease the rate of movement of the retraction of the rod 26, as well as the gravitational lowering of the gate 13 upon subsequent de-energizing of the solenoid 25. Accordingly, the dash-pot'is constructed and arranged to effect a predetermined cycle time in the raising and lowering of the gate 13 by means of the solenoid being energized during the raising cycle and immediately de-energized, bymeans to be described below. Such predetermined cycle time is selected so as to be of suflicient duration to permit a predetermined quantity of oranges to move, by gravity, from the preorienting channels 12 of the supply chute 11, past the raised supply gate 13, and to come to rest in the charging station 15.

In a manner substantially identical to that of supply gate 13, the admission gate 16 is arranged for powered 'movement to an open position and gravitational movement to a closed position. To effect raising of the gate 16, a solenoid 35 is operatively connected to the gate by means of an armature rod 36, a pivot pin 37, and a lever 33. The armature of the solenoid 35, not shown, is connected to the rod 36 and arranged to effect an extension of the a rod upon energizing of the solenoid 35. A dash-pot 39 is mounted on the solenoid and connected to the operating rod by a link 40 to effect a predetermined cycle time, as in the case of the dash-pot 29. The dash-pot 39 is also constructed and arranged so as to effect a cycle time of raising the gate 16 upon energizing the solenoid 35 and gravitational lowering upon immediate de-energizing as soon as the gate 16 reaches a predetermined limit, the duration of such cycle time being selected to permt gravitational movement of the predetermined quantity of oranges from the charging station 15 to the orienting station 18.

The orienting station includes a plurality of parallel longitudinally extended, transversely spaced receiving trays 45, each being provided with laterally opposed flanges 46 spaced'at a predetermined distance less than the mean diametral dimension of the oranges 10. Accordingly, as can be seen in FIG. 5, upon subsequent transverse relative movement of the oranges 10, effected by means subsequently to be described, the spacing of the flanges 46 on each tray 45 is sufficiently less than the mean diameter of the oranges to permit contact between adjacent oranges. The trays 45 are provided with a pair of transversely aligned, longitudinally spaced bores, each adapted to receive a respective one of a pair of longitudinally spaced elongated rods 47 rigidly supported relative to the chute 11. Adjacent trays 45 are interconnected by flexible chains 48 of predetermined length so as to determine the relative position of the trays upon transverse movement of the trays 45 to a normal receiving position of FIG. 5 and consequent stretching of the chains 48.

Of the group of transversely spaced trays 45, alternate trays are provided with fixed stops 50, illustrated in FIGS. 3 and 4, thereby to determine the position of oranges gravitationally urged into contact therewith. The remaining, oppositely alternate trays are provided with movable stops 51 which are resiliently biased for movement away from the gate 16 by means of individual springs 52 carried in the trays 45 and shown in FIG. 16. Each of the movable stops. 51 is limited in biased movement by individual retainers 53 rigidly secured to a respective tray and is spaced longitudinally from the adjacent fixed stop 50 to effect an arrangement of the oranges in parallel, alternately staggered columns. Stated differently, the parallel columns are arranged with transversely extended staggered rows.

A pressure fluid ram 55, shown in FIGS. 3 and 5, is supported by a suitable base adjacent to each of the orienting stations of the chutes 11 and adapted to effect a transverse gathering of the trays 45 by sliding movement on the rods 47. The ram 55 is provided with a pair of flexible conduits 56 which alternately serve as supply and return lines to effect extension and retraction of a piston rod 57. A platen 58 is carried at the distal end 6 of the piston rod and adapted for movement toward and away from a resilient bellows 59 disposed on the side of the chute opposite from the ram 55. One of the chains 48 is connected between the platen 58 and the most adjacent tray 45 to insure proper alignment of the trays 45 with the chutes 11 upon retraction of the rod 57. A control valve 60 is provided to admit pressure fluid from a source of pressure 61 upon appropriate movement of the valve to effect extension and retraction of the piston rod 57. The valve 60 is disposed in a normally-open position to admit fluid to the cylinder and to effect retraction of the piston rod 57. A solenoid actuator 62 is operatively connected to the valve 60, and upon being energized by means subsequently to be described, effects movement of the valve to a position to admit pressure fluid to the cylinder 55 and effect extension of the rod 57.

As illustrated in FIGS. 1, 18 and 19, a pressure fluid ram 65, substantially identical to 55, is supported by suitable means, not shown, adjacent to the biased stops 51 at the longitudinal limit of each of the chutes 11. The ram 65 is also provided with a pair of conduits 66 which alternately serve as inlet and return conduits during operation. A piston rod 67 extends from the ramand carries at its distal end a platen 68 adapted for reciprocal movement toward and away from the biased stops 51. A valve 70 is disposed in flow control relationship to the conduits 66 and in com-muncation wit-h a source of fluid pressure 71. The valve 70 is normally-open to admit fluid to the cylinder 65 to effect a retraction of the piston 67. A solenoid 72 is operatively connected to the valve 70, and upon energization is effective to move the valve 70 to a position appropriate for extension of the piston rod 67 and movement of the platen 68 into contact with the biased stops 51. The function of the cylinder 65 and the platen 68 is to cause a longitudinal squeezing of the oranges 10 resting in the receiving trays 45, thereby to effect, in combination with the stops 50, the gate 16, ram 55, and bellows 59, a compressed arrangement of the oranges in a predetermined order.

As can best be seen in FIG. 2, a pair of laterally opposed substantially identical pickup heads are provided in the packing mechanism and identified as A and 80B carried at respective opposite ends of a crosshead 81. The crosshead is rigidly fixed to the upper end of a piston rod 82 rigidly secured to a piston 83 which is rotatably and longitudinally slidably received in a cylindrical mast 84. The mast is supported in a substantially upright position by means of an integral pedestal 85 rigidly secured to a floor structure 86, which serves as a surface of support. A pressure fluid system, generally indicated at 87, is provided to effect controlled raising and lowering of the crosshead 81.

