WO2010151112A2 - Ensemble de ramassage et de transport, dispositif et procédé de transport - Google Patents

Ensemble de ramassage et de transport, dispositif et procédé de transport Download PDF

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Publication number
WO2010151112A2
WO2010151112A2 PCT/NL2010/000091 NL2010000091W WO2010151112A2 WO 2010151112 A2 WO2010151112 A2 WO 2010151112A2 NL 2010000091 W NL2010000091 W NL 2010000091W WO 2010151112 A2 WO2010151112 A2 WO 2010151112A2
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WO
WIPO (PCT)
Prior art keywords
pick
transport
product
conveyor
assembly
Prior art date
Application number
PCT/NL2010/000091
Other languages
English (en)
Other versions
WO2010151112A3 (fr
Inventor
Hendrik Van Den Top
Original Assignee
Hendrik Van Den Top
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 Hendrik Van Den Top filed Critical Hendrik Van Den Top
Priority to EP10749691A priority Critical patent/EP2437588A2/fr
Publication of WO2010151112A2 publication Critical patent/WO2010151112A2/fr
Publication of WO2010151112A3 publication Critical patent/WO2010151112A3/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A01G18/70—Harvesting

Definitions

  • the present invention relates to a transport pickup assembly.
  • the present invention also relates to a transport device.
  • the present invention further relates to a method of transport. Use is preferably made here of such a transport pick-up assembly and/or such a transport device according to the present invention.
  • the present invention provides a transport pick-up assembly for picking up and displacing a vulnerable product such as a crop, such as a mushroom, during harvesting and/or handling thereof, comprising :
  • the pick-up mechanism for picking up the product by means of the pick-up elements, wherein - the pick-up mechanism is suitable for displacing the pick-up elements between an open position and a pickup position, and
  • the pick-up mechanism is suitable for holding the pick-up elements at a distance appropriate to the size of an individual product when the pick-up elements are situated in the pick-up position.
  • An advantage of such a device according to the present invention is that products of a different size can be picked up by means of a transport pick-up assembly, whereby a conveyor becomes usable for products of a different size.
  • the pick-up mechanism comprises clamping means, such as biasing means, for holding the pick-up elements under bias at any size of individual products within a predetermined range.
  • clamping means such as biasing means
  • An advantage of holding the pick-up elements under bias is that simple biasing means can be applied.
  • Such simple biasing means are preferably spring means or spiral springs. The biasing force hereof is to a large extent predictable and can be chosen freely within a suitable range .
  • the pick-up mechanism comprises:
  • a pick-up transmission for holding the pick-up elements substantially in the pick-up position when the product is picked up in the closed position of the locking transmission.
  • the pick-up transmission is more preferably freely movable relative to the locking transmission when the locking transmission is situated in the closed position.
  • the locking transmission and/or the pick-up transmission comprises a gear transmission for providing a transmission between a drive part and a follower part, wherein the drive part and the follower part of the locking transmission can preferably be coupled by means of biasing means to respective gripping parts and follower parts of the pickup transmission.
  • the follower part and/or the drive part of the pick-up transmission is provided with a swing arm arranged between the follower part and/or the drive part and the respective pick-up elements.
  • the locking transmission is preferably urged under bias from the closed to the opened position, and these biasing means are stronger than the biasing means holding the pick-up transmission under bias.
  • Each of these biasing means is more preferably embodied as a spring or a spiral spring.
  • the pick-up elements are linearly movable, preferably by means of a linear guide member, preferably embodied by means of guide shafts with guide blocks arranged therebetween. It hereby becomes possible to position the pick-up elements in very reliable manner relative to the product, also when the different components are in motion. The different parts have the same movement relative to each other here.
  • a size selection can be realized by means of a transport pick-up assembly according to the present invention. Such a size selection has the advantage that the products have an added value compared to unselected products while costly human effort is not necessary for this purpose. The products can be placed per size grouping in the correct packaging. This will be discussed in greater detail hereinbelow with reference to different further preferred embodiments.
  • a further aspect of the present invention relates to a transport device for facilitating the transport of products, such as products growing on a substrate or ground surface, comprising:
