WO2005068297A1 - Device for the packaging of lettuces or similar products - Google Patents

Device for the packaging of lettuces or similar products Download PDF

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Publication number
WO2005068297A1
WO2005068297A1 PCT/ES2004/000582 ES2004000582W WO2005068297A1 WO 2005068297 A1 WO2005068297 A1 WO 2005068297A1 ES 2004000582 W ES2004000582 W ES 2004000582W WO 2005068297 A1 WO2005068297 A1 WO 2005068297A1
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WO
WIPO (PCT)
Prior art keywords
packaging
robot
station
product
lettuce
Prior art date
Application number
PCT/ES2004/000582
Other languages
Spanish (es)
French (fr)
Inventor
Antonio REQUENA JIMÉNEZ
Luis Masanet Asensi
Juan MARTÍNEZ ALEJO
Original Assignee
It Infotec Robotics, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by It Infotec Robotics, S.L. filed Critical It Infotec Robotics, S.L.
Publication of WO2005068297A1 publication Critical patent/WO2005068297A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/02—Packaging agricultural or horticultural products
    • B65B25/04—Packaging fruit or vegetables

Definitions

  • the present invention refers to a device for packaging lettuce or similar products, with which also the selection and conditioning of the agricultural product, preferably lettuce or buds of lettuce, or others of similar characteristics. Now, most of these products are introduced to the market clean, conveniently cut and packaged in special trays. For this, it is essential to subject the lettuce to a process of selection of sizes or calipers, cutting of the peduncle or stem and elimination of the external leaves, not usable, and finally to make a positioning in the container or tray that will later be retracted or closed by any other means, in the last stage of packaging.
  • the device for packaging lettuce and similar products, object of the invention has been designed to automatically carry out all these operations cited, and for this purpose it is constituted from a bench or chassis in which it exists a first robotic station, with a conveyor belt or band equipped with an individual weighing cell of the deposited lettuce on said tape.
  • the lettuce After reading the weight, the lettuce is transferred to a second belt that stops to offer the product to an artificial vision system that takes the necessary data for a robot to take the lettuce and present it, in a certain position, to a device of cut that eliminates the trunk in the programmed measurement.
  • the robot gently deposits it in a hopper that feeds a tilting cylinder with an inclined axis, in which the loose leaves that the cut of the stem has left free come off. Lettuces are received at the exit of the dump cylinder, between two transport bands arranged in "V" and separated in the area of the vertex to allow the leaves that had not yet fallen into the dump cylinder to fall. The net product, or lettuce buds, advance through these "V” tapes to follow the line of work.
  • the product goes to a second robotic station where there is a tape at rest so that another reading with artificial vision is made to transmit information to the corresponding robot, so that it captures the lettuce and places it in the appropriate way inside of a container or tray arranged on a roller table to follow the packaging process.
  • Artificial vision devices have their corresponding lighting means and thanks to the software they use, they are able to operate the transport belts that were at rest, when they detect any irregularity in the product (different caliber, color, deformation, etc.) by removing it of the packaging line. Waste products or waste (leaves, logs or stems, etc.) fall into a collection gutter.
  • FIG. 1 It is a perspective view of the device for packaging lettuce or similar products, in accordance with the invention.
  • Figure 2. It is another perspective view from a different angle of the same device.
  • Figure 3. It is a perspective view of the same device, from a third angle.
  • DESCRIPTION OF THE PREFERRED EMBODIMENT With reference to the numbering adopted in the figures, we can see how the device for packaging lettuce or similar products, which the invention proposes, includes a first station 1 with the transport belt 2 where the Lettuce 3 or similar.
  • the tape 2 transfers the already weighed product, to the adjacent tape 5 for the artificial vision system 6 to perform data reading.
  • the robot that takes the lettuce from this tape 5 is referenced with the number 7 and takes it to the cutting device 8 of the guillotine type, where an area of the trunk or stem is removed.
  • the sheets of the outer layers are detached when the dump cylinder 9 passes once the robot 7 deposits it in the hopper 10 located at the entrance of the latter.
  • the cylinder 9 is rotary and its walls are formed with longitudinal profiles or slats 11 that produce a gentle tapping on the product.
  • Reference 12 designates the two "V” ribbons arranged at the outlet of the tumbling cylinder 9 between which the lettuce buds advance, while the waste that had not been detached in the dump cylinder 9 falls through the lower opening that is determined between the two tapes.
  • Each of these belts 12 is driven by independent motors 13.
  • the stop or rest tape 15 can be seen where another reading with artificial vision 16 is carried out to transmit information to the second robot 17 located at the exit, which takes the already clean product and places it in the container or tray 18.
  • Reference 19 designates the lighting means of the artificial vision devices 6 and 16. The waste of the cut in the cutting station 8 as well as the leaves that are released when passing through the cylinder flip 9 and those that fall between the two "V” 12 tapes, are collected in the gutter 20 that runs under the bench.

