• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    A device for single supplying flower bulbs to berths of a transport mechanism comprises a carrier plate which extends at a height above the top of the berths in part of the transport path of the transport mechanism. Along the conveying direction, the carrier plate comprises an opening above the berths in a final part of the carrier plate, the opening gradually widening along the conveying path and leaving passage to the berth free. A carrier mechanism each carries flower bulbs along on the carrier plate above the berths for which the flower bulb is intended, at least until the flower bulb concerned makes contact through the opening with the intended berth on the transport mechanism.
    公开号:NL2029097A
    申请号:NL2029097
    申请日:2021-09-01
    公开日:2021-10-19
    发明作者:Valk Johannes；Petrus Van Kampen Erik；Wijnands John；Van Duijn Arend
    申请人:Havatec B V；
    IPC主号:
    专利说明:

    P125285EN11 Title: Method and device for the singular supply of flower bulbs The invention relates to a method and device for the singular supply of flower bulbs.
    NL1018969 describes a method in which flower bulbs are deposited individually in trays, at a speed which corresponds to a transport member of the trays. Supplied flower bulbs are placed in line one behind the other by vibrating in a vibrating trough and then transferred with a fork to a trough in which the flower bulbs are driven separately by means of pushing elements. The gutter continues until just above the transport element of the trays and the flower bulbs fall from the gutter onto the trays.
    This method has the problem that the position of the flower bulbs in the trays cannot be accurately predicted due to movement during the fall, and possibly due to bouncing. Flower bulbs have tapering diameters, an irregular shape with a root whorl, a growing point and possibly a flattened abdomen, which can affect the fall and landing.
    NL2014300 describes an acquisition mechanism in which objects are transferred from conductors such as revolving belts to a conveyor belt. The objects are transported through the strings while lying on the strings. Prior to the end of the transport, the belts diverge, causing the objects to sink to the conveyor belt and to lie freely on it. This mechanism also has the problem that the position of the flower bulbs on the conveyor belt cannot be accurately predicted.
    In both NL1018969 and NL2014300 the mechanism that transports the flower bulbs to moorings is also used to deposit the flower bulbs directly on the moorings
    It is a problem to place flower bulbs reliably and accurately on moorings.
    The invention provides a device for the singular supply of flower bulbs, provided with - a transport mechanism, provided with a plurality of berths, each for a single flower bulb, wherein the transport mechanism is adapted to transport the berths along a transport path; - a carrier plate extending at a height above the top of the berths in a part of the transport path, the carrier plate extending in a first part of this part of the transport path above the berths and an opening in a subsequent second part of this part contained in the carrier plate above the berths, the opening gradually widening along the transport path and in the second part of the transport path leaving passage to the berth clear; - a driving mechanism designed to carry the single flower bulb above the first part on the carrier plate at the same speed as a berth, or a lower speed than the berth, above the berth, at least until the single flower bulb makes contact with the berth through the opening berth.
    For example, the berth has the shape of a bowl. The invention makes it possible in a simple way to place the single flower bulb on a shallow dish without great risk of the single flower bulb rolling off the dish.
    The gradual widening can be carried out in such a way that the bottom of the single flower bulb will gradually sink to the dish below the single flower bulb when it is taken above the dish. Also, or instead, the widening can be designed such that edges of the opening hinder movement of the single flower bulbs transverse to the transport direction along the transport path when the single flower bulb comes into contact with the tray below the single flower bulb. This further reduces the risk of the flower bulbs falling off the trays.
    In one embodiment, the device is provided with a vibrating mechanism for generating a vibrating movement of the trays over a sub-range of the transport path. Thus, the stability of the position of the flower bulb can be increased. The sub-range of the transport path in which the vibrational movement of the trays is generated includes a part of the transport path after the point where the opening is so wide that the single flower bulb can lie on the tray without making contact with the carrier plate. The subrange can start before or after this point and preferably end before a range in which the flower bulb is located when recording camera images.
    In one embodiment, the device comprises a series of drivers or pairs of drivers, and the driver mechanism is arranged to entrain each driver at least in the first part of the transport path, in which the driver or pair of drivers viewed in cross-section from above the carrier plate. at least in the first part of the transport path has a concave shape, with a rear end of this shape above the transport path of the trays. This further reduces the risk of the flower bulbs falling off the trays.
    In an embodiment in which the driver mechanism comprises the series of pairs of carriers, the carriers of each pair extend obliquely backwards, viewed in said cross-section, and the carriers meet above the conveying path along the first part of the transport path. In this embodiment, the flight mechanism is arranged to divert the flights in each pair along the second part of the transport path. Prior to giving way, the cleats help to minimize the risk of the flower bulbs falling off the trays.
    In one embodiment, the device is provided with a brush or brushes above the carrier plate, adapted to press the single flower bulb on the carrier plate against the drivers.
    This further reduces the risk of the flower bulbs falling off the trays.
    In summary, one embodiment of the device for singularly supplying flower bulbs to berths of a transport mechanism comprises a carrier plate which extends at a height above the top of the berths in part of the transport path of the transport mechanism. Along the conveying direction, the carrier plate comprises an opening above the berths in a final part of the carrier plate, the opening gradually widening along the conveying path and leaving passage to the berth free. A carrier mechanism each carries flower bulbs along on the carrier plate above the berths for which the flower bulb is intended, at least until the flower bulb concerned makes contact through the opening with the intended berth on the transport mechanism.