A swing mechanism provides for controlled rotation of the crosshead in both a clockwise and counterclockwise direction, as viewed in FIG. 1. As can be seen more clearly in FIGS. 3, 25 and 26, the swing mechanism 90 includes an annular pinion gear 91 provided with an axially extended inwardly facing slot 92 adapted to receive an elongated axially extended peripheral lug 93 provided on the periphery of the piston rod 82. A rack bar 94 is disposed in mesh with the pinion 91 and adapted for reciprocal movement upon appropriate extension of the piston of a swing ram 95. The ram 95 is provided with a pair of conduits 96 and 97 which alternately serve as supply and return conduits during extension and retraction of the piston and rack bar 94. A valve 98-is disposed in flow control relationship to a pressure fluid supply system generally indicated at 99 and incorporating a conventional pump and reservoir. The valve is normally in an OFF position blocking flow to both of the conduits 96 and 97. An extend solenoid 100 and a retract solenoid 101 are each operatively connected to the valve 98, and upon respective energization are adapted to effect appropriate movement of the valve to cause extension and retraction of the rack bar 94. The swing 7 ram 95 is mounted adjacent to the mast 84 by means of a support frame fragmentarily illustrated at 102 and resting on the floor 86. 7

As shown in FIGS. 3, 22 and 23, a stop swing brake 105 is provided in the swing mechanism and includes a solenoid 106 adapted to effect controlled extension of a plunger 107. A plurality of axially spaced grooves are provided on the rack bar 94 and adapted to receive the plunger 107 and thereby to halt movement of the rack bar 94 as well as the pinion 91. In the form of the invention shown, the rack bar 94 is provided with a centrally located groove 108 which corresponds to the READY azimuthal position of the pickup heads 80A and 808 when superposed over their respective orienting stations 18, as shown in FIG. 29. The rack bar 94 is provided with a second groove 109, which corresponds to the .A-PACK azimulthal position of pickup head 80A, and is also provided with a groove 110 spaced from the the groove 109 and adapted to halt the rotation of the piston rod 82 and the crosshead 81 in the position to dispose the pickup head 80B in a B-PACK position over the packing station 22 of the conveyor 21.

Both of the pickup heads 80A and 80B are intended to be substantially identical, so that a description of one will suffice. As can be seen in FIGS. 2, 6 and 7, each of the pickup heads includes a rigid frame 115 having a plurality of depending inflatable gripping members in the form of corner fingers 116, lateral fingers 117, and intermediate fingers 118. The respective fingers are disposed on the pickup head in predetermined positions corresponding to the configuration and dimensions of the articles to be packed, which in the present description are in the form of the oranges 10. The corner fingers 116 and the lateral fingers 117 constitute substantially rigid peripheral members to determine and maintain the predetermined arrangement of the oranges.

As can be seen more clearly in FIGS. 8, 9, and-10, each of the corner fingers 116 is provided with a longitudinally rigid reaction member 119 secured to the frame 115 adjacent to a finger base 120. The base is provided with a fluid admission port 121 in communication with a hollow chamber 122 provided in the pickup head 80 and serving as a distributing manifold. A resilient gripping boot 123 is secured to the base 120 and provides an internal fluid confining chamber 124. The boot is preferably fabricated of an elastomeric material, such as rubber and the like, so that upon admission of pressure fluid to the chamber 124 sufficient distention of effected to cause a gripping of the oranges between opposed fingers. The boot 123 is sufliciently resilient to assume a normal deflated condition upon the venting of pressure fluid from the chamber 124 so that an immediate release of the oranges is effected upon such venting.

The lateral fingers 117, as shown in FIGS. 11, 12, and 13, are similar in structure to the corner fingers 116 and include a substantially flat rigid reaction member 125 and a base 126 secured to the pickup head 80. The reaction member 125 is intended for disposition adjacent to the periphery of the oriented oranges and thereby assists in maintenance of the predetermined order. The base 126 is also provided with a fluid admission port 127 in communication with a respective portion of the manifold 122. A boot 128 is secured to the base 126 and affords a fluid confining chamber 129 substantially similar to the chamber 124. The boot, upon inflation and distention, is adapted to engage adjacent oranges, as illustrated in FIG. 7.

The intermediate fingers 118, as illustrated in FIGS. 14 and 15, are provided with longitudinally rigid struts 130 embedded in an elongated boot 131. Such struts serve as reaction members under circumstances such as an uneven distribution of gripping force caused by slight size variations in the oranges. The boot 131 is substantially in the form of a triangular prism and is hermetically affixed to a base 132. The base is provided with a fluid prisms defined by the boots. Accordingly, while the respective boots of the corner, lateral and intermediate fingers are substantially identical in the form of the,

invention shown, only the intermediate fingers respectively provide three sides for respective engagement with the three oranges surrounding each intermediate finger.

The lateral fingers each provide two sides for engagement with respectively adjacent oranges, and the corner fingersare each provided with one engaging side. The predeten.

mined disposition of the fingers is effective .to maintain:

the oranges in a predetermined order ofarrangement upon inflation of the fingers and gripping of the oranges.

A source of pressure fluid to effect controlled inflation of the fingers 116, 117 and 118, respectively carried on the pickup heads A and 80B is provided in the form of a pump, schematically illustrated at in FIG. 30. Communication between the pump 140 and the fingers on 1 each of the pickup heads 80A and 80B is provided by the conduits 141 and 142 leading to the respective manifolds 122 of the pickup heads. provided with respective flow control valves 143 and 144, which are both in a normally -open-to-vent position,

The conduitsare each 1 thereby to provide communication between the fingers of their respective pickup heads and respective vents,

indicated at 145 and 146. Accordingly, the valves 143.

and 144 are constructed and arranged so that the fingers on their respective pickup heads are deflated until the valves 143 and 144 are moved from their normally-open to-vent position to a position to establish communication between the source of fluid pressure, ,such as the pump 140, and the manifolds 122 leading to the fingers 116,

117, and 118.

To effect movement of the valves 143 and 144 from their normal vent position, respective solenoids and 151 are operatively connected to the valves. Both of these solenoids incorporate a holding circuit described below. Upon energizing of the solenoids, their respective valves 143 and 144 are moved to an appropriate position to provide communication between the source of fluid pressure 140 and the fingers 116, 117, and 118 carried on the respective pickup heads 80A and 80B. Therefore,

the fingers are inflated incident to energization of the solenoids 150 and 151.

To effect concurrent energization of the solenoids 150 and 151, a normally-openswitch 152 is mounted on the crosshead 81 in depending relation. The switch is connected to a suitable source of electrical current, and when moved to a closed position, energizes branch circuits 153 and 154 connected respectively to the solenoids 150 and 151. A depending probe 155 is carried by the switch 152 and adapted to engage a fixed cam stop 156 upon lowering of the crosshead 81 by means of the cylindrical mast 84 and piston 83. The stop 156 ismounted on the floor 86 in an appropriate position so that lowering of the crosshead 81 from a raised transport elevation while in a READY azimuthal position, wherein the pickup heads 80A and 80B are superposed over the respective one of the orienting stations 18, will effect engagement ifzthe probe 155 and closing of the normally-open switch Since the solenoid 150 is of the holding relay type, only momentary closure of the switch 152 is required to eifect and maintain energization of the solenoid. The solenoid 150 includes a conventional holding circuit 160 incorporating a normally-open switch mechanically linked to the solenoid armature and which is moved to.

a closed position when the solenoid 150 is energized.