Abstract

The invention relates to a device which is used for the selection, processing and packaging of agricultural products, preferably lettuces, lettuce hearts or products with similar characteristics. The inventive device comprises a first loading station (1) and means (4) for weighing the product on a conveyor belt (2), the resulting data being read by a computer vision system (6). Next, a robot (7) takes the product and inserts same into a cutting station (8) where the stem of the lettuce is removed, the outer leaves are taken off and the lettuce is subsequently deposited in a hopper that feeds a turning drum (9). The lettuce hearts are then conveyed by means of two V-shaped conveyor belts (12) to a second robotised station which is equipped with another computer vision system (16) and the robot (17) at said station accepts the product and places same in a container or tray (18).

Description

DISPOSITIVO PARA ENVASADO DE LECHUGAS O PRODUCTOS SIMILARES OBJETO DE LA INVENCIÓN La presente invención, según lo expresa el enunciado de esta memoria descriptiva, se refiere a un dispositivo para envasado de lechugas o productos similares, con el que tiene lugar también la selección y acondicionamiento del producto agrícola, preferentemente lechugas o cogollos de lechugas, u otros de similares características. Ahora, la mayoría de estos productos se introducen en el mercado limpios, convenientemente cortados y envasados en bandejas especiales. Para ello es imprescindible someter a la lechuga a un proceso de selección de tamaños o calibres, corte del pedúnculo o tallo y eliminación de las hojas externas, no aprovechables, y por último efectuar un posicionamiento en el envase o bandeja que posteriormente se retractilará o cerrará por cualquier otro medio, en la última fase de envasado . ANTECEDENTES DE LA INVENCIÓN En la actualidad, todas las operaciones citadas anteriormente se están efectuando a mano, y algunas de ellas como es el corte del tallo o tronco, se han convertido en fuente de lesiones de los operarios, pues aunque no supongan la realización de esfuerzos importantes, la repetitividad favorece la aparición de dichas lesiones, y todo ello se traduce en una gran dificultad para encontrar mano de obra. DESCRIPCIÓN DE LA INVENCIÓN En líneas generales, el dispositivo para envasado de lechugas y productos similares, objeto de la invención, ha sido concebido para efectuar automáticamente todas estas operaciones citadas, y para ello se constituye a partir de una bancada o chasis en el que existe una primera estación robotizada, con una cinta o banda de transporte dotada de una célula de pesada individual de la lechuga depositada sobre dicha cinta. Tras la lectura del peso se traslada la lechuga a una segunda cinta que se detiene para ofrecer el producto a un sistema de visión artificial que toma los datos necesarios para que un robot coja la lechuga y la presente, en una posición determinada, a un dispositivo de corte que elimina el tronco en la medida programada. Después de efectuarse el corte, el robot la deposita suavemente en una tolva que alimenta a un cilindro de volteo de eje inclinado, en el que se desprenden las hojas sueltas que el corte del tallo ha dejado libres. Las lechugas son recibidas a la salida del cilindro de volteo, entre dos bandas de transporte dispuestas en "V" y separadas en la zona del vértice para permitir que caigan las hojas que todavía no se habían desprendido en el cilindro de volteo. El producto neto, o cogollos de la lechuga avanzan por estas cintas en "V" para seguir la línea de trabajo. A continuación, el producto pasa a una segunda estación robotizada donde existe una cinta en reposo para que se efectúe otra lectura con visión artificial para transmitir información al correspondiente robot, de modo que éste capture la lechuga y la sitúe en la forma adecuada en el interior de un envase o bandeja dispuesto sobre una mesa de rodillos para seguir el proceso de empaquetado. Los dispositivos de visión artificial cuentan con sus correspondientes medios de iluminación y gracias al software que emplean son capaces de accionar las cintas de transporte que estaban en reposo, cuando detectan cualquier irregularidad en el producto (calibre