    An embodiment of the device for singular supply of objects is provided with - a first transport mechanism, provided with a plurality of berths, each for a single object, wherein the first transport mechanism is arranged to transport the berths along a first transport path; - a carrier plate extending at a height above the top of the berths in a part of the first transport path, the carrier plate in a first part of this part extending above the berths and in a subsequent second part of this part an opening in the carrier plate includes above the berths, the opening clearing the first transport path in the second part;
    - a driving mechanism adapted to carry the single object above the first part on the support plate at the same speed as a berth above the berth, at least until the single object makes contact with the berth through the opening. Brief Description of the Figures These and other objects and advantageous aspects will be described by way of exemplary embodiments with reference to the following figures.
    Figure 1 shows a device for placing flower bulbs.
    Figure 2 shows an embodiment of feed section Figure 24 shows a top view of carrier plate Figure 3 shows a cross-section of a tray 14. Figure 4a,b show a transition between the transport mechanisms Figure 5 shows a gripper Figure 5a shows an alternative clamping transport mechanism Figure 6, 6a show use of a planting head Figure 6b shows a cross-section of a planting head Description of exemplary embodiments Figure 1 shows a device for placing flower bulbs 11. The device comprises a supply section 10, a first transport mechanism 12, 14, a second transport mechanism 16, 17 and a planting head 18. First transport mechanism 12, 14 and second transport mechanism 16, 17 are designed to transport flower bulbs 11 individually, successively, in lying position and clamped, and can therefore also be referred to as carrying transport mechanism and clamping transport mechanism. The first transport mechanism comprises a number of trays 14, each with lying space for a single flower bulb, and the first transport mechanism 1s arranged to transport the trays along a first transport path.
    The first transport mechanism is further arranged to rotate the flower bulbs prior to clamping in such a way that an axis direction of the flower bulb 11 (approximately between the growing point and the root whorl of the flower bulb) comes to lie in a vertical plane transverse to the clamping direction. . This ensures a stable clamping without the risk of damage to the growing point. To determine the required rotation, automatic visual detection of the axis direction is used while the flower bulbs are on the trays. For the purpose of visual detection, each dish has such a low edge that the edge largely reveals a flower bulb lying on a dish from the side (mostly this means that the contour of the flower bulb over at least half the height of the flower bulb is visible 1s, and preferably much more, e.g. over ninety percent of the height). Furthermore, the flower bulb 11 can be rotated through a second angle of rotation in the second transport mechanism, around the gripping direction of the clamping jaws, while the flower bulb is clamped. This allows the root whorl and the growing point to be rotated in a predetermined direction.
    A computer system (not shown) determines a required angle of rotation for each flower bulb and accordingly controls the rotation of each tray 14 prior to clamping. To determine the required angle of rotation, camera images of each individual flower bulb are recorded at different angles on a dish, preferably while the flower bulb is illuminated in a fixed way, for example with a lamp or a source of structured light such as a projector or a laser. scanner. The images are recorded with the first transport mechanism during transport of the flower bulb. The recording may be performed by a single camera at different angles of rotation while rotating the shells about the vertical axis, and/or by side cameras recording images from different angles, possibly at the same time. The computer system determines the required angle of rotation based on these camera images. The operation of the first transport mechanism and the second transport mechanism (and possibly the plant head), in addition to turning the dishes to the required rotation angles, can proceed without this depending on the individual flower bulbs, and thus in principle without the computer system transport or clamping.
    In the embodiment shown, the first transport mechanism comprises a first circulating transport mechanism 12, with the plurality of trays 14 connected to the first circulating transport mechanism
    12. In the embodiment shown, the second transport mechanism further comprises a second circulating transport mechanism 16, having a plurality of grippers 17 connected to second circulating transport mechanism 16, and a planting head 18.
    In operation, flower bulbs 11 are placed singly on trays 14 in random orientation. First circulating transport mechanism 12 transports trays 14 past a camera (not shown), rotating the trays with the flower bulbs 11 about a vertical axis (indicated as the z-axis). Grippers 17 each clamp a flower bulb between a pair of clamping jaws after the rotation, while the flower bulb lies on a tray 14. Second circular transport mechanism 16 transports grippers 17 with flower bulbs 11 gripped therein to plant head
    18. Planting head 18 transfers flower bulbs 11 from grippers 17 to a pricking tray 19, or another delivery point, such as a planting position.
    Although the transport paths in the illustrated embodiment are horizontal, it should be noted that one of the transport paths can also be oblique or even vertical, as long as the trays remain substantially horizontal while carrying flower bulbs. In principle, the flower bulbs can be placed on the trays in any way, mechanically or by hand. Due to the desired low height of the rim of the dishes, and the resulting risk that flower bulbs can roll off the dishes due to uncontrolled movements, it is desirable, however, to use a supply section which performs the mechanical feeding of the flower bulbs to the dishes in a controlled manner.
