ROBOTIC DEVICE FOR SLEEVING POTTED PLANTS AND A METHOD FOR SLEEVING POTTED PLANTS WITH THE ROBOTIC SLEEVING DEVICE

Abstract

A robotic device for sleeving potted plants. The robotic device includes a vertical shaft, at least two upper arms arranged on the vertical shaft, each one of the at least two upper arms having a gripping unit for gripping and releasing potted plants, a first picking area located at a first position radially outwards from the vertical shaft, a sleeving area located at a second position radially outwards from the vertical shaft, and a sleeving unit arranged at the sleeving area. The at least two upper arms are rotatable between the first and the second position about the vertical shaft, wherein the at least two upper arms are arranged to be movable along the vertical shaft.

Claims

1. A robotic sleeving device for potted plants, said device comprising: a vertical shaft; at least two upper arms arranged on said vertical shaft, each one of said at least two upper arms having a gripping unit for gripping and releasing potted plants; a first picking area located at a first position radially outwards from said vertical shaft; a sleeving area located at a second position radially outwards from said vertical shaft; a sleeving unit arranged at said sleeving area; wherein said at least two upper arms are rotatable between said first and said second position about said vertical shaft, wherein said at least two upper arms are arranged to be movable along said vertical shaft.

2. A robotic sleeving device according to claim 1, wherein said gripping units are arranged to grip a potted plant at said first picking area and release said potted plant to said sleeving unit.

3. A robotic sleeving device according to claim 1, wherein said device further comprises: at least two lower arms arranged on said vertical shaft below said upper arms, each one of said at least two lower arms having a gripping unit for gripping and releasing potted plants; a second picking area located at third position below said second position; a loading area arranged at a fourth position below said first position; wherein said at least two lower arms are rotatable between said third and said fourth position about said vertical shaft, wherein said at least two lower arms are arranged to be movable along said vertical shaft.

4. A robotic sleeving device according to claim 3, wherein said at least two lower arms are extendable.

5. A robotic sleeving device according to claim 3, wherein said at least two lower arms are arranged to move independently of each other along said vertical shaft.

6. A robotic sleeving device according to claim 3, wherein said sleeving unit comprises a through hole, wherein a potted plant may be transferred from said sleeving area to said second picking area, through said sleeving unit.

7. A robotic sleeving device according to claim 3, wherein said at least two upper arms and/or said at least two lower arms are attached to said vertical shaft such that said at least two upper arms and/or said at least two lower arms rotate as said vertical shaft rotates about a central axis of said vertical shaft.

8. A robotic sleeving device according to claim 3, wherein said at least two upper arms are diametrically opposed with respect to said vertical shaft and/or said at least two lower arms are diametrically opposed with respect to said vertical shaft.

9. A robotic sleeving device according to claim 1, wherein said gripping units on said at least two upper arms are configured to be inserted horizontally below the rim of a potted plant provided in said first picking area.

10. A robotic sleeving device according to claim 1, wherein said gripping units on said at least two upper arms comprises at least one prong, and wherein said at least one prong comprises an air inlet, an air channel and at least one air outlet arranged at a lower end of said prong.

11. A robotic sleeving system for potted plants, said robotic sleeving system comprising: a first robotic sleeving device according to claim 1; a first transport device for transporting a holder carrying potted plants along a first path to said first picking area, said first picking area being located on said first path; and wherein said first transport device is arranged to transport said potted plants such that said gripping unit of said at least two upper arms may be inserted below the rim of the of a potted plant.

12. A robotic sleeving system for potted plants according to claim 11, further comprising: a second transport device for transporting a holder carrying sleeved potted plants from said loading area along a second path below said first path, said loading area being located on said second path.

13. A robotic sleeving system for potted plants according to claim 11, further comprising: a second robotic sleeving device arranged on a second side of said first path, and said first robotic sleeving device is arranged on a first side of said first path, said second side being opposite said first side, wherein the second robotic sleeving device comprises: a vertical shaft; at least two upper arms arranged on said vertical shaft, each one of said at least two upper arms having a gripping unit for gripping and releasing potted plants; a first picking area located at a first position radially outwards from said vertical shaft; a sleeving area located at a second position radially outwards from said vertical shaft; a sleeving unit arranged at said sleeving area; wherein said at least two upper arms are rotatable between said first and said second position about said vertical shaft, wherein said at least two upper arms are arranged to be movable along said vertical shaft.