Since such holding relays are well-known in the art, the schematic representation in FIG. 30 should sufiice. Throughout the remainder of the description it is to be understood that other holding relays described herein are substantially identical to holding solenoid 150 and incorporates a holding circuit such as that illustrated at 160. The holding circuit 160 also includes a normallyclosed relay switch 161 which opens upon energization from a controlled source other than the holding circuit, thereby de-energizing the solenoid 150, assuming switch 152 is open, and permitting movement of the valve 143 to a position normally-open to the vent 145. The normally-closed relay switch 161 is provided with an energizing circuit 162 connected to a suitable source of electrical current through a normally-open switch 163. A switch actuator 164 depends from the switch 163 and is adapted to engage a probe 165 resiliently carried on the crosshead 81 by means of a spring 166. A stop 167 secured to the crosshead 81 limits the relative movement between the switch actuator 164 and the sensing probe 165.

A cam mechanism, generally indicated at 170 in FIGS. 19, 20, and 30, is provided in the packing mechanism to determine the sequence of packing several layers of oranges in packing containers. Contemporary packing practices provide for four separate layers of oranges in such packing containers. The cam mechanism 170 includes a cylindrical cam member 171 provided with an axially extended shaft 172 supported in a bearing 173 secured to the floor 86. The shaft 172 and bearing 173 support the cam member 171 for rotation about the axis of the cylinder. A plurality of elevationally spaced cam lands 174, 175, 176, and 177,corresponding in numher and relative elevation to the layers of oranges to be packed in the containers, are uniformly circumferentially spaced about the periphery of the cam member and extend upwardly for successive engagement by the lower end of the depending sensing probe 165. As can be seen in FIGS. 20, 21 and 30 the cam land 174 is relatively lowest in elevation and corresponds to the first layer of oranges to be deposited in the container. The cam lands 175, 176, and 177 are disposed at successive increments of superior elevation relative to the land 174, such increments each corresponding to the thickness of one layer of oranges. The intended function of the sensing probe 165 and the lands 174, 175, 176, and 177 is to determine.

the elevation of the pickup head at an appropriate time to deflate the fingers 116, 117, and 118 thereof, thereby to efiect a release of the oranges and packing thereof in the container.

A dog 178 laterally projects from the lower end of the sensing probe 165 and is adapted to engage an operating arm 179 extending from .a ratchet schematically illustrated at 180. A linkage 181 operatively interconnects the ratchet 180 and a drive mechanism 182 operatively associated with the cam member 171. Accordingly, raising of the sensing probe 165 causes the dog 178 to engage the arm 179 and effect, through the ratchet 1'80, linkage 1'81, and drive mechanism 182, rotation of the cam member 171 about the axis 02E the shaft 172. In the form of the invention illustrated which is specifically adapted for packing four separate layers of oranges, the cam member 171 is rotated through an arc of 90. The drive mechanism .182 may be of any suitable form, such as a friction drive or a conventional screw-worm gear.

The solenoid 151 associated with the valve 144 of the pickup head 80B, is provided with a holding circuit 185 10 energizing circuit 187 and a normally-open switch 188. A switch actuator 189 projects from the switch 188 and is adapted to be engaged by a sensing probe 190 carried on the crosshead 81 adjacent to the pickup head 80B. The probe 190 is substantially identical to the probe 165 associated with pickup head 80A and is resiliently mounted on the crosshead 81 by means ot a spring 191 to permit movement toward the crosshead. A stop 192 limits the magnitude of such movement, it being sufficient to close the normally open switch 188 through the actuator 189. The lower end of the probe 190, not shown in FIG. 30 but illustrated in FIGS. 20 and 21, is provided with a dog 193 adapted to engage the ratchet arm 179 when the mast has been rotated to a position corresponding to a -B-PACK position with the pickup head 80B superposed over one of the packing containers 20 resting on the conveyor 21. With the pickup head 80B in the B-PACK position, the lower end of the probe 190 is adapted to engage one of the cam lands.

174, .175, 176, or .177, depending upon the then position of rotation of the cam member 171.

As also illustrated schematically in FIG. 30, the pressure fluid system 87, which is provided to effect controlled raising and lowering of the crosshead 81, includes a suitable source of pressure fluid, such as a pump 200.

The pump 200 is in fluid communication with the cylindrical mast 84 through a conduit 201. A control valve 202 is interposed in the conduit 201 and is constructed and arranged in a normally-open position to admit fluid to the cylindrical mast 84 and to raise and hold the crosshead 81 in an elevated position. A return circuit 203 leads to a reservoir and includes a conventional pressure relief valve 204.

The control valve 202 in under the influence of a solenoid 205 mechanically linked to the valve and adapted to move the valve to a position blocking pressure fluid from the pump 200 and permitting release of pressure fluid within the cylindrical mast and consequent lowering of the crosshead 81. The solenoid 205 is connected to asuitable source of electrical current by means of an energizing conductor 206 and a pair of normally- open switches 207A and 207B, as shown in FIG. 31. The switches 207A and 207B are each mounted on a respective one of the delivery chutes 11 and connected in series to control initial lowering of the crosshead during the packing cycle. For purposes of clarity, only one delivery chute .11A is illustrated in conjunction with only one of the switches 207A. Switch 207B is shown schematically in series with switch 207A, but not mounted on its respective chute 11B. These switches are considered primary control switches insofar as the sequence of the separate steps performed by various elements of the packing mechanism of the present invention.

Each of the switches 207A and 207B is provided with a probe 208 adapted to be engaged by the platen 68 of the ram 65 which is employed to effect a longitudinal squeezing of the oranges in the orienting station 18. The solenoid 205, when energized by momentary concurrent closing of the switches 207A and 207B, is constructed to remain in an energized condition by means of a holding circuit 209 substantially similar to holding circuits previously described. The holding circuit 209 includes a normally open switch 210 mechanically linked to the armature of the solenoid 205 to complete the holding circuit 209 upon energization of the solenoid 205 through the conductor 206. The holding circuit 209 also includes a plurality of normally-closed relay switches 211, 212 and 213 which are controlled by other elements of the packing mechanism. A normally-open relay switch 214 of the holding relay type, is included in the energizing conductor 206. Although of the normally-open type, the relay switch 214 is moved to a closed position by means subsequently to be described prior to the closing of the switches 207A and 207B. Accordingly, energization of the solenoid 205 results in a lowering of the crosshead 81, and with either the holding relay 214 in a normallyopen position, or with either of the switches 207A and 207B in a normally-open position, subsequent energization of any of the normally-closed relay switches 211, 212, and 213 elfects ale-energizing of the solenoid 205 and a return of the valve 202 to a normally-open position. When returned to such a normally-open position, the valve 202 admits pressure fluid to the cylindrical mast 84 to effect raising of the crosshead 81.

A swing control cam member, generally indicated at 220 in FIGS. 2 and 35, is supported on the floor 86 by means of a standard, fragmentarily illustrated at 221 thereby to dispose the cam member 220 directly above the piston rod 82 and the crosshead 81. The swing control cam member includes a first swing cam segment 222 of approximately 88 of circumferential extent and provided with a terminal portion 223 adjacent to a dropout sector 224. A second swing cam segment 225 is approximately 178 in circumferential length and includes a terminal portion 226 adjacent'the drop-out sector 224. A third swing cam segment 227 is extended throughout an arc of approximately 88 and includes a terminal cam portion 228 adjacent to a drop-out sector 229. These cam segments are illustrated schematically in FIG. 30 in a physically separated condition.