    Figure 2 shows an embodiment of supply section 10, with a conveyor belt 20, a bulb trough 22, a separating mechanism 24, a carrier plate 26, and a carrier mechanism. Figure 2a shows a top view of carrier plate 26. In the embodiment shown, carrier plate 26 extends horizontally wt (the coordinate directions in the horizontal plane are indicated as x and y direction, with x along the horizontal part of the conveying direction of circulating conveying mechanism 12, and y perpendicular thereto; the vertical direction will be referred to as z direction). But instead of a horizontal carrier plate 26, a slightly inclined carrier plate 26 can also be used, for instance ascending along the transport direction of the flower bulbs by the first revolving transport mechanism 12, so that the flower bulbs on the carrier plate roll back against the carrier mechanism, or even descending, as long as the flower bulbs cannot roll away too quickly in the transport direction.
    Carrier plate 26 is located at a height just above the top of trays 14 in a portion of the conveying path of first circulating conveyor mechanism 12 in which trays 14 face upward. Provided in carrier plate 26 is an opening 260 which widens along this part of the conveying path of first circulating conveying mechanism 12 .
    Carrier plate 26 is designed such that a first sub-region of carrier plate 26 separates trays 14, but further on leaves the top of trays 14 clear of the conveying path in at least a section of said portion, preferably with a gradual transition through the widening opening 260 in which custard opening 260 more and more contact between the flower bulbs and dishes 14 possible 1s.
    In the embodiment shown, the driver mechanism comprises pairs of drivers 28 and brushes 29 and, for the drivers 28, third circulating transport mechanisms 280 which are synchronous with the first transport mechanism 12. The drivers 28 form pairs, whereby the drivers 28 together serve to advance a flower bulb. insist. The carriers 28 are connected to third circulating transport mechanisms
    280. The flights 28 in each pair are coupled to various third circulating transport mechanisms 280 . Preferably, use is made of pairs of drivers 28 which form a V-angle with each other, wherein the opening of the V in the transport direction of the dishes precedes the tip of the V, and the point lies above the transport path of the dishes. . In the embodiment shown, the distance between successive pairs of carriers 28 corresponds to the distance between successive trays 14. The V-shape ensures that the lower side of the flower bulb can gradually lower towards the tray during advancement through the keys. The V-shape can also cause a lateral restriction of the flower bulb on the dish. Instead of a V-shape, another shape can be used with a width gradient that has one or both of these effects on the movement of the flower bulb. For example, the shape can be concave, such as a U shape, or the shape of a conic section (mathematically, an object has a concave shape if lines can be drawn between points on the object that are not in the object).
    Third circumferential transport mechanisms 280 are arranged such that the ends of drivers 28 are close together from the beginning of carrier plate 26 at least as far as the tip of the V on carrier plate 26 . Further on, the conveying paths of circulating conveying mechanisms 280 diverge from each other, so that the distance between the ends of carriers 28 gradually increases.
    The carriers carry the flower bulbs along at least as far as the tip of the V on carrier plate 26, so that the flower bulbs are above trays 14 the moment contact between the flower bulb and the tray becomes possible. The transport speed at which the carriers are moved in the part of the transport path where the flower bulbs on the trays can still make contact with carrier plate 26 is preferably equal to, or at least not greater than, the transport speed of the trays. Because third revolving transport mechanisms 280 diverge, the flower bulbs eventually come to lie on the dishes 14 free of carriers 28 .
    Brushes 29 are arranged above support plate 26 and said part of the transport path. Brushes 29 may include a plurality of bristles or flexible flaps transverse to the conveying direction. Brushes 28 serve to press the flower bulbs against the carriers. Brushes 28 are preferably located exclusively above a part of the transport path where carriers 28 carry the flower bulbs, preferably no further than to the tip of the V.
    In operation, flower bulbs are first brought onto conveyor belt 20, from where they are transferred into bulb gutter 22, in which the flower bulbs are transported to separating mechanism 24 in a row. Although one bulb gutter is shown, several bulb gutters can also be used in series. In one embodiment, the device comprises a vibrating mechanism for making bulb trough 22 vibrate. This can be used to propel the flower bulbs forward and to ensure that the flower bulbs are lined up better. Separating mechanism 24 allows the flower bulbs to pass separately from each other, with intervals of a duration that corresponds to the duration between the arrival of successive trays 14. Separating mechanism 24 comprises, for example, a barrier or other retainer at the end of bulb gutter 22, which each time after passing a single flower bulb is brought into a blocking position, and is opened again after a pair of drivers 28 has subsequently been passed. In one embodiment, separation mechanism 24 is provided with a detector for detecting when a single bulb has passed through the retainer, the device being adapted to direct the movement to the blocking position on the basis of the detection. For example, the detector may use a camera or sensor array and image processing to detect passage from the abdomen of the sphere.
    The flower bulbs that have passed through end up on a carrier plate, where they are carried along by the next pair of carriers 28. If necessary, brushes 29 drive the flower bulbs to the rearmost point of the V-corner between the carriers 28. By means of carriers 28, the flower bulbs are carried along above dishes 14, on which they gradually come to rest completely when opening 260 moves away.