14. A method for sleeving potted plants with a robotic sleeving device, said method comprising: gripping a first potted plant at a first position radially outwards from a vertical shaft with a first gripping unit attached to a first arm arranged on said vertical shaft; releasing a second potted plant at a second position, from a second gripping unit attached to a second arm to a sleeving unit; rotating said first and second arms about said vertical shaft; gripping a third potted plant with said second gripping unit, and releasing said first potted plant from said first gripping unit into said sleeving unit.

15. A method for sleeving potted plants according to claim 14, said method further comprising the steps of: gripping said second potted plant at a third position below said second position with a third gripping unit attached to a third arm arranged on said vertical shaft; releasing a fourth potted plant at a fourth position, from a fourth gripping unit attached to a fourth arm, said fourth arm being arranged on said vertical shaft, at a loading area; wherein said step of rotating said first and second arms about said vertical shaft also rotates said third and fourth arms about said vertical shaft.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above, as well as additional objects, features and advantages of the present invention, will be better understood through the following illustrative and non-limiting detailed description of embodiments of the present invention, with reference to the appended drawings, where the same reference numerals will be used for similar elements.

[0039] FIG. 1a schematically shows a perspective view of a robotic sleeving device according to one embodiment of the first aspect of the invention.

[0040] FIG. 1b schematically shows a perspective view of an exemplary embodiment of the gripping units for the upper arms.

[0041] FIG. 2 schematically shows an at least partly cross-sectional side view of a robotic sleeving device according to another embodiment of the first aspect of the invention.

[0042] FIGS. 3a and 3b schematically shows at least partly cross-sectional top views of a robotic sleeving device according to another embodiment of the invention.

[0043] FIG. 4 schematically shows an at least partly cross-sectional top view of a robotic sleeving system according to another aspect of the invention.

[0044] FIG. 5 shows a perspective view of a robotic sleeving system according to at least one embodiment of the invention.

DETAILED DESCRIPTION

[0045] In the present detailed description, embodiments of a robotic device for sleeving potted plants according to the present invention are mainly discussed with reference to views showing a robotic device for sleeving potted plants according to various embodiments of the invention. It should be noted that this by no means limits the scope of the invention, which is also applicable in other circumstances for instance with other types or variants of arms, vertical shafts, or plants than the embodiments shown in the appended drawings. Further, that specific features are mentioned in connection to an embodiment of the invention does not mean that those components cannot be used to an advantage together with other embodiments of the invention.

[0046] The robotic device according to the present invention is suitable for sleeving potted plants. When potted plants originating from a greenhouse arrives at the robotic device (especially on holders carrying potted plants), it is important to carefully handle the potted plants, sleeve them, and package or place the sleeved potted plants on a holder which transports them to a warehouse or another type of short storage before being delivered to the stores where the sleeved potted plants are sold.

[0047] Generally, the robotic sleeving device has diametrically opposed upper arms which rotate about a vertical shaft. The upper arms have gripping units in order to, simultaneously, pick up plants at a picking area and release them into a sleeving device at a sleeving area which is located at a second position opposite the first position. The robotic device thus performs several operations during or between the rotational movements of the vertical shaft.

[0048] The sleeving device discussed below is preferably a typical sleeving device using plastic or paper sleeves which are bag-shaped for sleeving the potted plants.

[0049] FIG. 1 illustrates a robotic device 1 for sleeving potted plants according to a first embodiment of the present invention. The robotic device 1 is a device for sleeving potted plants. The potted plants may for instance be an edible herb, such as a basil, mint, dill, or parsley.

[0050] The robotic device 1 comprises a vertical shaft 2, a pair of diametrically opposed upper arms 3, 4 and a sleeving unit 5. There is a supporting structure 22, such as the frame 22 illustrated, which supports and hold the other components in place. The frame 22 may be made of general purpose beams and connection.

[0051] The vertical shaft 2 may have a cylindrical or substantially square cross section. The pair of diametrically opposed upper arms 3, 4 is attached to the vertical shaft in order to rotate as the vertical shaft 2 rotate. The vertical shaft 2 is rotatably connected to the frame 22 which support the vertical shaft in an upright position. The vertical shaft 2 has a central or main axis A around which the vertical shaft 2 rotates.