The control circuitry tor sequentially effecting rotation of the crosshead 81 includes a first swing conductor 235 leading from a normally-open switch 236 to the extend solenoid 100 of the swing ram control valve 98. The switch 236 is mounted on the crosshead 81 with an actuating probe 237 adapted to engage the cam member 220. The control circuitry is provided to alert conductor 235 only when the actuator is in a position of engagement with the first swing cam segment 222, when the crosshead 81 is raised to an elevated posit-ion.

A second swing conductor 240 includes a normallyopen switch 241 adapted to be closed by an actuator 242 when engaged by the second swing cam segment 225. When so engaged, the conductor 240 energizes the, return solenoid 101 of the swing ram control valve 98. Appropriate circuitry to be described below provides for the alerting of the conductor 240- only when the actuator 242 is in a position to be engaged by the second swing cam segment 225 of the cam member 220.

A third swing conductor 245 includes a normally-open switch 246 and leads to a portion of the conductor 235 to energize the extend solenoid 100 upon appropriate alerting of the conductor 245 and closing of the switch 246 by means of an actuator 247 engaged by cam segment 227, Appropriate control circuitry is provided by means subsequently to be described to alert the conductor 245 only when the actuator 247 is in a position to be engaged by the third swing cam segment 227 of cam member 220.

The manifolds 122 of each of the pickup heads 80A and 80B are provided with respective pressure sensing detectors 250 and 251. Upon admission of pressure to the manifolds 122 and consequent inflation of the fingers 116, 117, and 118, the pressure sensing detector 250 is adapted to close a normally-open switch 252 leading from a source of electrical energy and alerting the first swing conductor 235 by means of an alerting conductor 253. A coupling conductor 254 leads from the conductor 253 to a normally-open switch 255 carried on pickup head 80B and under the influence of pressure sensing detector 251. The switch 255, when closed upon admission of pressure fluid to the manifold 122 of pickup head 80B, energizes a sequencing conductor 256 leading through a normally-closed relay 257 to energize the relay 211 in the holding circuit of solenoid 205.. Accordingly, the solenoid 205 is de-energized to permit the valve 202 to resume a normally-open position and effect a raising of crosshead 81. A lock-out conductor 258 is in series relation with the coupling conductor 254, and when 6116f? gized, controls a normally-closed relay 259, shown in FIG..

31, to prevent operation of the ram 65 at any time when the normally-open switch 252 is closed. A second lockout conductor 260 is in branch circuit relationship to the,

conductor 258 and leads to a normally-closed relay switch 261, and when energized, disables the control circuit of the ram 55. An interlock conductor 262 is in branch circuit relationship with the conductor 256 and leads to a normally-closed relay switch263 in the holding circuit of normally-open relay 214 of conductor 206.

A normally open A-PACK switch 270 is supported on the floor 86in a position relative to the rack bar 94 of swing ram 95 to permit engagement thereby of a switch actuator 271, a condition illustrated in FIG. 23. When closed, the switch 270 connects a source of electrical cur-' rent to the stop swing brake through a conductor 272. A second conductor 27-3 is also energized upon closing of the switch 270' to effect a sequential lowering of the crosshead by energizing the solenoid 205 through a portion of the conductor 206. A branch conductor 274 is connected to conductor 273 to energize the normally-closed relay 257 and thereby open conductor 256 z and de-energize relay 211 to re-esta'blish the holding cir-.

cuit 209 of solenoid 205.

A normally-closed switch 280 is carried on pickup head 80A and adapted to be moved to-an open position upon detection of pressure in the respective manifold 122 of 80A by the detector 250. Also, upon venting of the manifold 122 through valve 143 and vent 145, the pressure sensing detector 250 will move to a position permitting the switch 280 to assume a normally-closed position.

An alerting conductor 281 leads from a source ofelec- I trical current through normally-closed switch 280 to a normally-open switch 282. Upon appropriate movement of detector 251, when sensing pressure in the manifold 122 of pickup head 80B,-the switch 282 is moved to a closed position to energize conductor 283 leading to a normally-closed relay .284.

to open the holding circuit 209 of solenoid 205. When the conductor 283 is so energized, the valve 202 is per-. mitted to return to a normally-open position admitting fluid to the cylindrical mast 84 to cause a raising of the crosshead 81.

With switch 280 returned to a normally-closed position and switch 282 closed incident to pressure in manifold 122 of head 80B, the second swing circuit 240 is energiZed thereby. Upon appropriate closing of the switch 241 by the second swing cam segment 225, the retract solenoid 101 is energized to cause movement of the crosshead 81 in a clockwise position until drop-out segment 224 permits the switch 241 to move to a normally open position and the crosshead contacts a normally open "B- PACK switch 290 supported on the floor 86 by any suitable means and positioned to be engaged by the rack bar 94 when in a retracted position, as shown in FIG. 26. The switch 290 is provided with an actuator 291 for such engagement, and when engaged connects a source of electrical energy to the stop swing brake conductor 272 through a branch conductor 292; A sensing conductor 293 is also connected to the electrical source through the switch 290 and leads to a portion of the conductor 206 to energize the solenoid 205. This causes a lowering of the crosshead 81 preliminary to packing of the oranges held in pickup head 80B.

As the crosshead is lowered, probe engages cam 171 thereby closing switch 189 and consequently causing valve 144 to assume a vent position. Upon subsequent release of the fluid pressure from the manifold 122 of the pickup head 80B and resultant release of the oranges by the fingers 116, 117, and 118 thereof, the detector 251 permits the switches 255 and 282 to open, while permitting a closing of a switch 295. The switch 295 leads from a source of electrical energy and through A branch conductor 285 connects conductor 283 with normally-closed relay 212 a conductor 296 alerts the third swing conductor 245. The conductor 296 is in branch circuit relationship with a sequencing conductor 297 leading to the relay 213 in the holding circuit 209 thereby releasing solenoid 205. An interlock conductor 298 branches from the conductor 297 to a normally-closed relay switch 299 which opens the circuit previously completed 'by conductor 293 of the B-PACK switch 290 and permits raising of the crosshead 81.