    In this way a mechanism is provided with which individual flower bulbs can be reliably placed on shallow dishes 14 . Movements of the flower bulbs that are not synchronized with the trays 14 are minimized while the flower bulbs are placed on the trays. In the embodiment shown, flights 28 move along with the trays while the V-shape widens, but it may be sufficient that attachments 28 bring the flower bulbs above the trays at a transfer point where the flower bulbs make contact with the trays.
    If desired, the flower bulbs can also be placed on shallow trays 14 in other ways, for example by using folding screens around the trays during transfer to the trays (for example, in funnel shape), or with a single concave carrier for a tray, wherein, for example, after the flower bulb has been placed on the dish, the carrier is moved upwards obliquely backwards. The mechanism shown makes it easy to place individual flower bulbs on shallow trays 14 quickly and reliably.
    In one embodiment, the device comprises a vibrating mechanism which is directed to vibrate the dishes 14 along a part of the transport path of the dishes 14 after the place where the flower bulbs come to lie freely on dishes 14. The vibration ensures a more uniform location of the flower bulbs on dishes 14 before measurements are performed on the flower bulbs. The vibrating mechanism is an optional addition to the mechanism with which individual flower bulbs can be reliably placed on shallow trays 14 .
    Figure 3 shows a cross-section of a dish 14. The term "tray" refers to the property that the top surface of the dish offers space for a lying flower bulb and preferably slopes around it so that the flower bulb should roll over an elevation to get out of the dish. fall, whereby the run-up is so low that it leaves the view of the flower bulb from the side almost unobstructed. The run-up can be formed by the edge of the dish, or lie further in. Tray 14 is mounted on a pivot shaft 30, about which tray 14 is rotatably arranged.
    The height of the top surface of tray 14 is higher in a ring (a range of radial distance) away from pivot axis 30 than above pivot axis 30, the minimum radius of the ring being such that the ring is one but at preferably no more than one flower bulb (for example one tulip bulb) has room to lie on the dish. The maximum height in the ring is so low that the flower bulb is almost completely visible from the side when it is resting on the dish. The ring is, for example, less high than twenty percent of the average bulb diameter of the flower bulbs involved (for example tulip bulbs). The top surface of dishes
    14 is preferably rotationally symmetrical about the rotational axis 30, but it is also possible to use a non-rotationally symmetrical top surface. The device is provided with a mechanism for rotating dishes 14 about rotary axis 30 . This makes it easy to automatically perform visual measurements on the flower bulbs and to align the flower bulbs around a first axis of rotation. In the embodiment with a vibrating mechanism adapted to vibrate the trays 14, this vibrating mechanism is preferably arranged such that the vibration ceases before the start of the transport range where the rotation is performed.
    Different versions of the turning mechanism are possible. In the illustrated embodiment, the rotary mechanism further includes a disk 32 attached to rotary shaft 30 by way of example. The turning mechanism further includes a first pusher (not shown) arranged at disc 32 at fixed positions along the tray transport path. When the pushers come into contact with disc 32, friction between the pusher and disc 32 of a tray causes the tray to rotate about pivot axis 30 when transported along the pusher. In another embodiment, the pusher is provided with a gear track and disk 32 configured as a gear so that the rotation is generated by the teeth of disk 32 rolling on the gear track of the pusher. The angle of rotation generated by a pusher can be adjusted according to the duration of contact between pusher and disc 32 . A first pusher is preferably so long that a rotation angle of at least one hundred and eighty degrees can be generated, while the second pusher is provided with an actuator for moving the pusher against disk 32 and away from disk 32 so that the rotation angle can be controlled. In another embodiment, each tray can be provided with an electric motor that is supplied with current in the required range.
    Figures 4a and 4b show the transition between the first circulating transport mechanism 12, with trays 14, and second circulating transport mechanism 16 with clamping surface 54a,b of the jaws of a gripper at an intersection 44, and furthermore an inspection camera 40 and a computer system 42. The mechanism for rotating trays 14 about pivot axis 30 is arranged to rotate each tray 14 about its pivot axis 30 while tray 14 is in the field of view of the camera. For example, in the embodiment with the disk and pushers, the first pusher presses against the disk while the tray is at a series of positions in the image field. The device preferably includes a background screen which is arranged such that the background screen in the images forms a background for the flower bulb when the images are taken. The background screen preferably has an even intensity. Figure 5 shows schematically a gripper 17 for use in the second transport mechanism of Figure 1, with two jaws 50a, b and a mechanism for applying forces to jaws 50a,b to move jaws 50a,b in a clamping direction from and towards each other. to move. The force to move jaws 50a,b towards each other serves to clamp a flower bulb between jaws 50a.b. The clamping direction when clamping the flower bulbs is preferably the same for all grippers 17. In the embodiment shown, the clamping direction is the y-direction.
    Each jaw 50a, b1s provided with a clamping surface 54a,b substantially perpendicular to the clamping direction. clamping surfaces 54a,b are mounted rotatably about the clamping direction (the Y-axis) on jaws 50a,b.
    (Although jaws 50a,b and clamping surfaces 544,b are referred to by separate reference numbers, it will be appreciated that clamping surfaces 54a,b form the essence of jaws 50a,b. Both jaws which are rotatable as a whole and jaws placed adjacent to clamping surfaces 54a, b also contain other parts that do not rotate with the jaws will therefore be referred to as revolving jaws). The device includes a drive mechanism to drive such rotation. The rotating mechanism may be constructed in a similar manner to the rotating mechanism of the trays, with a disc on the pivot axis of one or both clamping surfaces 54a,b and a pusher or pushers.