diferente, color, deformación, etc.) sacándolo de la línea de envasado. Los productos de desecho o desperdicios (hojas, troncos o tallos, etc.) caen a una canaleta de recogida. Para facilitar la comprensión de las características de la invención y formando parte integrante de esta memoria descriptiva, se acompañan unas hojas de planos en cuyas figuras, con carácter ilustrativo y no limitativo se ha representado lo siguiente: BREVE DESCRIPCIÓN DE LOS DIBUJOS Figura 1. Es una vista en perspectiva del dispositivo para envasado de lechugas o productos similares, acorde con la invención. Figura 2. Es otra vista en perspectiva desde un ángulo diferente del mismo dispositivo. Figura 3. Es una vista en perspectiva del mismo dispositivo, desde un tercer ángulo. DESCRIPCIÓN DE LA FORMA DE REALIZACIÓN PREFERIDA Haciendo referencia a la numeración adoptada en las figuras, podemos ver cómo el dispositivo para envasado de lechugas o productos similares, que la invención propone, incluye una primera estación 1 con la cinta de transporte 2 donde se depositan las lechugas 3 o similares. Vemos referenciada con el número 4 la célula de pesada vinculada a esta cinta 2. La cinta 2 transfiere el producto ya pesado, a la cinta adyacente 5 para que el sistema de visión artificial 6 efectúe la lectura de datos. El robot que toma la lechuga de esta cinta 5 está referenciado con el número 7 y la lleva al dispositivo de corte 8 del tipo de guillotina, donde se elimina una zona del tronco o tallo. Las hojas de las capas externas se desprenden al paso por el cilindro de volteo 9 una vez que el robot 7 la deposita en la tolva 10 ubicada a la entrada del mismo. El cilindro 9 es rotatorio y sus paredes se forman con perfiles o listones 11 longitudinales que producen un suave golpeteo en el producto. La referencia 12 designa las dos cintas en "V" dispuestas a la salida del cilindro de volteo 9 entre las que avanzan los cogollos de lechuga, mientras que los desperdicios que no se habían desprendido en el cilindro de volteo 9 caen por la abertura inferior que entre ambas cintas se determina a tal efecto. Cada una de estas cintas 12 es accionada por motores 13 independientes. Finalmente, en la segunda y última estación robotizada, referenciada con 14, puede verse la cinta 15 de paro o reposo donde se efectúa otra lectura con visión artificial 16 para transmitir información al segundo robot 17 ubicado en la salida, que toma el producto ya limpio y lo sitúa en el envase o bandeja 18. La referencia 19 designa los medios de iluminación de los dispositivos de visión artificial 6 y 16. Los desperdicios del corte en la estación de corte 8 así como las hojas que se sueltan al paso por el cilindro de volteo 9 y las que caen entre las dos cintas en "V" 12, se recogen en la canaleta 20 que discurre bajo la bancada. DEVICE FOR PACKAGING OF LETTERS OR SIMILAR PRODUCTS OBJECT OF THE INVENTION The present invention, as expressed in the statement of this specification, refers to a device for packaging lettuce or similar products, with which also the selection and conditioning of the agricultural product, preferably lettuce or buds of lettuce, or others of similar characteristics. Now, most of these products are introduced to the market clean, conveniently cut and packaged in special trays. For this, it is essential to subject the lettuce to a process of selection of sizes or calipers, cutting of the peduncle or stem and elimination of the external leaves, not usable, and finally to make a positioning in the container or tray that will later be retracted or closed by any other means, in the last stage of packaging. BACKGROUND OF THE INVENTION At present, all the aforementioned operations are being carried out by hand, and some of them, such as cutting the stem or trunk, have become a source of operator injuries, even if they do not involve performing important efforts, the repetitiveness favors the appearance of these injuries, and all this translates into a great difficulty in finding labor. DESCRIPTION OF THE INVENTION In general, the device for packaging lettuce and similar products, object of the invention, has been designed to automatically carry out all these operations cited, and for this purpose it is constituted