WO2012038576A1 - Modular chain unit for the transport and display of geoid products and method carried out by said unit - Google Patents

Modular chain unit for the transport and display of geoid products and method carried out by said unit Download PDF

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Publication number
WO2012038576A1
WO2012038576A1 PCT/ES2011/070658 ES2011070658W WO2012038576A1 WO 2012038576 A1 WO2012038576 A1 WO 2012038576A1 ES 2011070658 W ES2011070658 W ES 2011070658W WO 2012038576 A1 WO2012038576 A1 WO 2012038576A1
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WO
WIPO (PCT)
Prior art keywords
impellers
chain
products
unit
product
Prior art date
Application number
PCT/ES2011/070658
Other languages
Spanish (es)
French (fr)
Inventor
Mariano Gual Pasalodos
Original Assignee
Mariano Gual Pasalodos
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
Priority claimed from ES201001239A external-priority patent/ES2393561B1/en
Priority claimed from ES201001544A external-priority patent/ES2394516B1/en
Application filed by Mariano Gual Pasalodos filed Critical Mariano Gual Pasalodos
Publication of WO2012038576A1 publication Critical patent/WO2012038576A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/24—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of rollers which are moved, e.g. over a supporting surface, by the traction element to effect conveyance of loads or load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0202—Agricultural and processed food products
    • B65G2201/0211—Fruits and vegetables

Definitions

  • the present invention has as its object a unit for the transport and display of geoid-shaped products, such as citrus or other fruit and vegetable products, but also applicable to industrial products. It has a modular chain that can individually identify and rotate the fruits positioned on it helically, showing its entire surface by controlled rotation in all directions, along its path and for the minimum time.
  • Said unit is part of a treatment and / or fitting installation of said products, and comprises a set of transport elements in the form of a modular chain, as well as a system of elements that produces the helical rotation of the product, so that during the Transport phase from a single observation point can analyze the entire surface of each of the products without stopping the installation.
  • It also includes a device for separating products based on quality.
  • UV radiation is harmful, so exposure times must be limited, and there must be shifts every short time to attend the installation continuously;
  • the tendency of the legislation related to occupational safety tends to avoid exposure, which would prevent the manual treatment of the product with UV radiation;
  • the object thereof as a whole is to provide the fruit and vegetable plants with an automatic and effective system for the elimination of rotten, (fruits invaded by fungi that must be removed primarily from the other healthy fruits in postharvest, since they infect by contact those around them.
  • the installation of the electronic calibrated type requires a linear distribution of its structure and some distribution tapes perpendicular to it and distributed throughout its length at minimum distances from each other, which conforms to important requirements in terms of machinery dimensions and both an important shortage and a slow amortization in relation to the conventional machinery of central calibration of tilting rollers.
  • the system used consists of a group of previous tapes called singulators, arranged in groups of two, facing each other. Both straps form a V forming an angle of approximately 90 ° and running parallel along the entire path, singling out the fruits that come from the treatment line.
  • the size of this first set depends on the production requirement and the manufacturer, usually 5m.
  • differentiator that is synchronized with the tapes. It is a set of chains that support some dim ones by their sides and mounted in two crane along all their length. Between each set With two diavoles there is a system for extracting the product by means of a tongue with a spring or similar and that evacuates the product laterally, in the egg between two chains and made for this purpose. These devils print a rotation to the fruit placed on it. The fruit then rolls over its equatorial diameter allowing its vision and reading and subsequent qualitative evaluation. However, because the fruit rotates on its axis of symmetry, it is difficult to evaluate with a single camera, even with two cameras per lane a differentiated vision of the product is not obtained in the minimum space provided for artificial vision.
  • the fruits rotate on themselves but helically on the linear rotation itself, without a fixed axis of symmetry during translation in its longitudinal movement. It rotates in all directions but being controlled in its right and left movements by the lateral cradling of the contact points of the hemispheres.
  • a rectilinear translation is achieved with a helical trace in a defined corridor.
  • fruits with rot and chopped and color selection can be automatically discriminated, which is an improvement for installations with mechanical calibration since it can be adapted without difficulty, without having to make significant investments in reimplantations of electronic calibration machinery.
  • the objective of the invention is to have a mechanical system for transferring and differentiating fresh fruits, which allows the display of its entire surface during its transit on the system, for later scanning by artificial vision cameras, infrared, ultraviolet, etc. ., or any method of scanning fruits of employees today. All this in the smallest possible space, given the lack of physical space available in the fruit and vegetable plants.
  • the object of the proposed invention is a unit for transporting and displaying products to an artificial vision camera, which also comprises an output output device according to the quality of the product, in accordance with the image obtained by said product. camera.
  • This unit is located in a treaty facility for products, such as fruits, after the general tria and before the application of waxes, but After the previous tria, washing and drying of the fruits for their correct visualization with the minimum possible dirt.