  • a harvesting conveyor which can be arranged movably relative to a substrate, wherein the substrate is displaceable relative to the harvesting conveyor and/or the harvesting conveyor is displaceable relative to the substrate,
  • the pick-and-place robot is preferably provided with a stabilized suction nozzle on the basis of a concertina element comprising relatively soft rubber.
  • the concertina element protruding from a stabilizing element can herein make contact with the cap of a mushroom, after which the concertina is urged or pulled by means of an underpressure into the stabilizing element so that the cap of the mushroom is brought into contact with a soft edge of the stabilizing element.
  • the transfer conveyor comprises a transport pick-up assembly according to the present invention and/or a packaging conveyor for transferring the product therefrom into the packaging. It hereby becomes possible to displace the products by means of the transport device, with the advantages provided by the transport pick-up assembly as described in the foregoing.
  • a further advantage of such a configuration is that, in the case of a malfunction, a transport pick-up assembly can be removed in simple manner from the transfer conveyor, after which another assembly can optionally be placed. In the case of malfunction of a single transport pick-up assembly the overall system need therefore only be stopped for a very short time. Very high production times are hereby achieved.
  • a further advantage of such a configuration is that the underside of the product is freely visible while it is present in the transport pick-up assembly, for instance by means of a camera. It hereby possible to perform a measurement of the degree of development of the underside of the product. A selection based on the degree of development, or ripeness, of the product can hereby also be realized in addition to the above-mentioned size selection.
  • the system is provided for this purpose with a camera and an image analysis device such as a computer.
  • an image analysis device such as a computer.
  • a value can be tracked per position in the conveyor and can be used in determining when or in which packaging station the product has to be released.
  • the transport device comprises size-determining means for release on the basis of a size selection of the crop.
  • These size- determining means preferably comprise an image recording device and image analysis means, preferably similar to those described in the foregoing or in combination therewith.
  • the transport device preferably also comprises an actuator for actuating release by means of actuating a release member of the transport pick-up assembly for release thereof from the closed position.
  • the product can hereby be released in an automated manner at a location suitable for this product.
  • the transport device preferably comprises a measuring instrument, such as said camera, for the purpose of an electronic control of a release member of the transport pick-up assembly for release thereof from the closed position.
  • a measuring instrument such as said camera
  • An electronic size determination can hereby be realized in addition to said mechanism of size determination .
  • a guide rail can be provided for guiding the transport pick-up assembly during movement thereof relative to the transfer conveyor.
  • the transport pick-up assembly can hereby be stabilized during movement thereof, preferably during pick-up and release of the product.
  • the transport device preferably comprises synchronizing means for synchronizing the speed of the different conveyors, preferably by means of a mechanical synchronization, such as a shared drive with transmissions, or an electronic synchronization.
  • a mechanical synchronization such as a shared drive with transmissions, or an electronic synchronization.
  • the drive and synchronization of the different parts can hereby be realized in a robust and reliable manner. It is however also possible for separate drives to be realized with an electronic synchronization relative to each other.
  • the packaging conveyor is more preferably similar to the harvesting conveyor. This provides the advantage that the components of both conveyors can be standardized.
  • a further aspect of the present invention relates to a method for handling vulnerable products, preferably during a harvesting process, by means of a device according to one or more of the foregoing claims, the method comprising steps for:
  • This aspect of the present invention provides advantages similar to the aspects described above.
  • the method more preferably comprises steps for: - transferring the product from the harvesting conveyor to the transfer conveyor, - transferring the product from the transfer conveyor to the packaging conveyor.
  • Fig. 1 is a schematic perspective view of a first preferred embodiment according to the present invention.
  • Fig. 2 shows a detail of the preferred embodiment of Fig. 1.
  • Fig. 3 shows a further detail of the preferred embodiment of Fig. 1.