Subsequent elevation of the crosshead 81 engages actuator 247 of switch 246 wit-h the third swing cam segment 237 to energize extend solenoid 100 of the swing ram 95. This causes a counterclockwise rotation of the crosshead 81 of approximately 90". A normally-open READY switch 300 is supported on the floor 86 by any suitable means and in a position to dispose a switch actuator 301 for engagement by a lever 304 through rack bar 94 at the terminal portion of the aforesaid 90 of counterclockwise movement, as illustrated in FIG. 29. Lever 304 is supported relative to switch 300 so that actuator 301 is contacted by the lever only upon extension of the rack bar in moving from a B-PACK position to a READY position. The switch 300, when closed, energizes the stop swing brake conductor 272 through a branch conductor 302. A sequencing conductor 303 is also energized and leads to the normallyopen holding relay 214 to re-esta'blish communication between the switches 207A and 207B and the solenoid 205 through the conductor 206. The control and interlock circuitry for the gates 13 and 16 and the rams 55 and 65 is schematically illustrated in FIG. 31. A master switch 310 is connected to a suitable source of electrical energy and through a primary conductor 311 energizes the solenoid through a plurality of normally-closed switches 312 in series relationship. Preferably, each of the pre-or-ienting channels 12 of the chutes 11A1and 11B is provided with a respective one of the switches 312. The primary conductor 311 also includes a normally-open switch 313 having an actuator 314 adapted to be engaged by an arm 315 carried by the gate 16. Accordingly, the solenoid 25 is energized only when the switches 312 are in a normally-closed position and the gate 16 is in a lowered position with the switch 313 moved to a closed position by the arm 315. The solenoid 25 is of the conventional holding relay type with a holding circuit 316 provided with a normally-closed switch 317. The holding circuit switch 317 is provided with an actuating probe 318 adapted to be engaged by an arm 319 mounted on the gate 13, when the gate is moved to a raised position, thereby to open switch 317 and disable the holding circuit 316.

The solenoid is provided with an alerting conductor 325 leading from the master switch 310 and connecting "a plurality of normally-open switches 326 in series relationship leading to a normally-open switch 327 adapted to be moved to a closed position by an arm 328 carried on the gate 13. Preferably, each of the pre-o-rienting channels 12 is provided with a respective one of the normally-open switches 326. The switch 327 is closed only when the gate 13 is in a lowered position. A coupling conductor 330 leads from the switch 327 through a normally-open switch 331 to the solenoid 35. The switch 331 is adapted to be moved to a closed position when the platen 58 of the ram 55 is moved to a normally retracted position. The solenoid 35 includes a conventional holding circuit 332 incorporating a normally-closed switch 333. The switch 333 is adapted to be moved to an open position upon engagement of an arm 334 when elevated by the gate 16 on which it is carried. As described above, both of the solenoids 25 and 35 are operatively connected with respective dash- pots 29 and 39 to effect a controlled rate of raising and lowering of the gates 13 and 16.

The control circuit for the valve of the transverse gathering ram 55 includes a conductor 340 leading from a source of electrical current under the influence of master switch 310 through a plurality of normally-open switches 341 in series relationship. Preferably, each of the normally-open switches 341 is mounted in a respective one of the receiving trays 45 in a position to be closed by the terminal orange in the tray adjacent to the gate 16 and within the orienting station 18. The conductor 340 also includes a normally-open switch 342 adapted to be closed by an arm 343 carried on the gate 16, when the gate is lowered to a closed position. The conductor 340 includes a normally-closed relay switch 261 and leads to the solenoid 62 which controls movement of the valve 60.

The solenoid 72 in control relationship with the ram 65 is energized through a conductor 350 leading from master switch 310 and also under the influence of a normallyopen switch 351 mounted on the supply chute 11. The bellows 59, when compressed .by the oranges 10 in the trays 45 incident to a transverse gathering thereof by the ram 55, engages the switch 351 and thereby energizes the solenoid 72 through conductor 350.

OPERATION The operation of the described embodiment of the subject invention is believed to be readily apparent and is briefly summarized at this point. A quantity of oranges 10 is admitted to each of the transversely spaced supply chutes 11 from a source, not shown. Each of the preorienting channels 12 receives a substantially equal amount of oranges as they are gravitationally motivated toward the supply gate 13, due to the longitudinal inclination of the supply chutes 11 and the alternately transversely inclined attitude of the supply chutes.

Referring to the schematic diagrams of FIGS. 30 and 31, it will be seen that with the master switch 310 in an open position and with the crosshead 81 disposed in a normal READY position, as shown in FIG. 29 and schematically illustrated in FIG. 34, wherein the actuating probe 301 of the READY switch 300 is engaged by the crosshead, the stop swing brake is energized, as well as the holding relay 214 so that continuity is provided by the conductor 206 from switch 207 to the crosshead lowering solenoid 205. Accordingly, the lowering circuit is alerted by READY switch 300. The actuating probe 247 of the third swing control switch 207 is also positioned in the drop-out sector 229 of the third swing cam 227. The actuating probe 237 of the first swing switch 236 is engaged by the first swing cam segment 222, however, since the first swing conductor 235 has not been energized by the alerting conductor 253, the swing control valve 98 remains in a neutral position blocking flow between the conduits 96 and 97 leading to the swing ram 95.

The sequence of orienting the oranges 10 and packing them in successive layers in the containers 20 is initiated by closing of the master switch 310 and thereby energizing the primary conductor 311. At this time, both the gate 13 and the gate 16 are in a lowered position, as shown in FIG. 2, blocking movement of the oranges toward the orienting station 18. With the gate 16 in a lowered position, the arm 315 engages the actuating probe 314 to close the normally-open switch 313, thereby energizing solenoid 25 through conductor 311 and the normally-closed switches 312. The solenoid 25 consequently raises gate 13 to admit a quantity of oranges to the charging station 15, as illustrated in FIG. 17. Due to the damping action of the dash-pot 29, the rate of movement of the gate 13 toward a raised position is sufficiently retarded to admit a full charge of oranges so that the normally-closed switches 312 are held open .by the last to be admitted oranges adjacent to the gate 13. Upon the opening of one of the switches 312, the primary conductor 311 is disconnected from the source of electrical energy, and solenoid 25 would be de-energized if it were not for the holding circuit 316. Upon movement of the gate 13 to a raised position, the arm 319 engages the actuating probe 318 to open the normally-closed switch 317, thereby tie-energizing the holding circuit 316. Consequently,

the solenoid 25 is no longer energized and the gate 13 moves to a lowered position, the return movement being retarded by the dash-pot 29.

The oranges in the terminal positions in each of the preorienting channels 12 also close the normally-open switches 326 at the same time as moving the normally-closed switches 312 to open positions. Accordingly, the alerting conductor 325 is energized through the normally-open switches 326 to the junction with normally-open switch 327. Upon movement of the gate 13 to a lowered position, the arm 328 closes the switch 327 to energize the conductor 330 leading to the actuating solenoid 35 of the gate 16. With the ram 55 in a normally retracted position, the platen 58 closes switch 331 to provide circuit continuity to energize solenoid 35 and effect raising of gate 16, as shown in FIG. 18. The rate of raising of the gate 16 is retarded by dash-pot 39 to permit the oranges previously held in the charging station 15 to resume their gravitational movement and assume respective positions in the orienting station 18, such positions being determined by the trays 45 and the stops 50 and 51 carried thereby.