  • the set consists of a steel frame that supports the elements described below.
  • the unit is made up of at least one pair of modular chains of synchronized drag, possibly and preferably moved by means of a single tree, which carry a set of transport elements; the transport elements, hereinafter referred to as impellers, consist of horizontal axis revolution bodies with downward section towards the central housing part of the product; according to preferred embodiment, said impellers are hemispheres. It is envisaged that said impellers are made or covered with an elastomeric material, cellular plastic or the like, when impacts are avoided due to the delicacy of the product; however, depending on the product, the impellers may be formed or coated with other materials or combinations of materials.
  • Each of the impellers is connected by a shaft, with free rotation, to a link in the chain. There are runners facing each selection line.
  • the unit comprises friction guides located at the bottom.
  • the impellers are rotated by their support in the friction guides.
  • the support position of each impeller in each of the friction guides will determine the speed of rotation of each one of said impeller.
  • the product rests on four contact points, one on each of the four impellers that determine an alveolar housing, and which are located two on one of the sides of the line.
  • the different speeds of the impellers are transmitted to the product in its transport on the impellers.
  • the impellers will rotate at different speeds depending on the area of contact with the friction guides.
  • the product is rotated in a controlled manner and according to variable axes, so in a short space traveled the fruit presents its entire surface to a zenith artificial vision system, placed at the top of the unit, which allows scanning in transit at nominal travel speed, and in a space travel.
  • the speed of the fruits in their transit on the chain depends on the speed of rotation of the impeller that is produced by the contact of fixed guides in the lower part thereof, mounted on the frame of the assembly.
  • different speeds of the product are achieved on both sides during the movement.
  • the resulting turning speeds on both sides will depend on the geometry and motorization of the assembly.
  • the products particularly the fruits, rotate on themselves but helically on the linear rotation itself, without a fixed axis of rotation during the translation along the unit.
  • the rotation occurs in any direction, but always controlled by the speeds of rotation of the impeller, which depend on the lateral cradling of the contact points of the impeller, producing a rectilinear translation with a helical trace in a defined corridor.
  • groups of chains that support independent free-spin impellers the individualization of the fruits as well as their turning and separation is achieved with a single element, so that the system installation requirements are significantly reduced , as well as its mechanical simplicity.
  • the impellers are provided in their chain connection part of a cylindrical portion that exerts the function of traction track, through which, unlike the above-mentioned embodiment, the movement is transmitted. Some of the impellers are fixed to the chain directly through the hollow shafts of their bolts and while the union of the others takes place through a cam, which allows a relative movement with respect to the chain and the other impellers.
  • the impellers are mounted in each of each pair of chains facing each other, in groups of two, so that between every four hemispheres an alveolar cabin is created that cradles the fruits and controls their rotation and transfer.
  • those corresponding to one of the diagonals are attached directly to the chain, while the other impellers are fixed to said chain by means of the aforementioned cams.
  • the impeller is rotated on the traction tracks of the impellers.
  • the geometry of the friction guides allows the impellers attached to the chain through the cams can be raised or lowered, while rotating due to the support of said friction guides on said tracks of traction, thus forcing a certain turn of the transported product, perfectly controlled.
  • each impeller remains connected by means of a circlip at the ends of the axes that supports them and joins the chain, which transfers an independent and free rolling to each impeller, with respect to its partner and with respect to the chain.
  • each step groups of two impellers (hemispheres) are mounted, so that a modular chain-shaped assembly is formed that is pulled through conventional commercial sprockets and transmissions, forming a chain of impellers.
  • Each chain of impellers constitutes a line on which the products to be processed will be transported, and by repeating the number of lines, a suitable set for the required production is achieved.
  • each chain can have independent impellers on each side.
  • the invention includes a mechanism for selective separation of the products scanned and recognized by the artificial vision system located at the top of the unit. Differentiation and separation of fruits is considered essential for the proper functioning of the automatism. Withdrawing those that are considered rejectable by the system, according to the established selection parameters, and carry out the operation with precision and at the process speeds of the complete installation.
  • the mechanism must respond reliably to the instructions of the vision system that scans the products, indicating this to the extraction system which are suitable and which must be discarded.
  • the selection device consists of a trigger device disposed in the product exit zone, comprising a tongue actuated, for example, by a pneumatic piston, which drives the unfit product, throwing it up to a conveyor belt. receiver, dropping a second receiving tape of suitable products;
  • a ramp also operable, to which the products are dropped, fit, the unfit falling to a second lower ramp, which according to a particular embodiment can be actuated to adopt a first position in which second quality products or a second position of disposable products are collected, and taken to their corresponding treatment area by conveyor belts.