    In addition, one or both clamping surfaces 54a,b may include a projecting annular portion, similar to the surface of trays 14, to stabilize the position of a flower bulb. Clamping surfaces 54a,b can for instance be cylindrical, optionally hollow cylindrical and/or of elastic material.
    The height at which clamping surfaces 54a,b are located during clamping is preferably so high that clamping surfaces 54a,b can move above the trays. In practice, the diameter of jaws 50a,b will be smaller than the diameter of the flower bulbs, as long as the diameter is sufficiently large that clamping and turning of a clamped flower bulb is possible 1s.
    First and second circulating transport mechanisms 12, 16 define an intersection 44, at which a tray 14 and a gripper 17 reach a position such that a flower bulb on the tray 14 is located between the clamping surfaces 544,b of the jaws of grippers 17 before a force is applied. is applied to jaws 50a,b to move these jaws 50a,b towards each other in the clamping direction. First and second circulating transport mechanisms 12, 16 are synchronized in such a way that successive trays 14 and grippers 17 are always simultaneously present at the intersection. If the running speeds of the first and second circulating transport mechanism 12, 16 have a fixed ratio, the mutual distance between successive trays 14 and the mutual distance between successive grippers 17 can, for example, have the same fixed ratio.
    Figure 5a shows an alternative second conveying mechanism, incorporating jaws 50a,b on separate conveyor belts 56a,b, which convey jaws 50a,b in circular paths in a horizontal plane
    (xy plane). In the part of the circular paths where jaws 50a,b on conveyor belts 56a,b face each other, jaws 50a,b clamp the flower bulbs 11 between jaws 50a,b. In one embodiment, the jaws 50a.b are moved towards each other in a direction from conveyor belts 56a,b in order to clamp the flower bulbs 11 on the trays (not shown), and are moved away from each other after the flower bulbs 11 have been released. But in another embodiment, the involved clamping movement can be defined by the shape of the conveying paths of conveyor belts 56a,b. Also in the embodiment of figure 5a, jaws 50a,b are rotatable about a rotational axis in the y-direction, for rotating the flower bulbs 11 about that direction.
    Computer system 42 has an input coupled to inspection camera 40 for receiving image information from inspection camera 40 and control outputs coupled to rotary drives (not shown) for turning trays 14 and at least one jaw 50a,b of each pair of jaws 50a,b . . Inspection camera 40 is arranged next to the transport path of first circulating transport mechanism 12, for taking side images of a flower bulb in a dish 14. Instead, by using a mirror, a camera elsewhere can be used to take side images. for example with a camera above a dish and a mirror next to the dish. The device may also contain one or more other cameras, for instance to form an image from above of a flower bulb on a dish. Computer system 42 is arranged (for instance by a program adapted for that purpose) to store images of the single flower bulb recorded from the side at different angles, for instance to store images of the flower bulb recorded on dish 14 during rotation of a dish 14. Images at different angles to the bulb can be captured by rotating a dish between shots, using cameras at different angles, and/or using multiple mirrors. The range of rotation angles into which images are recorded is preferably such that images at least about one hundred and eighty degrees, and more preferably at least about three hundred and sixty degrees, include various rotation angles and multiple images with intervening rotation angles. to detect the axis direction of the flower bulb and to rotate the dish 14 about rotational axis 30 to a position in which this detected axis direction of the flower bulb lies in a plane perpendicular to the clamping direction of grippers 17. For example, the axis direction of the flower bulb determines the direction along which the length of the flower bulb is greatest.
    For example, for each of the images, computer system 42 can calculate moments of the contour of the flower sphere image (the mean of (x-x0)*(x-x0), (y-y0)*(y-y0), (x-x0)*(y-y0), where x and y are coordinates of points along the contour and x0 and y0 are averages of those coordinates). In a single image, the projection of the bulb's axis direction lies along a major axis of the matrix of the moments for that image, and the major axis is perpendicular to the viewing direction for which the moment along the major axis is maximal as a function of the rotation of the dish 14 relative to the camera. In one embodiment, moreover, the direction can be determined where the cross-sectional diameter of the flower bulb perpendicular to the axis direction of the flower bulb is maximum.
    For example, in the embodiment with the disc and pushers, computer system 42 controls a movement of the second pusher to press it against the disc for the time it takes 1s to achieve the desired angle of rotation. In the figures, the operation is shown on the basis of an example in which the clamping direction is the y direction and the axis direction of the flower bulb is turned towards the xz plane, i.e. in a vertical plane which is the transport direction of the first revolving transport mechanism 12. at the location of a gripper 17.
    But the clamping direction can also be oriented in a different direction for all grippers 17. Computer system 42 is arranged to cause each tray 14 to perform its rotation before the tray 14 reaches the intersection.
    After clamping the flower bulb, computer system 42 is arranged to cause the jaws 50a,b to rotate the flower bulb around the clamping direction to an angle at which the measured axis direction of the flower bulb is directed in a predetermined direction.