As soon as the terminal oranges in the charging station adjacent gate 13 have moved from a position overlying and closing the normally-open switches 326, the conductor 330 is de-energized. The solenoid 35 would likewise be de-energized, if it were not for the holding circuit 332. As soon as the gate 16 has moved to a fully raised position, arm 334 contacts switch 333 in the holding circuit 332 and thereby effects a tie-energization of solenoid 35. This permits gate 16 to descend to a closed position, illustrated in FIG. 19, under the retarding influence of dashpot 39.

With a full charge of oranges in the orienting station 18 having been received from the charging station 15, the terminal oranges in each of the trays 45 and adjacent to the gate 16 rest upon the normally-open switches 341 in series relationship in conductor 340 of the transverse gather circuit. The normally-open switch 342 is also moved to a closed position by the arm 343 mounted on gate 16. Accordingly, with the conductor 340 so energized from the master switch 310, the solenoid 62 is energized to move valve 60 to a position to admit pressure fluid from pump 61 through one of the conduits 56 and thereby to extend the piston rod 57 of ram 55. As a consequence of such extension, the platen 58 elfects a transverse gathering, as viewed in FIG. 19, of the trays 45 which are slidably mounted on the longitudinally spaced, transversely extended rods 47. Concurrently, switch 331 of conductor 330 leading to solenoid actuator 35 of gate 16 moves to a normally-open position and prevents raising of the gate 16, until the trays 45 are again aligned with the pre-orienting channels 12 incident to retraction of platen 58.

Upon achieving a predetermined magnitude of transverse movement suflicient to compress the bellows 59 a predetermined degree, the switch 351 is closed under the influence of the bellows 59 and thereby energizes the conductor 350 leading to the solenoid actuator 72 of the control valve 70. The control valve 70 is moved from a normally-open-to-retract position to a position to eflect extension of the piston rod 67 of the fluid operated ram 65. Consequently, the platen 68 engages the movable biased stops 51 and effects a longitudinal squeezing, as shown in FIG. 20, of each of the four columns of oranges, the oranges having been previously arranged in longitudinally staggered rows by reason of the fixed and biased stops 50 and 51 carried by alternate trays 45. Each of the switches 207A and 207B is mounted on a respective one of the supply chutes 11 in a position relative to the platen 68 so that the actuating probe 208 is engaged by the platen 68 upon achieving a predetermined degree of longitudinal compression of the columns of oranges. Consequently, the switch 207 is closed to complete the circuit through conductor 206 to the solenoid 205.

Valve 202, under the influence of solenoid 205, is moved from a normally-open position to a position appropriate to return pressure fluid from within the cylindrical mast- 84 to the return conduit 203 of the pressure fluid system 87. The piston 83 then gravitationally moves to a lowered position carrying with it the crosshead 81. Such move ment continues until each of the pickup heads A and 80B, through their respective fingers 116, 117, and 118; contacts the oranges 10 being held in the respective orienting station 18 of each of the supply chutes 11. The cam 151, the valves 143 and 144 are moved from their nor-:

mally-open-to-vent position to a position to admit from pump 140 a pressure fluid, such as air, to the respective manifolds 122 of the pickup heads 80A and 80B. The. pressurizing fluid is effective to inflate the fingers 116, 117,.

and 118 and through their respective rigid reaction members 119, 125 and grasp the entire quantity. of oranges.

being held in the respective orienting stations 18 of each of the supply chutes 11.

T o facilitate such grasping of the orangesin the orienting stations, the pressure sensing detectors 250 and 251, upon admission of pressure fluid to the manifolds 122 and consequent inflation of the gripping fingers, are moved upwardly as viewed in FIG. 30. The detector 250 moves,

the normally-open switch 252 to a closed position thereby energizing alerting conductor 253, coupling conductor 254, and lock-out conductors 258 and 260. As shown in FIG; 31, the lock-out conductors 258 and 260 respectively enerw gize the normally-closed relay switches 259 and 261 and cause a de-energization of the solenoids 72 and 62, and temporarily prevent any'subsequent energizing. Accordingly, both of the fluid operated rams 65 and 55 are moved to a normally retracted position, thereby releasing transverse and longitudinal pressure on the oranges 10 being held in the orienting stations 18. Concurrently, the. nor-:

mally-open switch 255 is moved to a closed position under the influence of pressure sensing detector 251, thereby energizing sequencing conductor 256 leading to relay 211 to open holding circuit 209 of solenoid 205. Since the; switches 207A and 207B have been concurrently per.

closed relay 263 to open the holding circuit of the hold- 1 ing relay switch 214 and permit the relay switch 214 to move to a normally-open position upon subsequent release of READY switch 300 by the crosshead 81 as it is swung to an A-PACK position, as will be subsequently described. Accordingly, as soon as switch 300 moves to a normally-open position, the conductor 262 remaining energized will permit relay 214 to open and thereby prevent subsequent energization of solenoid 205 through switch 207. This interlock condition persists until either. of the switches 252 or 255 have been moved to a normallyopen position and READY switch 300 has v again been closed. The sequencing conductor 256 and interlock conductor 262 assure successive accomplishment of each of the separate orienting and packing measures performed by the mechanism of the present invention and preclude operation in other than a predetermined sequence of such measures.

It will also be observed by reference to FIGS. 30 and 31 that the lock-out conductors 258 and 260 energized by alerting conductor 253 and coupling conductor 254 prevent operation of the transverse gathering ram 55 and the longitudinal squeezing ram 65 until the oranges held in pickup head 80A have been released. This insures an orderly, sequential performance of the separate measures of orienting and packing the oranges and prevents interference between the various operating elements as they perform their respective functions. The supply and charging gates 13 and 16 are permitted to operate in their normal manner, subject to their respective control and interlock circuits as described above, so that a new supply of oranges is available in charging station 15.