  • Figure 1 Represents a top view of the assembly of the modular chain object of the present invention with the elements that comprise it, according to a first embodiment
  • Figure 2 Represents a side view of the assembly with the inclusion of the product discrimination system in the rest position, according to said first embodiment
  • Figure 3 Represents a side view of the assembly with the inclusion of the product discrimination system in active position, according to said first embodiment
  • Figure 4 Represents a top view of the assembly of the modular chain object of the present invention with the elements that integrate it, according to the second embodiment
  • Figure 5 Represents a front view of the set of two impellers, in the form of a hemisphere, with the elements that comprise it, according to the second embodiment
  • Figure 6 Represents a front view of the set of two modular chains with the oscillating impellers in the positions of elevation and descent with respect to the fixed impellers, according to the second embodiment
  • Figures 7 and 8 represent two side views of the assembly with the one in different positions of the guides of the oscillating impeller, according to the second embodiment
  • Figure 9 depicts a schematic side view of the modular chain in which a particular embodiment of the selection device is seen, in which the product is selected as suitable and taken to the next stage;
  • Figure 10 represents a schematic side view similar to that of Figure 9, but in which the product is selected as unfit or of second quality, and driven to one or another withdrawal conveyor belt.
  • impellers (2) such as for example rubber hemispheres or similar food and rough material of diameter proportional to the passage of the chain used.
  • said impellers (2) remain connected to each other and to the chain by an axis (4) that passes through the centers of each impeller (2) and through the hollow bolts of the chain (1) so that they turn free and independent.
  • two circlip (3) are incorporated for the lateral immobility of the assembly and facilitate the assembly and disassembly of the impellers.
  • the chain is protected at the top by means of a chain cover (8) made of sheet metal or plastic, which avoids contact with the products and facilitates their maintenance.
  • An eject tab (5) is placed between the chains following the protective separator (10).
  • the impeller (2) is mounted on the chain (1) in the manner described above, it is placed on a frame (20), usually made of steel tube, which supports the guides of the chains and the sprockets and motorization Of the same.
  • the size of the resulting set is 3 meters long and 2 meters wide, but not limited to said dimensions.
  • a second identical chain is mounted and mounted on the same steps on the drive sprockets as the first, so that the impeller (2) of both pass chains facing each other and solidarity throughout their journey. In this way, a gap (9) is generated between each four impellers (2) facing two to two, where the products to be processed will be placed, cradling the product on four support points and serving protective separators (10) as lateral guides.
  • the guide (7) is mounted in such a way that it rubs on the impellers (2) on which it acts by its maximum diameter, which transmits to them a minimum rotation speed during its walking.
  • the guide (6) is mounted in such a way that it rubs on the impellers on which it acts at its minimum diameter, which achieves a maximum rotation speed during its travel.
  • This composition of movements allows the product to generate a helicoid in its displacement that allows to observe its entire surface easily from a chamber arranged in zenith position.
  • the minimum complete turning distance will depend on the position of the movable guide (6).
  • Figure 2 represents a side view of the assembly in which a section of a chain branch can be seen in the tractor head and the discharge of the products.
  • the chain (1) supports the impellers (2), in the form of a hemisphere according to a preferred embodiment, connected to it through the axis (4) and held by the circlip (3).
  • the impellers rub at the bottom with the friction guides (6,7) that cause their rotation independently and differently, since they contact the impellers in different diameters (with respect to the axis of rotation) and, therefore, at speeds different.
  • a product to be discriminated against When a product to be discriminated against, is positioned opposite the tongue (5) activates an integrated ejection mechanism, for example, by a pneumatic piston (19) or a relay, which acts on a cam (11), which acts on the product rejectable (12) located on it by pushing it towards a collection belt (16) that gathers the rejected fruits.
  • a pneumatic piston (19) or a relay which acts on a cam (11), which acts on the product rejectable (12) located on it by pushing it towards a collection belt (16) that gathers the rejected fruits.
  • Figure 3 shows the separation of the rejected fruits through the movement of the tongue (5) activated by the pneumatic piston (19) or electric relay attached to the frame (10) of the unit.
  • some of the impellers (2) are connected to the chain (1) through a cam (23) also of free rotation.
  • the chain is provided with bolts (22), holes.
  • Some of the impellers (2) are connected to the bolts (22) of the chain (1) by means of the shaft (25) of the impeller (2), fixed; We will call these impellers fixed fixed impellers (24).
  • Other impellers are, as stated, attached to the chain through a cam (23); We will call these impellers mobile impellers (28).
  • the cam (23) will normally be the same length between its axes as the passage of the chain; according to a particular embodiment, one of the axes or holes of said cam (23) is integral with the axis (26) of the mobile impeller (28) on which a bushing (27) is mounted, which supports said mobile impeller (28).
  • a bushing (27) is mounted, which supports said mobile impeller (28).