[0052] Each one of the pair of diametrically opposed upper arms 3, 4 have a gripping unit 6 for gripping and releasing potted plants 10. The pair of upper arms 3, 4 are arranged to move up or down along the vertical shaft 2. The upper arms 3, 4 may move together or separately up and down the vertical shaft 2. Preferably, the upper arms 3, 4 are connected to each other such that they move together and simultaneously. The gripping units 6 of the upper arms 3, 4 are preferably configured to be inserted horizontally below the rim of the potted plant 10. Hence, the gripping units 6 may be, as illustrated, in the form of an elongated tong having two prongs 6. Each prong has and end piece 6c arranged at the lower end. The end piece 6c extends towards the other prong of the gripping unit 6 in order to be inserted below the rim of the potted plant 10. The gripping unit 6 may be configured to pinch.

[0053] The robotic device 1 further comprises a first picking area 100 and a sleeving area 200. The first picking area 100 and sleeving area 200 are located at a first and a second position respectively. The first and second positions are arranged radially outwards at a distance r from the vertical shaft 2. The distance r may be in the range 0.25 to 1.5 m. The first picking area 100 and the sleeving area 200 are located in opposite directions from the vertical shaft 2. Hence, a working area of the robotic device 1 may be defined as circular area comprised within a radial extent r of 0.25 m to 1.5 m from the vertical shaft 2. The first picking area 100 is the portion of the working area which is covered by a transport device 100, and the sleeving area 200 is the portion of the working area which is covered by the sleeving unit 5. Alternatively, the first picking area 100 and the sleeving area 200 may each be defined as an angular portion of the working area which is delimited to a number of degrees of the working area. Each of the first picking area and the sleeving area may cover a range of 0-90 degrees of an angular portion of the working area.

[0054] The sleeving unit 5 is arranged at the sleeving area 200. The sleeving unit 5 comprises a through hole 5. A potted plant may be transferred from the sleeving area 200 to further areas, through the through hole 5 of the sleeving unit 5.

[0055] In use, a first potted plant 10 arrives via a transport device 101 to the first picking area 100. The transport device 101 may be a belt or conveyer. The first upper arm 3 grips the first potted plant with the gripping unit 6 at the first position, i.e. the first picking area 100. The potted plant 10 may be inserted into the gripping unit 6 by controlling the transport device 101 to transport the potted plant into the stationary gripping unit 6. The gripping units 6 preferably grip the potted plant 6 below the rim of the potted plant. Alternatively, the upper arm 3 may be rotated such that the gripping unit 6 is inserted below the rim of the potted plant. Simultaneously, a second potted plant is released from the second upper arm 4 at the sleeving area 200 into the sleeving unit 5. The pair of upper arms are then raised, i.e. move in an upwards direction, along the vertical shaft 2 in order for the gripping unit 6 to remove the potted plant from the transport device without dragging the potted plant along the surface of the transport device 101. The vertical shaft 2 is then rotated 180 degrees about the vertical shaft, after which the pair of upper arms are lowered along the vertical shaft 2. A third potted plant is then gripped by the gripping unit 6 of the second arm 4 in the same manner as described for the first potted plant and the first upper arm 3. The gripping unit 6 of the first upper arm 3 releases the first plant at the sleeving area 200. The sleeving unit 5 sleeves the potted plants received at the sleeving area 200, e.g. released into the sleeving unit 5, for example by feeding the potted plants through the through hole 5 while simultaneously holding a sleeve. The gripping units 6 may enter the sleeve being held by the sleeving unit 5 while carrying a potted plant.

[0056] This process continues until there are no more potted plants to be sleeved. It is of course possible that the second arm, during the first action does not release a potted plant as the gripping unit 6 at that point in time does not hold a potted plant.

[0057] The sleeving unit 5 may be any suitable sleeving device known in the art. For example, the sleeving unit 5 may have a magazine or holder for folded sleeves, and suctions cups which retract in order to open and hold the sleeves such that the potted plants may enter the sleeve.

[0058] FIG. 1b schematically shows a perspective view of an alternative embodiment of a gripping unit 6 for the upper arms 3, 4. As mentioned above, the gripping units 6 may be in the form of a pair of prongs, where one prong is illustrated in FIG. b. The prong 6 further comprises an air inlet 6a, an air channel running along the inside of the prong and two air outlets 6b arranged at a lower end of the prong 6. The air inlet 6a is thus fluidly connected to the air outlets 6b via the air channel. During operation, as the potted plant is inserted into a sleeve, a jet of air is ejected through the air outlets 6b in order to avoid the leaves of the plant to be snag or be harmed by the sleeve. The air being supplied to the air inlet 6a for providing a jet of air through the air outlets 6b may be supplied by any known means for doing so, e.g. a compressor and electrically controlled valves or the like.

