MULTIPLE CARRIER-GONDOLA MACHINE

Abstract

The present invention is in the field of a multiple carrier-gondola machine comprising modules for transferring objects, a machine for transferring objects comprising at least one module (100), which may be used for various applications. An example of such an application is harvesting of vegetables, such as for harvesting of asparagus.

Claims

1. A module for transferring objects comprising a frame with a longitudinal axis, at least one first rotation system comprising at least one individually operable rotator, each rotator connected to the rotation system, at least one carrier, each carrier connected to at least one rotator, each carrier individually comprising a gondola, wherein said gondola is adapted to move within the carrier in a direction perpendicular to a movement of the carrier, per gondola an individually operable gondola driver for moving the gondola within the carrier, each gondola comprising at least one object transferrer, characterized in that each rotator individually operable for rotating the carrier along a continuous track, wherein said track comprises two substantially linear track parts and two curved track parts in between said two linear parts, wherein said two substantially linear track parts are spaced apart and parallel to said longitudinal axis, at least one controller for controlling the individually operable rotator and the gondola driver such that a gondola is at a given position at a given time, typically during a period of time, and at least one driving system for driving the first rotation system and moving the gondola.

2. The module according to claim 1, characterized in that the module comprises at least two first rotation systems each comprising at least one individually operable rotator.

3. The module according to claim 1, characterized in that per carrier two rotators are provided, wherein the two rotators are coupled to the carrier above and below one and another, respectively.

4. The module according to claim 1, characterized in that at least n carriers are coupled to the same rotator, wherein n is two or more.

5. The module according to claim 1, characterized in a feedback loop for spatially cycling each carrier from a back side to a front side of the frame and from a front side to a back side of the frame.

6. The module according to claim 1, characterized in that the object transferrer is a tongs.

7. The module according to claim 1, characterized in a carrier guidance, wherein the carrier guidance is adapted to move at a constant or zero speed.

8. The module according to claim 1, characterized in that the frame comprises at least one passage for allowing rotation of the at least one carrier in a cyclic manner.

9. The module according to claim 1, characterized in that the gondola comprises an object transferrer movable in a direction perpendicular to the longitudinal axis, in a vertical direction perpendicular to the longitudinal axis, and combinations thereof.

10. The module according to claim 1, characterized in that the rotator is selected from a belt, a chain, a toothed belt, and combinations thereof, and/or wherein the gondola driver is selected from a belt, a chain, a toothed belt, and combinations thereof, and wherein the gondola driver is provided eccentric in the frame, and wherein the at least one controller comprises a closed loop, and wherein the at least one controller is adapted to move the gondola in a position closer to the frame as the carrier is in at least one of the two curved track parts in between said two linear parts, and wherein the gondola driver and rotator are provided with a gear, and wherein the carrier and gondola are adapted to lock in with the gondola driver in one of the two curved track parts, and comprising a calibration unit, and wherein the gondola is adapted to move at a speed v.sub.2 larger than a speed v.sub.1 of the carrier when the carrier has left one of the two curved track parts and enters one of the two linear parts, wherein the gondola is adapted to move at a speed v.sub.2 equal to a speed v.sub.1 of the carrier when the carrier is in a mid-section of the one of the two linear parts, and wherein the gondola is adapted to move at a speed v.sub.2 smaller than a speed v.sub.1 of the carrier when the carrier leaves the one of the two linear parts and enters a second of the two curved track parts, and wherein the gondola and carrier are adapted to transfer an object within 2 secs.

11. A machine for transferring objects comprising at least one module, the at least one module comprising: a frame with a longitudinal axis, at least one first rotation system comprising at least one individually operable rotator, each rotator connected to the rotation system, at least one carrier, each carrier connected to at least one rotator, each carrier individually comprising a gondola, wherein said gondola is adapted to move within the carrier in a direction perpendicular to a movement of the carrier, per gondola an individually operable gondola driver for moving the gondola within the carrier, each gondola comprising at least one object transferrer, characterized in that each rotator individually operable for rotating the carrier along a continuous track, wherein said track comprises two substantially linear track parts and two curved track parts in between said two linear parts, wherein said two substantially linear track parts are spaced apart and parallel to said longitudinal axis, at least one controller for controlling the individually operable rotator and the gondola driver such that a gondola is at a given position at a given time, typically during a period of time, and at least one driving system for driving the first rotation system and moving the gondola.

12. The machine according to claim 11, wherein the machine is selected from harvesting machines, from packaging machines, from pick-and-place machines, from surface mount technology component placement systems, from pick-and-order machines, from non-static machines, and from postal selection machines.