    In operation, the combination of the first and second revolving transport mechanism 12, 16 provides for measurement of the axis direction of individual flower bulbs on trays 14 and rotation of the measured axis direction to a predetermined three-dimensional direction. Because the measurement is performed while the flower bulb is lying on a dish and is rotated thereon about a substantially vertical axis, a single inspection camera 40 is sufficient to determine the axis direction of the individual flower bulb. By having the different components of the reorientation of the flower bulb run separately from each other through the dish 14 and the jaws 50a, a simple clamping mechanism can be used.
    Computer system 42 is further designed (e.g. programmed) to control the angle of rotation of the clamping surfaces in dependence on the measurements with camera 40, e.g. to rotate the root ring in a predetermined direction. For example, in the embodiment having a disc on the gripper and a pusher for the gripper, the computer system directs movement of the pusher for the gripper against the disc of this gripper, for the time it takes to achieve the desired angle of rotation. Also jaws 50a,b on one or both of the separate conveyor belts 56a,b can be rotated for the time it takes 1s to reach the desired angle of rotation.
    In one embodiment, the device is provided with a mechanism for controllable adjustment of a height of a position of individual trays at the intersection.
    This makes it possible to adjust the height on the flower bulb where it is clamped between clamping jaws, for example to the height where the flower bulb is thickest.
    For example, the height can be adjusted for a batch of flower bulbs to the size class of the batch, or per flower bulb on the basis of the measurements.
    To this end, the device can be provided with a mechanism for controllable adjustment of a height of a position of each of the trays at the intersection, for example by mounting each tray between vertical guides, or by making the trays tiltable about an axis at least horizontal. distance from the berth on the shell.
    In one embodiment, the control unit is adapted to adjust a height of a position of individual dishes at the intersection, depending on a height of the flower bulb on the individual dish detected on the basis of at least one of the images.
    For example, the height at which the flower bulb is thickest can be measured.
    In one embodiment, the device is provided with a mechanism for adjusting a transverse position of the clamping jaws relative to individual trays at the intersection.
    This makes it possible to adjust the transverse position on the flower bulb where it is clamped between clamping jaws, for instance to the position where the flower bulb is thickest.
    The transverse position of the clamping jaws relative to a dish can for instance be adjusted per flower bulb on the basis of the measurement of a transverse position of the flower bulb on the dish detected on the basis of at least one of the images.
    In one embodiment, the second transport mechanism has a drive which is adapted for controllably varying a transport speed of the clamping jaws by the second transport mechanism, with which a transverse position of the clamping jaws relative to individual trays at the intersection can be adjusted.
    In one embodiment, the control unit is adapted to adjust a transverse position of the clamping jaws with respect to individual dishes at the intersection, on the basis of at least one of the images detected transverse position of the flower bulb on the individual dish.
    Figure 6 shows plant head 18 in combination with second circulating transport mechanism 16 with grippers 17. When the embodiment of figure 5 is used, the orientation of gripper 17 changes along the transport path of second circulating transport mechanism 16, and with it the orientation of the axis also changes. of the flower bulb, which has a certain direction with respect to gripper 17. The conveying path of second circulating conveying mechanism 16 includes a position in which the axis direction of the flower bulb is vertical. Plant head 18 is arranged to transfer the flower bulb from that position with a vertical movement to a delivery point, such as a pin tray 19 with rows of pins between which the root crown is placed, preferably with one or more pins outside the root crown through the flower bulb or a leg position.
    Figure 6a shows a transverse view of planting head 18 in combination with separate conveyor belt 56a and clamping jaws 50a on separate conveyor belt 56a. Part of clamping jaws 50a are schematically shown rotated. As described, the angle of rotation depends on measurements on the flower bulb. Planting head 18 is arranged to transfer the flower bulb from that position with a vertical movement to a delivery point, such as a pin tray 19 with rows of pins, where a root crown is placed in between, preferably with one or more pins outside the root crown through the flower bulb or a leg position.
    When the embodiment of figure 5 is used, a vertical movement is sufficient for this, in the embodiment shown at the turning point of the transport path. From this point, the clamping jaws 50a, b are moved apart. The vertical movement is preferably briefly interrupted to give time to end the clamping. After the transfer, the plant head 18 is retrieved so that it can then be used for the next flower bulb.
    When the embodiment of figure 5a is used, the axis direction after rotation remains continuously vertical, while the flower bulb moves along the transport path. This makes the choice of the position along the transport path where the plant head 18 takes over the flower bulb less critical.
    In this case, the movement of planting head 18 on transfer preferably also includes a horizontal component, while planting head 18 is at the level of clamping jaws 50a,b, to follow the movement along the transport path from a point where clamping jaws 50a, b form a flower bulb. clamping to a point where clamping jaws 50a, b are moved apart. When retrieving the planting head 18, such a movement need not take place while planting head 18 is at the level of clamping jaws 50a,b.