[0059] FIG. 2 shows an at least partly cross-sectional side view of a robotic sleeving device 11 according to another embodiment of the invention. The robotic sleeving device 11 shown in FIG. 2 is similar to the robotic sleeving device 1 shown in FIG. 1 and further comprises a pair of diametrically opposed lower arms 24, 25. Each one of the pair of lower arm has a gripping unit 23 for gripping and releasing sleeved potted plants. The gripping unit 23 is different from the gripping unit 6 of the upper arms, as the sleeve may prevent insertion from above for gripping a sleeved potted plant 20. The gripping units 23 may therefore be understood as claws or pinchers which grip around the sleeved potted plant 20.

[0060] The robotic sleeving device 11 comprises a second picking area 300 and a loading area 400. The second picking area 300 is located at third position below the second position. The loading area 400 is arranged at a fourth position below the first position. In other words, the second picking area 300 is arranged below the sleeving area 200, and the loading area 400 is arranged below the first picking area 100.

[0061] Similar to the first picking area 100 and the sleeving area 200 described above, the second picking area 300 and the loading area 400 are portions of the working area of the robotic sleeving device 11. Although, the second picking area 300 and the loading area 400 are located at a lower lever, below the first picking area 100 and the sleeving area 200, of the robotic sleeving device 11. The third picking area 100 is the portion of the working area which is covered by the sleeving unit 5, below the sleeving unit 5. The loading area 400 is the portion of the working area which is covered by a second transport device 401. Alternatively, the second picking area 300 and the loading area 400 may each be defined as an angular portion of the working area which is delimited to a number of degrees of the working areas. Each of the second picking area 300 and the loading area 400 may cover a range of 0-90 degrees of an angular portion of the working area.

[0062] The lower arms 24, 25 are rotatable between the third and the fourth position about the vertical shaft 2. The two lower arms 24, 25 are attached to the vertical shaft 2 such that they rotate as the vertical shaft rotates 2. Further, the two lower arms 24, 25 are arranged to be movable along the vertical shaft 2. In particular, the two lower arms 24, 25 may move independently up and down along the vertical shaft 2. The two lower arms 24, 25 are extendable and retractable such that they may reach sleeved potted plants 20 in the second picking area 300 and the loading area 400.

[0063] In use, a first potted plant 10 arrives via the first transport device 101 to the first picking area 100. The first upper arm 3 grips the first potted plant with the gripping unit 6 at the first position, i.e. the first picking area 100. Simultaneously, a second potted plant is released from the second upper arm 4 at the sleeving area 200 into the sleeving unit 5. The second potted plant is sleeved by the sleeving unit 5. The sleeved second potted plant is then gripped at the third position by the gripping unit 23 arranged on the third arm 24. Simultaneously, the gripping unit 23 of the fourth arm 25 releases a sleeved potted plant at the loading area 400. The pair of upper arms are then raised, i.e. move in an upwards direction, along the vertical shaft 2 in order for the gripping unit 6 to remove the potted plant from the transport device without dragging the potted plant along the surface of the transport device 101.

[0064] Then, the vertical shaft 2 is rotated, and as the vertical shaft 2 rotates the third arm 24 moves down along the vertical shaft 2, and the fourth arm 25 moves up along the vertical shaft 2. The speed of the movement along the vertical shaft 2 of the lower arms 24, 25 may be configured such that the third arm reaches the loading area as the vertical shaft has turned 180 degrees and the fourth arm 25 reaches the second picking area as the vertical shaft has turned 180 degrees. Alternatively, the third and fourth arm 24, 25 may move slower along the shaft than the time it takes for the vertical shaft 2 to rotate half a revolution. Alternatively, the third and fourth arm may move at different speeds up and down the vertical shaft 2. After the vertical shaft 2 has rotated the pair of upper arms are lowered along the vertical shaft 2

[0065] When the vertical shaft 2 has rotated, a third potted plant is gripped by the gripping unit 6 of the second arm 4 and gripping unit 6 of the first arm release the first plant into the sleeving unit 5. The third arm 24 releases a sleeved and potted plant 20 into the loading area 400 onto a second transport device 401. There may be transport holders (not shown) being fed on the second transport device 401 such that the lower arms 24, 25 fill transport holders. Transport holders facilitate later handling of the sleeved potted plants. The second transport device 401 may be a belt or conveyer. The sleeving unit 5 sleeves the first potted plant, and the gripping unit 23 of the fourth arm 25 grips the sleeved potted plant 5 in the second picking area 300.