  • the distances between impellers on the chain remain unchanged.
  • two circlip are incorporated for the lateral immobility of the assembly and facilitate the assembly and disassembly of the impellers.
  • the impellers comprise drag tracks (29,30,31,32) and friction rotation transmission with friction guides (36,37).
  • Said drag tracks (29,30,31,32) have an annular shape with the same axis as the corresponding impeller, of which they are part, and those of different impellers can have different diameters.
  • the drag tracks (29,30,31,32) of the impellers support the corresponding guide (36,37), and the rotation speed of each of the impellers will be dependent on the diameter of the corresponding track. of drag in its support on the corresponding guide, since the speed of trip is equal for all the impellers.
  • the impellers that are attached to the chain (1) by means of cams (23), can be raised or lowered depending on whether the guide on which they rest has a raised or recessed shape. It is desirable that the impellers arranged each one of the diagonals have the drag tracks essentially identical to each other, and different from those of the other diagonal. In particular, it is considered ideal for the impeller treads (28) attached to the chain (1) by means of cams (23) to have a drag track (31) of smaller diameter than the other impellers. In this way, the fixed impellers (24) have a transit over their linear and rectilinear guides (36) and the mobile impellers (28) transit so that they "copy" the shape of the respective guides (37), linear, in their trajectory.
  • FIG. 1 A front view of the set of two modular chains formed by the drive chains (1) fixed impellers (24) that friction along its driveway (29,30) on guides (36), and mobile impellers can be seen in Figure 6 (28) (oscillators) that rub along a drag track (31) with a smaller diameter due to the action of guides (37) that rise (left part of the drawing), or descend (right part of the drawing), being said subjects mobile impellers (28) by means of cams (23).
  • the guides are supported on the plate (5) which in turn is mounted on the frame of the assembly.
  • FIG 7 and 8 a view of the drive assembly of the modular chain can be seen in two positions of the guides (37) for driving the mobile impellers (28), in a first case where there is an elevation of the corresponding impellers, and in another where there is a descent.
  • the mobile impellers (28) connected to the drive chain (1) by means of the cams (23) are in the raised position with respect to the fixed ones (2), by the support in the guide (37) in ascending position with respect to the guide (36) where the fixed impellers (24) are supported in its transit.
  • Figure 8 shows the opposite situation, in which the mobile impellers (28) are in a lower position than the fixed impellers (24) due to the downward position of the guide (37).
  • the impeller (2; 24,28) is mounted on the chain (1) in the manner described above, it is placed on a frame (20), usually made of steel tube, which supports the chain guides and the pinions and motorization of it.
  • a resulting set of very small dimensions can be obtained (2m wide by 2m long, according to an embodiment). It is foreseen that laterally and parallel to the first chain described above, and at a minimum distance, a second chain of identical characteristics is placed that the one described above and mounted on the same steps in the drive sprockets as the first one, so that they run opposite the corresponding impellers (2) of both chains facing each other for their maximum diameter and solidarity throughout their travel.
  • the guides (36) are mounted in such a way that they rub in the "fixed" hemispheres (24) on which it acts, by its maximum diameter, (9) which transmits a minimum rotation speed during its travel.
  • the guides (37) are mounted in such a way that they rub in the hemispheres on which it acts at its minimum diameter, which results in a higher rotation speed during its journey. In addition, it causes a movement of elevation and descent during its walk through the guides that rise or descend at certain points and moments of its transit.
  • This composition of movements allows the fruit to generate changes of direction of rotation controlled in its displacement that allow to observe its entire surface easily and with certainty.
  • the minimum complete turning distance will depend on the position of the fixed and movable guides.
  • FIG. 9 A preferred embodiment of the evacuation device can be seen in Figures 9 and 10.
  • a sliding plate (41) is located, rigid, arranged on a slope and mounted on a joint (43) that allows its opening or closing and on which the products that are expelled by the impeller (2) fall in and discharge in their discharge and oriented in their longest part in the direction of the axis of translation of the products in such a way that it causes a forward thrust in its open position that leads the products on a collection belt (14) of suitable products (any type of conveyor is valid), located next to the modular chain, in the direction of transport, and at a level somewhat lower than the top of the chain to allow its sliding by gravity.
  • the sliding sliding plate (41) mounted on the hinge (43) described above, is actuated by means of a pneumatic piston rod (45) mounted on bearings in its front and rear, which facilitate its linear opening and closing.
  • Said pneumatic piston is anchored in its rear part with a support on the frame (20), and in its front part on the same sliding plate.
  • the products (15) are driven in their same direction of translation to the main collection belt (14) located frontally and which will transport the suitable products to the manufacturing line.
  • the retracted pneumatic piston (45) is distinguished by instructions of the vision system, which accurately confirms the correct position of the fruit to be evacuated.