    In one embodiment, plant head 18 includes at least three slender fingers. Figure 6b shows a cross-section of the planting head in which a vertical displacement mechanism 64, a movement mechanism 60 and two of the fingers 60a,b are indicated. Fingers 62a,b are formed with rods 62 on movement mechanism 60. In use, a flower bulb is clamped between rods 62. For this purpose, the planting head preferably comprises at least three rods, eccentric in mutually different directions from a virtual vertical central axis of the planting head. Thus, rods 62 with a small cross-section suffice to clamp the flower bulb between rods. The plant head is preferably designed to prevent the flower bulb from shifting in the direction along the rods. In the embodiment shown, the rods therefore have bent ends, but straight rods in combination with a stop (not shown) may be used instead. Movement mechanism 60 is mounted on vertical movement mechanism 64 . Vertical displacement mechanism 64 is adapted to move motion mechanism 60 together with rods 62 vertically up and down. Movement mechanism 60 is arranged to cause the ends of at least two groups of rods 62 to move towards and away from each other transverse to the central axis. For example, each group contains two rods 62, but other numbers of one or more rods per group are possible and the groups need not contain an equal number of rods. In a more complex embodiment, movement mechanism 60 may be arranged to move more than two groups of rods 62 in different directions, but this is not indispensable.
    In the embodiment shown, each rod includes a vertical upper portion attached to movement mechanism 60 and a lower end 60a. The vertical top portions of the various rods extend substantially parallel to each other. The lower ends 60a,b are preferably bent to partially clamp the flower bulbs. The vertical upper parts are far enough apart to leave room for the growing point of the bulb.
    In operation, vertical displacement mechanism 64 moves movement mechanism 60 together with rods 62 vertically downwards until the ends of rods 62 are situated around a flower bulb between clamping jaws 50a,b. Movement mechanism 60 then reduces the distance between the groups of rods, whereby the flower bulb is clamped between vertical lower ends 60a,b of rods 62. After the clamping jaws 50a,b have moved apart enough to release the clamping, vertical displacement mechanism 64 pushes the flower bulb towards the delivery point. If necessary, vertical displacement mechanism 64 and/or movement mechanism 60 is also designed to move rods 62 horizontally along with clamping jaws 50a,b when taking over the flower bulb. These movements can be performed the same for all flower bulbs.
    The delivery point is, for example, in a pricking tray 19. Because the axis in the direction of the flower bulbs is pre-aligned, a plant head 18 is sufficient, which cannot perform rotations around the horizontal axis of rotation and therefore has a limited circumference, such as is formed by the lower ends of rods. 62. As a result, plant head 18 is able to place the flower bulbs very close to each other, for example through or between pins in a pricking box
    19. The same applies to other applications in which flower bulbs are placed closely together, for example in a triangle in a pot with potting soil, or in another group with the flower bulbs almost touching.
    In the embodiment with the pricking tray 19, the pricking tray 19 is moved over such a distance that the flower bulbs are at a fixed distance from each other, preferably touching or almost touching. Computer system 42 can, for instance, be arranged to determine, on the basis of the images from inspection camera 40, the largest diameter D(n) of each flower bulb (labeled n) n in the direction along which the flower bulbs in the row of successively placed flower bulbs in seed tray 19. is placed. In that case, computer system 42 can be arranged to move puncture tray 19 each time substantially over a distance (D(m)+D(n-1))/2.
    In another embodiment, the pricking tray 19 can be moved over a fixed distance in each case, which corresponds, for example, to a largest possible diameter of the flower bulbs. The flower bulbs can be pre-sorted according to areas in which the bulb diameter falls. In one embodiment, use is made of a plurality of pricking trays for different ranges of the bulb diameter D(n) and computer system 42 is designed to select a pricking tray 19 depending on the measured diameter D(n) and to position it in such a way that the bulb insert the selected puncture tray.
    In the embodiment in which flower bulbs are placed in a pot in a triangle or other group, the pot is always moved over such directions and distances relative to plant head 18 that the flower bulbs come to be in the desired group, preferably touching or almost touching. In these embodiments, computer system 42 can be arranged to control the displacement distances and/or directions on the basis of measured diameters.
    In one embodiment, movement mechanism 60 is further designed to rotate rods 62 jointly around a vertical axis of the plant head before and/or after the flower bulb has been taken over from clamping jaws 50a, b and before placing the flower bulb. Computer system 42 can for instance be arranged to control this rotation depending on the direction in which the cross-sectional diameter of the flower bulb perpendicular to the axis direction of the flower bulb is maximum. In one embodiment, the device comprises a further camera for this purpose above the transport path of the second transport mechanism, preferably at a position after the position where the flower bulbs are rotated in the second transport mechanism. Computer system 42 can be arranged to determine from images from this further camera the directions of the largest cross-section of the flower bulbs transverse to the viewing direction of the camera.
    This can be used to bring the fingers of the plant head 18 into an optimal orientation with respect to the flower bulb before it grabs the flower bulb and/or to bring the flower bulb into an optimal orientation with respect to the pricking tray 19, pot or other placement purpose . For example, the fingers may be rotated so that prior to gripping, the direction in which the cross-sectional diameter of the flower bulb is maximum is between adjacent fingers, and not along a finger. The fingers with the flower bulb therein can for instance be turned in such a way that the direction in which the cross-sectional diameter of the flower bulb is maximally aligned with respect to the pins in the pricking tray 19.
    The construction with the support plate 1s can also be used for reliably placing objects that can roll, in particular crops such as flower bulbs, on berths.