13. The machine according to claim 11, wherein the gondola is a cutting module comprising an tongs for grasping an individual vegetable, a cutter, a vegetable locator, and wherein the cutting module is movably located in the carrier allowing movement in a horizontal direction perpendicular to the longitudinal axis.

14. The machine according to claim 11, wherein the machine comprises a movable frame, the movable frame comprising a motor and wheels, a speed controller.

15. The machine according to claim 11, wherein the machine comprises a central bottom passage for allowing free movement of the machine over a row of vegetables.

16. The machine according to claim 11, comprising a controller for controlling the at least one carrier and gondola, frame speed, and feedback loop speed.

17. The machine according to claim 11, comprising at least one location sensor, for detecting an individual vegetable.

18. The machine according to claim 11, wherein the gondola is a cutting module comprising a cutter, and the cutter comprises a vertical holder, a knife blade, and a knife blade protector, wherein the knife blade is adapted to rotate in a horizontal plane for cutting an individual vegetable.

19. The machine according to claim 11, wherein the gondola is a cutting module comprising a vegetable locator, and wherein the vegetable locator comprises at least two horizontally rotatable tactile sensors spaced apart at a distance of 1-10 cm, and oriented in a tapered geometry.

Description

SUMMARY OF THE FIGURES

[0038] FIGS. 1-10a-c show certain aspects of the present machine and module.

DETAILED DESCRIPTION OF FIGURES

[0039] In the figures: [0040] 100 module [0041] 10 frame [0042] 11 motor [0043] 12 wheels [0044] 13 speed controller [0045] 14 passage [0046] 15 bottom passage [0047] 16 continuous track [0048] 20 rotation system [0049] 21 rotator [0050] 22 rotation driving system [0051] 30 carrier [0052] 35 controller [0053] 40 gondola [0054] 41 gondola driver [0055] 42 gondola object transferrer [0056] 43 gondola tongs [0057] 44 cutter [0058] 45 vegetable locator [0059] 47 vertical holder [0060] 48 knife blade [0061] 49 knife blade protector [0062] 50 carrier guidance [0063] 60 continuous track [0064] 61 linear track [0065] 62 curved track [0066] 80 location sensor [0067] 200 machine

[0068] FIG. 1 shows the present machine 100 which is used for harvesting of vegetables, in particular of asparagus.

[0069] FIG. 2 shows a top view of the present machine 100 which is used for harvesting of vegetables. Therein a frame 10, a motor 11, wheels 12, a speed controller 13, a passage 14 for the carriers to move around, a continuous track 16, a bottom passage 15, a controller 35, and a location sensor are visible. In general the machine resembles that of the WO 2019/098827 at least to some extent.

[0070] FIG. 3 shows details of the present frame 10 with a longitudinal axis, the rotation systems 20, rotation driving systems 22, carrier 30, gondola 40, and gondola drive 41. Only one carrier is shown, for clarity reasons only. The carrier can rotate around frame 10 and is attached to rotators 21 (see FIG. 4) which are driven by system 22.

[0071] FIG. 4 shows details of movement of the present carrier and gondola. Carrier 30 moves along track 60, which has two substantially straight parts 61 and two curved parts 62. The carrier 30 is attached to two rotation systems, one provided at a top side of the carrier, and one at a bottom side, which two rotation systems provide a well-controlled rotation. The rotation may be intermitted by backward movement, such as to compensate for movement of the machine, or to align with movement of a conveyor belt. When the carrier is in a position for further action, the gondola may be moved in an x-direction, and/or in a z-direction, as indicated with arrows. The gondola may be adapted for harvesting, as is shown in the figure, such as by providing tongs 43, a cutter 44, a vegetable locator 45, and an object transferrer 42.

[0072] FIG. 5 shows schematics of an asparagus machine in operation.

[0073] FIG. 6 shows a top view of a frame and a carrier.

[0074] FIG. 7 shows a side view of FIG. 6, further having at a rear side a few carriers in a waiting position.

[0075] FIG. 8 shows a top view, comprising 10 carriers, which are coupled two by two (represented by the arrow), which move anti-clockwise as indicated over a feedback loop, such that after performing a task at a lower side of the module, and optionally releasing an object, they are ready for a repetition of the task. Each set of two carriers is attached to one and the same rotator 21, or to two or more rotators. The gondola driver is position as close as possible to the centre of the module. FIG. 9 shows a side view thereof.

[0076] FIG. 10a shows a further version of the present machine, FIG. 10b a front view thereof, and FIG. 10 a perspective view. In these figures the carriers and gondolas are left out.