  • Fig. 4 shows four views of a further preferred embodiment according to the present invention in a situation of use.
  • Fig. 5 shows four views of the preferred embodiment of Fig. 4 in a further situation of use.
  • Fig. 6 shows four views of the preferred embodiment of Fig. 4 in a further situation of use.
  • Fig. 7 shows four views of the preferred embodiment of Fig. 4 in a further situation of use.
  • a first preferred embodiment (Fig. 1) relates to a system for assisting in the harvesting of mushrooms.
  • This system comprises a number of sub-systems.
  • Harvesting begins on a harvesting conveyor 3 arranged partially above a mushroom growth bed.
  • the growth bed is movable in the direction of arrows A.
  • a large number of growth beds can hereby be moved successively relative to the harvesting conveyor.
  • All growth beds in a cultivation area are preferably movable in turn along at least a harvesting conveyor. All growth beds in the cultivation area can hereby be harvested.
  • the harvesting conveyor is arranged relative to the growth beds such that two or three persons can pick and place mushrooms of the correct size in one or more of the crop pick-up members 31 (Fig. 3) of the harvesting conveyor .
  • the harvesting conveyor is arranged partially parallel to transfer conveyor 8.
  • Transfer conveyor 8 is a conveyor provided with a large number of gripping elements 40 (Fig. 4) for the purpose of picking up mushrooms from the harvesting conveyor using gripping elements 40 of the transfer conveyor and depositing them further along in a packaging conveyor.
  • System 1 comprises two such packaging conveyors 4,5 arranged in a packaging sub-system 2. It also possible for such a system to comprise a plurality of packaging conveyors.
  • a packaging conveyor can be used to realize a sorting of mushrooms of a predetermined size.
  • the packaging conveyor can for instance also be used to realize a sorting of mushrooms of a predetermined ripeness. Depending on the number of stations, a number of sortings can be realized simultaneously.
  • the packaging conveyor is similar to the harvesting conveyor in respect of the nature of the crop pick-up members. It is otherwise also explicitly anticipated within the present invention that a pick-and-place robot transfers mushrooms directly from the harvesting conveyor to a packaging.
  • the system further comprises a pick-and-place robot 7 for taking mushrooms out of the packaging conveyor and placing them in a packaging.
  • a mushroom can here be placed in a specific position or loosely in a packaging.
  • the pick-and-place robot is further described in greater detail in the foregoing with respect to the operation of the suction nozzle.
  • the suction nozzle of the pick-and- place robot is carried by three pivotable two-part arms. An end of each arm is coupled to a rotation shaft of a precisely controllable electric motor. The other end of each arm is coupled to the suction nozzle.
  • a hinge is arranged at a suitable position in the arm. The suction nozzle can hereby be moved in all directions within a predetermined range.
  • Such a pick-and-place robot is also able to remove and place the mushrooms in the packaging capable during the movement of the packaging conveyor, co- displacing with the movement of the packaging conveyor.
  • the pick-and-place robot is provided with accurate control electronics. The pick-up and set-down positions and the speeds can be learned by the pick-and-place robot.
  • the transfer conveyor moves in the direction of arrow C. It hereby moves over some distance parallel to and synchronously with the harvesting conveyor moving in the direction of arrow B.
  • the mushrooms can hereby be picked up by the transfer conveyor from the harvesting conveyor.
  • Packaging conveyors 4,5 thus also move in directions of the respective arrows D and E and over some distance parallel to and synchronously with transfer conveyor 8.
  • One or both of the packaging conveyors is provided with a conveyor 6 for packagings.
  • the pick-and-place robot can reach the positions of the mushrooms in the packaging conveyor as well as any position in the packagings.
  • the system is further provided with an optical analysis unit 9 provided with a camera and image analysis means.
  • the image analysis means preferably comprise a computer and software suitable for the image analysis.
  • the image analysis means are also coupled to the control of the conveyors in order to be able to keep track of the positions of the measured mushrooms for the purpose of a correct timing of release of the correct mushroom in the correct conveyor and the correct packaging.
  • Fig. 3 further shows a cutting member 15.
  • This comprises a rotating knife which severs the parts of the stalks of the mushrooms protruding along the underside of the crop pick-up members before they reach the transfer conveyor.
  • Transfer conveyor 8 comprises a plurality of mounting members 17 for movable mounting thereon of gripping assemblies 40.
  • the transfer conveyor 8 also comprises a guide rail 16 which serves to actuate the actuation element 97.