    权利要求:
    Claims (13)
    [1]
    1. Device for the singular supply of flower bulbs, which device is provided with - a transport mechanism, provided with a plurality of berths, each for a single flower bulb, wherein the transport mechanism is adapted to transport the berths along a transport path; - a support plate extending at a height above the top of the berths in a part of the transport path, wherein the support plate 1n extends a first part of this part of the transport path above the berths and an opening in a subsequent second part of this part contained in the carrier plate above the berths, the opening gradually widening along the transport path and in the second part of the transport path leaving passage to the berth clear; - a driving mechanism designed to carry the single flower bulb above the first part on the carrier plate at the same speed as a berth, or a lower speed than the berth, above the berth, at least until the single flower bulb makes contact with the berth through the opening berth.
    [2]
    2. Device as claimed in claim 1, provided with a vibrating mechanism for generating a vibrating movement of the berths over a sub-area of the transport path that contains a part of the transport path in which the single flower bulb on the berth below the single flower bulb no longer makes contact with the carrier plate.
    [3]
    Apparatus according to any one of the preceding claims, wherein the driver mechanism comprises a series of drivers or pairs of carriers, and the driver mechanism is arranged to entrain each driver at least in the first part of the conveying path, wherein the driver or pair of carriers are cross-sectioned. viewed from above the support plate has a concave shape at least in the first part of the transport path, with a rear end of the shape above the transport path of the berths.
    [4]
    Apparatus according to claim 3, wherein the driver mechanism comprises the series of driver pairs, the drivers of each pair extending obliquely rearwardly in said cross-section and meeting above the conveying path along the first part of the conveying path, and the conveying mechanism is arranged to cause the carriers in each pair to diverge along the second part of the transport path.
    [5]
    Device as claimed in any of the claims 3-4, provided with a brush or brushes above the carrier plate, adapted to press the single flower bulb on the carrier plate against the drivers.
    [6]
    An apparatus according to any one of the preceding claims, wherein the transport mechanism is provided with a plurality of trays, in which the berths are each formed by an upper surface of a respective tray.
    [7]
    An apparatus according to claim 6, wherein the trays are each rotatable about a vertical axis.
    [8]
    An apparatus according to claim 6, wherein an upper surface of the dish in a range of radial distance from the rotary axis is higher than above the rotary axis, wherein the minimum radius of the range is so large that the range offers space for one flower bulb to lie on the tray.
    [9]
    A device according to any one of claims 6-8, comprising - a camera positioned to the side of each of the trays to take images of the single flower bulb on the tray during transport with the transport mechanism; - a mechanism for rotating the shell about the vertical axis while the shell is in a field of view of the camera.
    [10]
    A device according to any one of the preceding claims, comprising a separating mechanism and a gutter adapted to convey flower bulbs to the separating mechanism, wherein the separating mechanism is adapted to allow the flower bulbs to pass through to the carrier plate separately from each other, with intervals of a duration corresponding to the duration between the arrival of successive berths.
    [11]
    The device of claim 10, wherein the separating mechanism comprises a retainer and the device comprises a detector for detecting when a single flower bulb has passed the retainer, the device being adapted to detect movement to the blocking position of the retainer on the basis of the detection. to steer.
    [12]
    Apparatus as claimed in claim 10, comprising a vibrating mechanism for vibrating the gutter.
    [13]
    13. A method for single supplying flower bulbs to moorings which are conveyed by a transport mechanism, which method comprises the steps of - depositing the flower bulbs on a carrier plate extending at a height above the top of the moorings in part of a transport path of the transport mechanism, wherein the carrier plate extends in a first part of this part of the transport path above the berths and in a subsequent second part of this part includes an opening in the carrier plate above the berths, the opening gradually widening along the transport path and the transport path in the second part leaves passageway to the berth; - above the berth at the same speed as a berth, or at a lower speed than the berth, carry the single flower bulb on the carrier plate with a drive mechanism, at least until the single flower bulb makes contact with the berth through the opening.
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    同族专利:
    公开号 | 公开日
    NL2029093A|2021-10-19|
    NL2024741B1|2021-09-09|
    NL2027100A|2021-09-01|
    NL2027100B1|2021-10-14|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    NL1023881C2|2003-07-10|2005-01-11|Havatec B V|Automatic visual inspection device for agricultural produce, e.g. oranges, has imaging device for produce rolling down conveyor slope|
    NL1028145C2|2005-01-28|2006-07-31|Total Systems B V|Flower bulb packing method, comprises placing bulbs in support and positioning container with pins on top|
    NL2014327B1|2015-02-20|2016-10-13|Schouten Sorting Equipment B V|Assembly and method for puncturing bulbs.|
    CA3033124C|2017-05-03|2019-11-26|Vineland Research and Innovations Centre Inc.|Gripper, system and process for gripping, orienting and handling a biological horticultural object|
    CA3039976A1|2018-04-10|2019-10-10|Ig Specials B.V.|Apparatus and method for placing bulbs|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    NL2024741A|NL2024741B1|2020-01-23|2020-01-23|Method and device for automatic placement of flower bulbs|
    NL2027100A|NL2027100B1|2020-01-23|2020-12-14|Method and device for automatic placement of flower bulbs|
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