  • the sliding plate (41) mounted on the hinge (3) and attached to the piston by its lower part, is placed in an upright, retracted position, allowing the product to fall by gravity into the hole created by the plate slapping and directed towards a collection belt (16) of the rejected products (12), normally arranged perpendicular to the longitudinal direction of the set of modular and transport chains of the suitable products.
  • the passage through the hole is accurately confirmed of the rejected fruit, with which the piston (45) is ordered to act on the plate sliding (41) for immediate closure to prevent the fall of the next product if it is suitable, and its drive and conduction to the collection tape (14) of suitable products is facilitated.
  • the rejected product falls towards the collection belt (14) and more specifically on a diverter (47) that has two waiting positions, a first position (44) and a second position (48) to evacuate the rejected product to one part or another of the collection tape (14). Its operation takes place by means of a rotating piston (49) protected and mounted in its lower part.
  • Said diverter (14) operates simultaneously with the sliding plate (41), in such a way that it is positioned correctly as soon as the plate opening instruction is received per rejected product, depending on the degree or the causes for which the Product is rejected.
  • the two positions of the diverter suppose a second selection, according to the preprogrammed parameters previously in the vision system, on the fruits to be rejected, and their differentiated evacuation on the collection belt (14). For example, in the case of fruits, rotting of superficial skin defects, branchiness or shape defects can be distinguished.

Abstract

The invention comprises at least one pair of chains provided with a plurality of opposing freely rotating wheels having a synchronised movement. The invention includes means for driving the rotation using friction guides that confer different speeds to different wheels. In a preferred embodiment, cams are provided that can be used to raise and lower at least one of the wheels. The invention also includes a device for the separation and extraction of the selected products.

Description

UNIDAD PARA EL TRANSPORTE Y EXHIBICIÓN EN FORMA DE CADENA MODULAR PARA PRODUCTOS CON FORMA DE GEOIDE Y PROCEDIMIENTO LLEVADO A CABO POR DICHA UNIDAD Objeto De la invención  UNIT FOR TRANSPORTATION AND DISPLAY IN MODULAR CHAIN FOR PRODUCTS WITH GEOID FORM AND PROCEDURE CARRIED OUT BY SUCH UNIT Object of the Invention
La presente invención, según se expresa en el título de la misma, tiene por objeto una unidad para el transporte y exhibición de productos con forma de geoide, como por ejemplo cítricos u otros productos hortofrutícolas, pero también aplicable a productos industriales. Presenta una cadena modular susceptible de individualizar y rotar de forma helicoidal los frutos posicionados sobre la misma, mostrando toda su superficie por rotación controlada en todas direcciones, a lo largo de su recorrido y durante el mínimo tiempo.  The present invention, as expressed in the title of the same, has as its object a unit for the transport and display of geoid-shaped products, such as citrus or other fruit and vegetable products, but also applicable to industrial products. It has a modular chain that can individually identify and rotate the fruits positioned on it helically, showing its entire surface by controlled rotation in all directions, along its path and for the minimum time.
Dicha unidad forma parte de una instalación de tratamiento y/o encajado de dichos productos, y comprende un conjunto de elementos de transporte en forma de cadena modular, así como un sistema de elementos que produce la rotación helicoidal del producto, de modo que durante la fase de transporte desde un único punto de observación pueda analizarse la totalidad de la superficie de cada uno de los productos sin parada de la instalación. Said unit is part of a treatment and / or fitting installation of said products, and comprises a set of transport elements in the form of a modular chain, as well as a system of elements that produces the helical rotation of the product, so that during the Transport phase from a single observation point can analyze the entire surface of each of the products without stopping the installation.
Además incluye un dispositivo de separación de los productos en función de la calidad. It also includes a device for separating products based on quality.
Es de aplicación para escaneado de frutos por visión artificial y evaluación cualitativa posterior. It is applicable for scanning fruits by artificial vision and subsequent qualitative evaluation.
En numerosos sectores industriales existe la necesidad de llevar a cabo un control exhaustivo de la calidad de los productos. In many industrial sectors there is a need to carry out a comprehensive control of product quality.