from a bench or chassis in which it exists a first robotic station, with a conveyor belt or band equipped with an individual weighing cell of the deposited lettuce on said tape. After reading the weight, the lettuce is transferred to a second belt that stops to offer the product to an artificial vision system that takes the necessary data for a robot to take the lettuce and present it, in a certain position, to a device of cut that eliminates the trunk in the programmed measurement. After the cut is made, the robot gently deposits it in a hopper that feeds a tilting cylinder with an inclined axis, in which the loose leaves that the cut of the stem has left free come off. Lettuces are received at the exit of the dump cylinder, between two transport bands arranged in "V" and separated in the area of the vertex to allow the leaves that had not yet fallen into the dump cylinder to fall. The net product, or lettuce buds, advance through these "V" tapes to follow the line of work. Then, the product goes to a second robotic station where there is a tape at rest so that another reading with artificial vision is made to transmit information to the corresponding robot, so that it captures the lettuce and places it in the appropriate way inside of a container or tray arranged on a roller table to follow the packaging process. Artificial vision devices have their corresponding lighting means and thanks to the software they use, they are able to operate the transport belts that were at rest, when they detect any irregularity in the product (different caliber, color, deformation, etc.) by removing it of the packaging line. Waste products or waste (leaves, logs or stems, etc.) fall into a collection gutter. To facilitate the understanding of the characteristics of the invention and as an integral part of this specification, some sheets of drawings are attached in whose Figures, for illustrative and non-limiting purposes, have been represented as follows: BRIEF DESCRIPTION OF THE DRAWINGS Figure 1. It is a perspective view of the device for packaging lettuce or similar products, in accordance with the invention. Figure 2. It is another perspective view from a different angle of the same device. Figure 3. It is a perspective view of the same device, from a third angle. DESCRIPTION OF THE PREFERRED EMBODIMENT With reference to the numbering adopted in the figures, we can see how the device for packaging lettuce or similar products, which the invention proposes, includes a first station 1 with the transport belt 2 where the Lettuce 3 or similar. We see referenced with the number 4 the weighing cell linked to this tape 2. The tape 2 transfers the already weighed product, to the adjacent tape 5 for the artificial vision system 6 to perform data reading. The robot that takes the lettuce from this tape 5 is referenced with the number 7 and takes it to the cutting device 8 of the guillotine type, where an area of the trunk or stem is removed. The sheets of the outer layers are detached when the dump cylinder 9 passes once the robot 7 deposits it in the hopper 10 located at the entrance of the latter. The cylinder 9 is rotary and its walls are formed with longitudinal profiles or slats 11 that produce a gentle tapping on the product. Reference 12 designates the two "V" ribbons arranged at the outlet of the tumbling cylinder 9 between which the lettuce buds advance, while the waste that had not been detached in the dump cylinder 9 falls through the lower opening that is determined between the two tapes. Each of these belts 12 is driven by independent motors 13. Finally, in the second and last robotic station, referenced with 14, the stop or rest tape 15 can be seen where another reading with artificial vision 16 is carried out to transmit information to the second robot 17 located at the exit, which takes the already clean product and places it in the container or tray 18. Reference 19 designates the lighting means of the artificial vision devices 6 and 16. The waste of the cut in the cutting station 8 as well as the leaves that are released when passing through the cylinder flip 9 and those that fall between the two "V" 12 tapes, are collected in the gutter 20 that runs under the bench.