  • the gripping element passes along guide rail 16, it is pressed inward by the oblique initial part of guide rail 16 from the position as shown in figure 4 to the position as shown in figure 7.
  • Fig. 4 to 7 show in each case four perspective views of an example of a gripping assembly 40 according to the present invention.
  • the gripping assembly is built up from a base plate 41.
  • Four rods 45,46,47,48 are fixed to the base plate on the gripper side.
  • the ends of rods 45, 46, 48 are mutually connected by means of a plate 49.
  • Rod 47 is connected to rod 48 by means of two rotation shafts 98,99. These rotation shafts serve for rotatable mounting of respectively rotation elements 78,78' and 81,81'.
  • Rotation element 81' comprises a substantially cylindrical element with an arm extending therefrom. A stop 80' of element 78' moves against this arm. On the other side a toothed coupling element 82' extends from the cylindrical element of rotation element 81' for engagement on the correspondingly toothed coupling element 82, which in turn forms part of rotation element 81.
  • Rotation element 81 likewise has a cylindrical part and an arm. This arm differs from the respective arm of rotation element 81' in that it is provided with an actuation element 97. This actuation element 97 serves to actuate rotation element 81.
  • Rotation element 78 and 78' are further placed round shafts 98,99. These rotation elements likewise have a mutual coupling by means of toothed coupling elements 79 and 79'. These rotation elements are further provided with arms having on the end thereof stops 80,80' which moves against arms 81,81'.
  • Arms 78,78' and 81,81' are therefore connected to each other by means of these springs.
  • Arms 78,78' are provided on the underside with a swing arm 74,74'.
  • These swing arms are provided with gripping elements 71 coupled in rotatable manner to the swing arms.
  • Guide rings 49,49' are further situated between the swing arms and the gripping elements. Swing arms 74,74' are therefore connected rotatably to arms 78,78' as well as to the gripping elements. It hereby becomes possible for the gripping elements to be linearly movable between shafts 45,46. Rings 49,49' move here between shafts 45,46.
  • Rotation elements 78,78' with coupled components are the pick-up transmission, and rotation elements 81,81' with coupled components are the locking transmission.
  • Rods 51,52,53,54 likewise extend on the other side of base plate 41.
  • Rods 53,54 are mutually connected by means of a triangular plate.
  • Triangular plate 55 is also provided with an opening 56 for guiding therethrough a rod connected to rotation element 78'.
  • Rods 54 and 52 are further mutually connected by means of a shaft 104. This shaft 104 serves for rotatable holding of release element 62.
  • Triangular plate 55 also serves as stop for release element 62. Release element 62 is connected under bias to the base plate by means of spring 65.
  • rotation elements 81 and 81' rotate, rotation elements 78,78' are rotated by springs 77,77' , whereby gripping elements 71 are moved toward each other. Owing to the mutual freedom of rotation of rotation elements 78,78' and 81,81' the gripping elements are moved toward each other until they are blocked by a mushroom. From this position the rotation elements 81,81' move further into the position of figure 7. Springs 77,77' are also tensioned, whereby the gripping elements are held under bias against the mushroom.
  • release element 62 When release element 62 is moved by the actuator at the packaging conveyor, hook 62' will release protrusion 87, whereby under tension of spring 101 the connecting rod will move back to the starting position of Fig. 4. The engaging elements will here also return to the position of Fig. 4, whereby the mushroom is released.
  • Rod 63 which has at the end thereof a round disc 64, serves to enable the size selection of the mushrooms. Owing to the coupling to rotation number 78' the position of round disc 64 will depend in the closed position on the size of the clamped mushroom.
  • the transfer conveyor comprises for each packaging conveyor an adjustable actuator which, depending on the position of disc 64, comes into contact therewith at the packaging conveyor at which the mushroom must be released. When the disc contacts the actuator, the actuator is moved by the disc. The actuator then pushes release element 62 whereby the mushroom is released as specified in the foregoing. In the case of the configuration of figure 1 there are two actuators, each covering a part of the range of the disc. This guarantees that every mushroom is released.
  • FIG. 8 shows how gripping assemblies 40 can be mounted movably in mounting members 17.
  • the mounting members are provided with two vertical mounting shafts 32, 33.
  • Gripping assembly 40 is provided on one side with four rotation wheels 37 arranged between the mounting shafts.
  • Also arranged between mounting points 38 of mounting member 17 and mounting points 39 of gripping assembly 40 are two spiral springs which hold gripping assembly 40 positioned under bias. In the normal bias position the gripping assembly