En el sector hortofrutícola, en general, y en de los cítricos, en particular, se hace particularmente necesario llevar a cabo un control de la calidad de las piezas en función del estado de la superficie. Uno de los problemas que se encuentran es que algunas piezas presentan un inicio de podredumbre, normalmente producida por ciertos microorganismos. En las plantas de tratamiento y encajado de frutas se dispone personal humano para realizar dicha selección. Puesto que a simple vista la detección de las frutas que no reúnen las condiciones de calidad exigidas no siempre puede ser detectada, dicha selección se realiza habitualmente en cámaras aisladas en las que se proyecta luz UV. Frente a la radiación UV, las zonas de la piel de un cítrico que tienen algún grado de podredumbre destacan significativamente, y las personas que están atendiendo la instalación extraen manualmente las piezas no satisfactorias. Sin embargo, la realización manual de esta tarea presenta varios inconvenientes: In the fruit and vegetable sector, in general, and in citrus, in particular, it is particularly necessary to carry out a quality control of the pieces depending on the state of the surface. One of the problems found is that some pieces have a rot onset, usually caused by certain microorganisms. In the treatment plants and fruit boxing, human personnel are available to make this selection. Since at first glance the detection of fruits that do not meet the required quality conditions cannot always be detected, such selection is usually carried out in isolated chambers in which UV light is projected. Against UV radiation, the areas of a citrus skin that have some degree of rot stand out significantly, and people who are attending the installation manually remove unsatisfactory pieces. However, the manual completion of this task has several drawbacks:
La radiación UV es perjudicial, por lo que los tiempos de exposición han de ser limitados, debiendo haber turnos cada cortos espacios de tiempo para poder atender la instalación de modo continuado; además la tendencia de la legislación relativa a seguridad laboral es tendente a que no haya exposición alguna, lo que impediría el tratamiento manual del producto con radiación UV; Aunque las personas están debidamente entrenadas, el cansancio puede producir que la selección no sea del todo correcta, retirando de la cinta frutos que no presentan deterioro y mantener en la misma frutos que no son aptos para el resto del proceso; UV radiation is harmful, so exposure times must be limited, and there must be shifts every short time to attend the installation continuously; In addition, the tendency of the legislation related to occupational safety tends to avoid exposure, which would prevent the manual treatment of the product with UV radiation; Although people are properly trained, fatigue can cause the selection is not entirely correct, removing fruits that do not deteriorate from the tape and keep in the same fruits that are not suitable for the rest of the process;
Es posible que alguna parte del fruto quede oculta al controlador, por lo que puede darse por buena una pieza que no reúna las condiciones adecuadas; It is possible that some part of the fruit is hidden from the controller, so a piece that does not meet the appropriate conditions can be considered good;
El coste laboral, debido al número de operarios que deben realizar el control, es elevado, lo cual redunda en un encarecimiento del producto, y disminución de la competitividad respecto a países con mano de obra más barata. Según un objeto particular de la invención, el objeto de la misma en su conjunto, es dotar a las centrales hortofrutícolas de un sistema automático y eficaz para la eliminación del podrido, (frutos invadidos por hongos que deben retirarse prioritariamente de los demás frutos sanos en la poscosecha, ya que infectan por contacto a los que les circundan. The labor cost, due to the number of operators that must carry out the control, is high, which results in a higher cost of the product, and a decrease in competitiveness with respect to countries with cheaper labor. According to a particular object of the invention, the object thereof as a whole, is to provide the fruit and vegetable plants with an automatic and effective system for the elimination of rotten, (fruits invaded by fungi that must be removed primarily from the other healthy fruits in postharvest, since they infect by contact those around them.
Antecedentes de la invención y estado de la técnica Background of the invention and state of the art
En la actualidad, existen sistemas de transporte de frutos para su discriminación y calibrado posterior. Integrados como componentes de calibradores electrónicos capaces de diferenciar los frutos y explorar su superficie, con el fin de su evaluación por parámetros de calidad por selección óptica de defectos. Posteriormente se calibra su diámetro ecuatorial, su peso y su volumen y se distribuye a través de cintas integradas en el calibrador que reparten los frutos así calibrados a las diferentes zonas de confección y envasado del producto. Dichas instalaciones, que han supuesto una modernidad en la información de los frutos a procesar y su procesamiento informático, requieren una importante inversión financiera así como una gran superficie para su instalación e integración en el conjunto de maquinaria de una central hortofrutícola. Currently, there are fruit transport systems for discrimination and subsequent calibration. Integrated as components of electronic calibrators capable of differentiating the fruits and exploring their surface, for the purpose of its evaluation by quality parameters by optical selection of defects. Subsequently, its equatorial diameter, its weight and its volume are calibrated and distributed through tapes integrated in the calibrator that distribute the fruits thus calibrated to the different areas of preparation and packaging of the product. These facilities, which have meant a modernity in the information of the fruits to be processed and their computer processing, require a significant financial investment as well as a large area for their installation and integration into the machinery set of a fruit and vegetable plant.
La instalación del tipo calibrado electrónico, exige una distribución lineal de su estructura y unas cintas de distribución perpendiculares al mismo y distribuidas en toda su longitud a unas distancias mínimas unas de otras, lo cual conforma unas exigencias importantes en cuanto a dimensiones de maquinaria y por tanto una carestía importante y una lenta amortización en relación a la maquinaria convencional de calibrado central de rodillos basculantes. The installation of the electronic calibrated type, requires a linear distribution of its structure and some distribution tapes perpendicular to it and distributed throughout its length at minimum distances from each other, which conforms to important requirements in terms of machinery dimensions and both an important shortage and a slow amortization in relation to the conventional machinery of central calibration of tilting rollers.