Claims

REIVINDICACIONES 1.- DISPOSITIVO PARA ENVASADO DE LECHUGAS O PRODUCTOS SIMILARES, caracterizado porque incluye: una primera estación (1) de carga o recepción unitaria de las lechugas o productos similares, depositadas en una cinta de transporte (2) con célula de pesada (4) que vierte sobre otra cinta de transporte (5) que se detiene para que un sistema de visión artificial (6) efectúe la lectura de datos, siendo después tomada por un robot (7) , una estación de corte (8) del tronco de la lechuga, tomada por dicho robot (7) , donde se sueltan las hojas externas al depositarla el robot (7) en una tolva (10) que alimenta a un cilindro de volteo (9), dos cintas de transporte (12) dispuestas en "V" a la salida del cilindro de volteo (9) , avanzando en sentido longitudinal y separadas en la zona del vértice para la caída de las hojas sueltas y otros productos de desecho, mientras que los cogollos avanzan hacia una segunda estación (14) , una segunda estación (14) de salida con una cinta de transporte (15) receptora del cogollo, con un sistema de visión artificial (16) transmitiendo información a un segundo robot (17) que toma el producto y lo sitúa en un envase o bandeja (18) . 2.- DISPOSITIVO PARA ENVASADO DE LECHUGAS O PRODUCTOSCLAIMS 1.- DEVICE FOR PACKAGING OF LETTERS OR SIMILAR PRODUCTS, characterized in that it includes: a first station (1) for loading or unitary reception of lettuces or similar products, deposited on a conveyor belt (2) with weighing cell (4) ) that pours over another transport belt (5) that stops for an artificial vision system (6) to read data, being then taken by a robot (7), a cutting station (8) of the trunk of the lettuce, taken by said robot (7), where the outer leaves are released when the robot (7) is deposited in a hopper (10) that feeds a dump cylinder (9), two transport belts (12) arranged in "V" at the exit of the dump cylinder (9), advancing longitudinally and separated in the area of the vertex for the fall of loose leaves and other waste products, while the buds move towards a second station (14) , a second departure station (14) with a Conveyor belt (15) receiving the bud, with an artificial vision system (16) transmitting information to a second robot (17) that takes the product and places it in a container or tray (18). 2.- DEVICE FOR PACKAGING OF LETTERS OR PRODUCTS
SIMILARES, según reivindicación 1, caracterizado porque el cilindro de volteo (9) incluye unos perfiles o listones longitudinales (11) dispuestos según generatrices y equidistantes entre sí. 3. DISPOSITIVO PARA ENVASADO DE LECHUGAS O PRODUCTOS SIMILARES, según reivindicación 1, caracterizado porque las dos cintas de transporte (12) en "V" son accionadas por motores independientes (13) . 4. - DISPOSITIVO PARA ENVASADO DE LECHUGAS O PRODUCTOS SIMILARES, según reivindicación 1, caracterizado porque las cintas de transporte (5, 15) del producto, en las estaciones de carga (1) y de salida (14) respectivamente, son comandadas por los respectivos dispositivos de visión artificial (6, 16) y sacan el producto de la línea de envasado al detectarse cualquier irregularidad en el mismo. SIMILAR, according to claim 1, characterized in that the turning cylinder (9) includes longitudinal profiles or slats (11) arranged according to generatrices and equidistant from each other. 3. DEVICE FOR PACKING OF LETTERS OR SIMILAR PRODUCTS, according to claim 1, characterized in that two conveyor belts (12) in "V" are driven by independent motors (13). 4. - DEVICE FOR PACKAGING OF LETTERS OR SIMILAR PRODUCTS, according to claim 1, characterized in that the conveyor belts (5, 15) of the product, at the loading stations (1) and output stations (14) respectively, are commanded by the respective artificial vision devices (6, 16) and remove the product from the packaging line when any irregularity is detected therein.
PCT/ES2004/000582 2004-01-14 2004-12-27 Device for the packaging of lettuces or similar products WO2005068297A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP200400061 2004-01-14
ES200400061U ES1056532Y (en) 2004-01-14 2004-01-14 ASTIL FOR CONFITERIA PRODUCTS.

Publications (1)

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WO2005068297A1 true WO2005068297A1 (en) 2005-07-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2404511A1 (en) 2010-07-06 2012-01-11 Mécanique et Chaudronnerie de l'Atlantique Device and method for cutting the core from lettuces

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES446543A1 (en) * 1976-03-31 1977-06-16 Lotti Nevio Improvements introduced in the heavy machines for heavy and bulk automatic packaging for horticultural products. (Machine-translation by Google Translate, not legally binding)
JPH1024906A (en) * 1996-07-09 1998-01-27 Kubota Corp Packaging equipment for globular vegetable
JPH10175611A (en) * 1996-12-18 1998-06-30 Kubota Corp Product packaging equipment
ES2133886T3 (en) * 1995-02-16 1999-09-16 Greefs Wagen Carrosserie METHOD AND APPARATUS FOR PACKAGING AGRICULTURAL AND HORTICOLE PRODUCTS.
JP2001139001A (en) * 1999-11-11 2001-05-22 Nishijima Corp Vegetable and fruit selecting and boxing system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES446543A1 (en) * 1976-03-31 1977-06-16 Lotti Nevio Improvements introduced in the heavy machines for heavy and bulk automatic packaging for horticultural products. (Machine-translation by Google Translate, not legally binding)
ES2133886T3 (en) * 1995-02-16 1999-09-16 Greefs Wagen Carrosserie METHOD AND APPARATUS FOR PACKAGING AGRICULTURAL AND HORTICOLE PRODUCTS.
JPH1024906A (en) * 1996-07-09 1998-01-27 Kubota Corp Packaging equipment for globular vegetable
JPH10175611A (en) * 1996-12-18 1998-06-30 Kubota Corp Product packaging equipment
JP2001139001A (en) * 1999-11-11 2001-05-22 Nishijima Corp Vegetable and fruit selecting and boxing system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2404511A1 (en) 2010-07-06 2012-01-11 Mécanique et Chaudronnerie de l'Atlantique Device and method for cutting the core from lettuces

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Publication number Publication date
ES1056532Y (en) 2004-07-16
ES1056532U (en) 2004-04-01

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