[0066] FIG. 3a is schematic cross sectional top view showing the first picking area 100 and the sleeving area 200. The arrows indicated that the vertical shaft 2 may rotate in either direction. FIG. 3b is schematic cross sectional top view showing the second picking area 300 and the loading area 400. The arrows indicated that the vertical shaft 2 may rotate in either direction. Preferably, the vertical shaft 2 rotates half a revolution in one direction, and then half a revolution back in the other direction.

[0067] FIGS. 4 and 5 shows a robotic sleeving system 500 for potted plants, the robotic sleeving system comprises a first and second robotic sleeving device 11, 11 as described above. The first robotic sleeving device 11 is arranged on the first side 51 of a first path 510, and the second robotic sleeving device 11 is arranged on a second side 52 of the first path 510, the second side 52 being opposite the first side 51.

[0068] The first and second transport devices 101, 401 are both indicated in FIG. 4, as the functionality is the same for both levels of the robotic sleeving system 500. The first transport device 101 is arranged to transport a holder carrying potted plants along the first path 510 to the first picking area 100. The first picking area 100 may be understood as the area within the middle section of the frame 22 as seen in FIG. 4. The second transport device 401 is arranged to transport a holder carrying sleeved potted plants along a second path 520 from the loading area 400. The loading area 400 may be understood as the area within the middle section of the frame 22 as seen in FIG. 4.

[0069] The first and second robotic sleeving devices 11, 11 may pick potted plants from the same holder. Alternatively, the first and second robotic sleeving devices 11, 11 may each pick potted plants from different holders.

[0070] The first and second path 510, 520 are thus two paths which the first and second transport devices 101, 401 respectively, follow. The paths 510, 520 overlap at the first picking area 100 and at the loading area 400. However, outside of that constraint the paths 510, 520 need not overlap. The paths may be curved, as illustrated in FIG. 5 or straight in either 2D or 3D space. In an alternative embodiment (not shown) the first and/or second transport device 101 may be two separate conveyers or belts on which a holder for potted plants is transported for each robotic sleeving device 11, 11. Hence, the skilled addressee realizes that there are many possible solutions and ways to arranged or provide transport devices for the robotic sleeving system 500.

[0071] The robotic sleeving system 500 shown in FIGS. 4 and 5 utilizes the same transport devices 101, 401 for two separate robotic sleeving devices 11, 11. This means that potted plants arriving on the first transport device 101 may be sleeved and packaged, e.g. loaded onto the second transport device 401 in large quantities quickly.

[0072] In general it should of course be understood that the robotic sleeving device 11 shown in FIGS. 1 to 3, and the robotic sleeving system 500 shown in FIGS. 4 and 5 may be controlled in any known manner. For example, the robotic sleeving device or system may comprise a control unit which determines how each device is to be activated. The control unit may be placed internally or externally (remote) and be connected either wired or wirelessly to the robotic devices and transport devices. Such a control unit may comprise circuits and electronics suitable for performing the purpose and operation of the robotics sleeving device. Alternatively, the control unit may comprise computer readable instructions stored on a non-transistory memory and a processor.

[0073] The vertical shaft, the upper and lower arms, and the gripping units may be controlled, actuated or operated using pneumatic, electric or hydraulic means. Further, the robotic sleeving device and the robotic sleeving system may comprise sensor and detectors for ensuring that the operations are performed correctly. For example, the position of the vertical shaft and the upper and lower arms may be detected. Further, the gripping units may detect the resistance to the gripping action, e.g. if there is plant in the gripping units Thereby, operation may be halted if a malfunction is detected.

[0074] In the appended drawings the potted plants and the sleeved potted plants are shown being transported on transport devices singularly. It should be noted that the present invention further draws advantages from the use of a harvest tray disclosed in co-pending European patent application 15174555.1 by the same applicant. The contents of which are herein included by reference. The harvest tray is especially suitable for a gripping unit which is inserted below the rim of a potted plant

[0075] The person skilled in the art realizes that the present invention by no means is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims. For example, although potted plants have been used in the described embodiments, the inventive robotic device may also be used with other items which need to be sleeved. Also, the above embodiments and variants may be combined in several ways.