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  • Life Sciences & Earth Sciences (AREA)
  • Mycology (AREA)
  • Environmental Sciences (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

La présente invention porte sur un ensemble de ramassage et de transport servant à ramasser et à déplacer un produit vulnérable tel qu'une récolte, de champignons par exemple, pendant sa récolte et/ou sa manipulation, comprenant : - un châssis d'ensemble de ramassage et de transport servant à accoupler l'ensemble de ramassage et de transport à un convoyeur, - des éléments de ramassage destinés à ramasser le produit par actionnement exécuté par un mécanisme de ramassage, - le mécanisme de ramassage servant à ramasser le produit au moyen des éléments de ramassage, - le mécanisme de ramassage étant apte à déplacer les éléments de ramassage entre une position ouverte et une position de ramassage, et -le mécanisme de ramassage étant apte à maintenir les éléments de ramassage à une distance qui convient pour la taille d'un produit individuel lorsque les éléments de ramassage sont situés dans la position de ramassage. La présente invention porte aussi sur un dispositif et un procédé de transport.
PCT/NL2010/000091 2009-06-02 2010-06-02 Ensemble de ramassage et de transport, dispositif et procédé de transport WO2010151112A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10749691A EP2437588A2 (fr) 2009-06-02 2010-06-02 Ensemble de ramassage et de transport, dispositif et procédé de transport

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1037006 2009-06-02
NL1037006 2009-06-02

Publications (2)

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WO2010151112A2 true WO2010151112A2 (fr) 2010-12-29
WO2010151112A3 WO2010151112A3 (fr) 2011-08-11

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PCT/NL2010/000091 WO2010151112A2 (fr) 2009-06-02 2010-06-02 Ensemble de ramassage et de transport, dispositif et procédé de transport

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WO (1) WO2010151112A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2654397B1 (fr) 2010-12-22 2019-11-20 Van den Top, Hendrik Dispositif de récolte, espace de culture, système et procédé de culture
CN111492898A (zh) * 2018-12-27 2020-08-07 J·A·J·莱曼 用于生长蘑菇的系统
WO2021250185A1 (fr) * 2020-06-12 2021-12-16 Axis Technology and Development Limited Appareil de manipulation de champignons
WO2022031171A1 (fr) * 2020-08-06 2022-02-10 Jacobus Alexander Jozef Lemmen Dispositif d'emballage de champignons
CN114273882A (zh) * 2021-12-22 2022-04-05 津上智造智能科技江苏有限公司 一种组立自动化生产线及其装配方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007100245A2 (fr) 2006-03-03 2007-09-07 Hendrik Van Den Top Dispositif et procédé pour moissonner une récolte et releveur de récoltes

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3179138A (en) * 1962-07-31 1965-04-20 Myers Canning Company Mushroom trimmer
US7395653B2 (en) * 2005-11-02 2008-07-08 Valley Fabrication Inc. Systems and methods for automatically picking and coring lettuce and cabbage
US20100187846A1 (en) * 2007-06-04 2010-07-29 Leonardus Paulus Crezee Gripper
CA2697421A1 (fr) * 2007-08-28 2009-03-05 Scanvaegt International A/S Dispositif de prehension destine a un robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007100245A2 (fr) 2006-03-03 2007-09-07 Hendrik Van Den Top Dispositif et procédé pour moissonner une récolte et releveur de récoltes

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2654397B1 (fr) 2010-12-22 2019-11-20 Van den Top, Hendrik Dispositif de récolte, espace de culture, système et procédé de culture
CN111492898A (zh) * 2018-12-27 2020-08-07 J·A·J·莱曼 用于生长蘑菇的系统
WO2021250185A1 (fr) * 2020-06-12 2021-12-16 Axis Technology and Development Limited Appareil de manipulation de champignons
WO2022031171A1 (fr) * 2020-08-06 2022-02-10 Jacobus Alexander Jozef Lemmen Dispositif d'emballage de champignons
CN114273882A (zh) * 2021-12-22 2022-04-05 津上智造智能科技江苏有限公司 一种组立自动化生产线及其装配方法

Also Published As

Publication number Publication date
EP2437588A2 (fr) 2012-04-11
WO2010151112A3 (fr) 2011-08-11

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