En el calibrado electrónico para productos hortícolas antes comentado, se utilizan sistemas de transporte y diferenciación de frutos para su calibrado y distribución posterior que coinciden en la práctica totalidad de calibradores en cuando a marcas comerciales que existen en la actualidad. In the electronic calibration for horticultural products mentioned above, systems of transport and differentiation of fruits are used for their calibration and subsequent distribution that coincide in practically all calibrators as to commercial brands that currently exist.
El sistema empleado consiste en un grupo de cintas previas denominadas singuladoras, dispuestas en grupos de dos, una frente a otra. Ambas cintar conforman una V formando un ángulo de aproximadamente 90° y que transcurren paralelas a lo largo de todo el recorrido, singularizando los frutos que provienen de la línea de tratamiento. La dimensión de este primer conjunto depende del requerimiento de producción y del fabricante, siendo habitualmente de 5m. The system used consists of a group of previous tapes called singulators, arranged in groups of two, facing each other. Both straps form a V forming an angle of approximately 90 ° and running parallel along the entire path, singling out the fruits that come from the treatment line. The size of this first set depends on the production requirement and the manufacturer, usually 5m.
A continuación de las cintas singuladoras descritas, existe un siguiente modulo denominado diferenciador que esta sincronizado con las cintas singuladoras. Se trata de un conjunto de cadenas que soportan unos diávolos por sus laterales y montados en grúa de dos a lo largo de todas su longitud. Entre cada conjunto de dos diávolos está dispuesto un sistema de extracción del producto por lengüeta con resorte ó similar y que evacúa el producto lateralmente, en el huevo entre dos cadenas y realizado para tal fin. Dichos diávolos imprimen una rotación al fruto situado sobre él. El fruto rueda entonces sobre su diámetro ecuatorial permitiendo su visión y lectura y evaluación cualitativa posterior. No obstante y debido a que el fruto gira sobre su eje de simetría, es dificultosa su evaluación con una sola cámara, incluso con dos cámaras por carril no se obtiene una visión diferenciada del producto en el mínimo espacio dispuesto para la visión artificial. Following the described tapes, there is a next module called differentiator that is synchronized with the tapes. It is a set of chains that support some dim ones by their sides and mounted in two crane along all their length. Between each set With two diavoles there is a system for extracting the product by means of a tongue with a spring or similar and that evacuates the product laterally, in the egg between two chains and made for this purpose. These devils print a rotation to the fruit placed on it. The fruit then rolls over its equatorial diameter allowing its vision and reading and subsequent qualitative evaluation. However, because the fruit rotates on its axis of symmetry, it is difficult to evaluate with a single camera, even with two cameras per lane a differentiated vision of the product is not obtained in the minimum space provided for artificial vision.
Todo este conjunto de sistemas (cintas singuladoras y cadenas de diávolos) exige un gran espacio para su ubicación y una gran superficie para la distribución de los frutos procesados, además de sustituir las habituales instalaciones de calibrado por rodillos basculantes que funcionan correctamente pero no dan información individualizada del producto, por lo que no se pueda desverdizar en precampaña ni separar el podrido de forma automática. Al mismo tiempo, la evacuación en parámetros de calidad que es lo que se prioriza para la inversión en este tipo de maquinaria aun no consigue resultados como con la evaluación manual, por lo que hasta que la tecnología de escaneado automático no mejores, las inversiones millonarias en calibradores electrónicos son de difícil amortización ya que necesitas una supervisión manual (retría de repaso) antes de la entrada del producto a las zonas de confección. Con el sistema que se propone, los frutos rotan sobre sí mismos pero helicoidalmente sobre la propia rotación lineal, sin un eje de simetría fijo durante la traslación en su movimiento longitudinal. Rota en todas direcciones pero estando controlado en sus movimientos a derechas e izquierdas por el acunamiento lateral de los puntos de contacto de las semiesferas. Se consigue una traslación rectilínea con una traza helicoidal en un pasillo definido. All this set of systems (singular tapes and chains of diavoos) requires a large space for its location and a large area for the distribution of processed fruits, in addition to replacing the usual calibration facilities with tilting rollers that work correctly but do not give information individualized product, so you can not de-green in pre-campaign or separate the rotten automatically. At the same time, the evacuation in quality parameters that is what is prioritized for investment in this type of machinery still does not achieve results as with manual evaluation, so that until the automatic scanning technology does not improve, the million dollar investments In electronic calibrators they are difficult to amortize since you need manual supervision (revision rhetoric) before the product enters the clothing areas. With the proposed system, the fruits rotate on themselves but helically on the linear rotation itself, without a fixed axis of symmetry during translation in its longitudinal movement. It rotates in all directions but being controlled in its right and left movements by the lateral cradling of the contact points of the hemispheres. A rectilinear translation is achieved with a helical trace in a defined corridor.