Upon movement of the piston 83 to its upper limit, crosshead 81 is raised to a position engaging and closing first swing switch 236, second swing switch 241, and third swing switch 246. Since alerting conductor 253 is effective to energize only the first swing conductor 235, the second and third swing conductors 240 and 245 are not energized. Their energization is prevented by normallyclosed switch 280 having been moved to an open position by pressure sensing detector 250 and normally-closed switch 295 having been moved to an open position by pressure sensing detector 251. Consequently, upon closing of the switch 236 under the influence of actuating probe 237, the extend solenoid 100 of the swing ram 95 admits pressure fluid from supply system 99, thereby to extend rack bar 94, as illustrated in FIG. 23. This causes counterclockwise rotation of the annular pinion 91, and, by means of the rotatable driving connection with the piston rod 82 constituted by the lug 93 and the slot 92 slidably receiving the lug, the swing ram 95 is effective to rotate the crosshead 81 to the A-PACK position, schematically illustrated in FIG. 32. As the crosshead approaches such a position, actuating probe 237 extends into dropout sector 224 of first swing cam 222 as the probe passes terminal portion 223., Upon entering the drop-out sector 224, solenoid 100 is deenergized permitting the valve 98 to return to a normal position blocking flow between the conduits 96 and 97. The drop-out sector 224 is positioned on the first swing cam so that the solenoid 100 is deenergized substantially simultaneously upon engagement of the actuating probe 271 of the A-PACK switch 270 by the rack bar 94. Consequently, the swing ram 95 is de-activated substantially at the same time of energization of the stop swing brake 105 through stop swing conductor 272 leading from the A-PACK switch 270. Concurrently, the A-PACK switch through lowering sequence conductor 273 energizes solenoid 205 through conductor 206. Branch conductor 274 energizes normally-closed relay 257 to interrupt conductor 256 and re-establish holding circuit 209 of solenoid 205. Consequently, the valve 202 is moved to a position permitting lowering of the crosshead 81 with the pickup head 80A overlying the packing station 22 of the conveyor 21, as illustrated in FIG. 24. With the packing mechanismv in such a position relative to the packing container 20 on the conveyor 21, a first layer of oranges is ready to be deposited within the packing container so positioned. It should be noted that normally-closed relay switch 284 remains closed, even though energizing circuit continuity is provided through normally-open switch 282 which has been closed incident to inflation of the fingers of pickup head 80B. Since relay switch 284 is in series relationship to normally-closed switch 280, conductor 273 is not interrupted, so long as the fingers of pickup head 80A remain inflated, which incidentally effects opening of switch 280.

Upon reaching a sufiiciently low position, the packing probe 165 carried on crosshead 81 adjacent to pickup head 80A engages the lowermost cam land 174 to prevent further lowering of the crosshead 81 while concurrently closing switch 163 through actuator 164. This position is shown in FIG. 24. Release of the oranges held by head 80A is effected through conductor 162 leading to normally-closed relay 161 in the holding circuit 160 of solenoid 150. Therefore, solenoid 150 is de-energized and permits valve 143 to move to its norrnally-open-tovent position. As soon as the valve 143 returns to such an open position, pressure fluid is vented from the manifold 122 and the gripping fingers 116, 117, and 118 are deflated and returned to a normal, released position. Accordingly, the oranges are deposited by pickup head A within the container 20 as the first layer of oranges in a conventional four-layer shipping arrangement. It is to be noted that throughout the gripping, transporting, and depositing of the oranges 10, the predetermined order of arrangement, which the oranges assumed within the orienting station 18, is maintained by the pickup head 80A through the particular construction and arrangement of the gripping fingers 116, 117, and 118. The sequencing and interlock circuitry through a predetermined arrangement of switches and actuating probes therefor, insures a predetermined order of performance of successive steps in the orienting and packing of oranges within the containers 20. 1

The remaining operation of the present packing mechanism is to insure successive completion of the packing of the second, third and fourth layers within the packing container 20. Upon release of pressure fluid from manifold 122 and the gripping fingers 116, 117, and 118 of pickup head 80A, pressure sensing detector 250 simultaneously permits switch 252 to move to its normallyopen position and switch 280 to move to a normallyclosed position. Consequently, alerting conductor 253 de-energizes the first swing conductor 235. Concurrently de-energized is coupling conductor 254 which, through interlock conductor 262, leads to normally-closed relay switch 263. Therefore, the holding circuit of holding relay 214 has been returned to a normal condition upon subsequent energization by READY switch 300, which occurs-upon completion of all successive-steps in the packing sequence. In addition, sequencing conductor 256 is also de-energized so that holding circuit 209 of solenoid 205 is not affected upon subsequent release of A- PACK switch 270. I

Under the influence of normally-closed switch 280, the alerting conductor 281 alerts second swing conductor 240 through switch 282, which remains in a closed position under the influence of pressure sensing detector 251. Concurrently, conductor 283 energizes relay 284 to open conductor 273 leading to solenoid 205 through a branch of conductor 206. Also, conductor. 285 leading from conductor 283 energizes relay 212 to open holding circuit 209 of the solenoid 205. Therefore, solenoid 205 is completely de-energized and permits valve 202 to move to a normally-open position to raise piston 83 and crosshead 81 to anelevated position shown in FIG. 25. "During such raising, the dog 178 carried at the lower end of probe engages operating arm 179 of ratchet 180.

Through the linkage schematically illustrated at 181 and the drive mechanism 182, the cylindrical cam member 171 is rotated about the axis of shaft 172 throughout an arc of approximately 90. This rotation disposes .cam land 175 in a position to be engaged by sensing probe 190 of pickup head 80B upon subsequent lowering of the crosshead 81. The cam land 175 is at a higher elevation relative to land 174, the elevation differential corresponding to the vertical height of one layer of oranges within the packing container 20.

Upon reaching the upper limit of its travel, as shown in FIG. 25, crosshead 81 urges actuating probe 242 of second swing switch 241 into engagement with the second swing segment 225 of cam member 220. The second swing conductor 240, having been previously alterted by conductor 281 through switch 282, energizes the retract solenoid 101 upon closing of the second swing switch 241. Consequent movement of valve 98 causes the swing ram 95 to retract the rack bar 94 and effect a clockwise rotation of the crosshead 81 about the substantially vertical axis of the piston rod 82, the rotation being approximately of circumferential travel. Such a position is shown in FIG. 26 and illustrated schematically in FIG. 33. It is to be noted that the force exerted by the swing ram 95 is sufiicient to overcome the stop swing brake 105, so that initial movement of the crosshead 81 is performed with the brake 19 engaged until the conductor 272 is de-energized by movement of the rack bar from the respective actuating probes 271, 291, and 301 of A-PACK switch 270, B-PACK switch 291 and READY switch 300. Upon approximately 178 of clockwise rotation of the crosshead 81, the actuating probe 242 enters the drop-out sector 244 to deenergize retract solenoid 101 and return valve 98 to a normal flow-blocking position. Substantially simultaneously, rack bar 94 engages the actuating probe 291 of B- PACK switch 290 to energize conductor 292 and stop swing conductor 272 of the brake 105. As a result, the plunger 107 enters groove 110 visible in FIG. 3, and the crosshead is in a position illustrated in FIG. 33. Concurrently, sensing conductor 293 is energized to energize solenoid 205 through conductor 206. As a result, valve 202 is moved to a position permitting lowering of piston 83 and crosshead 81 with pickup head 80B overlying the packing station 22 and ready to deposit the second layer of oranges within the container as shown in FIG. 27.

As soon as a predetermined magnitude of lowering movement has been achieved by the crosshead 81, the sensing probe 190 of pickup head 80B engages cam land 175 and is moved toward the crosshead 81 to engage stop 192. This movement is permitted by reason of the resilient mounting afforded by the spring 191. The switch 188 is concurrently closed by the actuator 189 engaged by the probe 190. Consequently, throughconductor 187, the normally-closed relay 186 of the holding circuit 185 is opened allowing valve 144 to move to a normally-opento-vent position and release pressure fluid from the manifold v122 of the pickup head 80B. Accordingly, the oranges held by the previously inflated fingers 116, 117,

and 1180f 80B assume a normally deflated condition and .ly, sequencing conductor 297 is energized to open the holding circuit 209 of solenoid 205 through normallyclosed relay 213. Interlockbranch conductor 298 is also energized by sequencing conductor 297 to open the normally-closed relay switch 299, which previously was energized by the B-PACK switch 290. Therefore, the solenoid 205 is de-energized and crosshead 81 is moved to a raised position shown in FIG. 28 as soon as valve 202 returns to a normally-open position. During such raising movement, the dog 193 carried in the lower end of sensing probe 190 engages operating arm 179 of the ratchet 180, and through linkage 181 and drive mechanism 182 rotates the cam member 171 to dispose cam land 176 in a position subsequently to be engaged by sensing probe 165 of pickup head 80A.

Upon crosshead 81 reaching the upper limit of its travel, as shown in FIG. 28,.actuating probe 247 of switch 246 engages the-third swing cam 227. The third swing conductor 245, having been previously energized by switch 295, is now effective to energize extend solenoid 100 and position valve 98 to cause extension .of rack bar 94. Through the previously described-annularpinion 91, rotation of crosshead 81 proceedsrin a counterclockwise direction throughout an arc of approximately 88 untilactuating probe 247 traverses terminal portion 228 and is re-' leased by the third swing cam segment 227 upon reaching the drop-out sector 229; Substantially simultaneously, the READY switch 300 is closed by the actuating probe 301 being engaged by the rack bar 94 as shown in FIG. 29.

.Consequently, stop swing brake 105 is energized through conductor 272 and 302. The crosshead 81 is thus stopped in a- READY position illustrated in FIG. 34. Concurrently, the interlock constituted by normally-open relay '20 switch 214 in conductor 206 is disabled by energization of the sequencing conductor 303 leading to relay 214. Accordingly, continuity between switches 207A and 207B and solenoid 205 is re-established by the READY switch 300.

During the above steps of the packing cycle of the mechanism, the gates 13 and 16 continue to operate in the previously described manner to admit a quantity of oranges to the charging station 15 for the purposes of preorienting and determining the quantity of oranges subsequently to be admitted to the orienting station 18. The lockout conductors 258 and 260 are energized only while the fingers 116, 117, and 118 of pickup head A were inflated. Upon release of fluid pressure from these fingers, the switch 252 returns to a normally-open position to deenergize the normally-closed relays 259 and 261. Consequently, the control circuitry of the solenoids 62 and 72 of the rams 55 and 65 associated with the orienting station 18 are permitted to operate in a normal manner as soon as the oranges are released from pickup head 80A. Accordingly, whilethe crosshead 81 is being moved to successive A-PACK and B-PACK positions prior to its return to the READY position, a new charge of oranges has already been admitted to the reprective orientingstations 18 of the supply chutes 11A and 11B. Therefore, the READY switch 300 through holding relay 214 reestablishes continuity between switches 207A and 207B and solenoid 205 and is eifective to lower the crosshead 81, assuming that switches 207A and 207B have been moved to a closed position by platen 68 of ram 65. The oranges arranged in the respective orienting stations 18 of the sup ply chutes 11 are'then grasped by the pickup heads 80A deposited within the packing container 20 in the same.

manner as described above in connection with the depositing of the first and second layers. The pickup heads 80A and 80B are successively moved to A-PACK and B PACK positions overlying the packing station 22.. .Upon depositing of the fourth layer'of oranges within the packing container, as showniu FIG. 2,. a new container is moved to the packing station 22 and subsequently packed with oranges bythe heads 80A and 80B.

Accordingly, a completely automated packing mechanism for substantially identical articles is provided by the present invention, the mechanism including means to arrange the articlesin a predetermined order and to effect successive steps of grasping the articles, transporting the articles to a packing container, and depositing the articles therein while remaining the predetermined order of'arrangement thereof. Appropriate sequencing and interlock controls are provided to insure a predetermined se-. quence of performance of the packing steps and to pre-.

clude any power element from operating without a full charge of articles in the orienting station and without prior accomplishment of all previous steps in the schedule of performance.

Although the invention has been herein shown and de.

scribed in what is conceived to be the most practical and preferred embodiment, it isv recognized that departures may be made therefrom within the scope of the invention,

bination of means to receive a predetermined quantity of,

said articles and to arrange the articles in a predetermined ordered relationship in a substantially common predeter-. mined plane; means engageable with said articles to urge. the articles in said plane into compressive engagement; means to grip said arranged articles and to remove the articles from said receiving means while maintaining said

Claims (1)

1. 4. APPARATUS FOR PACKAGING A PLURALITY OF SUBSTANTIALLY UNIFORM ARTICLES IN PREDETERMINED RELATIVE POSITIONS COMPRISING MEANS TO DELIVER A SUPPLY OF ARTICLES; RECEPTION MEANS IN RECEIVING RELATION TO SAID SUPPLY MEANS TO HOLD A PREDETERMINED QUANTITY OF SAID ARTICLES; POWER MEANS OPERATIVELY CONNECTED TO SAID RECEPTION MEANS SEQUENTIALLY TO EFFECT ARRANGEMENT OF SAID ARTICLES THEREIN IN A PREDETERMINED SUBSTANTIALLY COPLANAR ORDER AND TO COMPRESS THE ARTICLES INTO ENGAGEMENT IN SAID ORDER IN THE PLANE; GRIP PING MEANS ADAPATED TO HOLD SAID ARRANGED ARTICLES IN COMPRESSIVE ENGAGEMENT; POWER MEANS OPERATIVELY CONNECTED TO SAID GRIPPING MEANS TO EFFECT POWERED ADJUSTMENT THEREOF BETWEEN RELEASED AND GRIPPING CONDITIONS; TRANSPORT MEANS OPERATIVELY SUPPORTING SAID GRIPPING MEANS TO CARRY SAID ARTICLES TO A PACKAGING CONTAINER IN COMPRESSIVE ENGAGEMENT AND TO DEPOSIT THE ARTICLES THEREIN WHILE MAINTAINING SAID PRE-ARRANGED ORDER; POWER MEANS CONNECTED TO SAID TRANSPORT MEANS TO EFFECT THE CARRYING AND DEPOSITING FUNCTIONS OF SAID TRANSPORT MRANS; AND CONTROL MEANS OPERATIVELY CONNECTED TO EACH OF SAID POWER MEANS TO EFFECT SEQUENTIAL INDIVIDUAL OPERATION THEREOF IN A PREDETERMINED ORDER.

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