Con el sistema que se propone, (grupos de cadenas que soportan semiesferas independientes en cuanto a su rotación. ) se consigue con un solo elemento, la individualización de los frutos así como su volteo y separación, de forma que las exigencias de instalación del sistema se reducen notablemente, así como su simplicidad mecánica. With the system that is proposed, (groups of chains that support independent hemispheres in terms of their rotation.) The individualization of the fruits as well as their turning and separation is achieved with a single element, so that the System installation requirements are significantly reduced, as well as its mechanical simplicity.
Refiriéndonos de nuevo al objeto de la invención, se trata de sustituir las actuales cabinas de separación manual de podrido (llamadas discotecas por la exposición a luz UV), situadas posteriormente a las mesas de selección manual, por el sistema propuesto, que permitiría la selección y evacuación de los frutos con podredumbre y picadas invisibles al ojo humano, y también la posible selección y discriminación por color, lo cual permitiría la desverdización en precampaña. Referring again to the object of the invention, it is a question of replacing the current manual rotting booths (called nightclubs by exposure to UV light), subsequently located to the manual selection tables, by the proposed system, which would allow selection and evacuation of the fruits with rot and chopped invisible to the human eye, and also the possible selection and discrimination by color, which would allow the greening in pre-campaign.
En definitiva, con el sistema que se propone se pueden discriminar automáticamente los frutos con podredumbre y picadas y la selección por color, lo que supone una mejora para las instalaciones con calibrado mecánico ya que se puede adaptar sin dificultad, sin tener que realizar importantes inversiones en reimplantaciones de maquinaria de calibrado electrónico. In short, with the proposed system, fruits with rot and chopped and color selection can be automatically discriminated, which is an improvement for installations with mechanical calibration since it can be adapted without difficulty, without having to make significant investments in reimplantations of electronic calibration machinery.
El objetivo de la invención es disponer de un sistema mecánico de traslado y diferenciación de frutos en fresco, que permita la visualización de toda su superficie durante su transito sobre el sistema, para su escaneo posterior por cámaras de visión artificial, infrarrojos, ultravioleta, etc., o cualquier método de escaneo de frutos de los empleados en la actualidad. Todo ello en el menor espacio posible, dada la escasez de espacio físico del que se dispone en las centrales hortofrutícolas. The objective of the invention is to have a mechanical system for transferring and differentiating fresh fruits, which allows the display of its entire surface during its transit on the system, for later scanning by artificial vision cameras, infrared, ultraviolet, etc. ., or any method of scanning fruits of employees today. All this in the smallest possible space, given the lack of physical space available in the fruit and vegetable plants.
Descripción de la invención Description of the invention
La invención que se propone tiene por objeto un una unidad para el transporte y exhibición de productos a una cámara de visión artificial, que comprende además un dispositivo selector de salida del producto en función de la calidad del mismo, conforme a la imagen obtenida por dicha cámara.  The object of the proposed invention is a unit for transporting and displaying products to an artificial vision camera, which also comprises an output output device according to the quality of the product, in accordance with the image obtained by said product. camera.
Dicha unidad se sitúa en una instalación de tratado de de productos, tales como frutas, con posterioridad a la tría general y antes de la aplicación de ceras, pero después de la previa tría, lavado y secado de los frutos para su correcta visualización con la mínima suciedad posible. This unit is located in a treaty facility for products, such as fruits, after the general tria and before the application of waxes, but After the previous tria, washing and drying of the fruits for their correct visualization with the minimum possible dirt.
El conjunto está integrado por un bastidor de acero que soporta los elementos que se describen a continuación. The set consists of a steel frame that supports the elements described below.
La unidad está integrada por al menos una pareja de cadenas modulares de arrastre sincronizado, posible y preferentemente movidas mediante un árbol único, que arrastran un conjunto de elementos de transporte; los elementos de transporte, que en lo sucesivo denominaremos rodetes, consisten en unos cuerpos de revolución de eje horizontal con sección descendente hacia la parte central de alojamiento del producto; según realización preferente, dichos rodetes son semiesferas. Está previsto que dichos rodetes estén realizados o recubiertos de un material elastomérico, plástico celular o similar, cuando por la delicadeza del producto deban evitarse impactos; no obstante, según el producto, los rodetes pueden estar formados o recubiertos de otros materiales o combinaciones de materiales. The unit is made up of at least one pair of modular chains of synchronized drag, possibly and preferably moved by means of a single tree, which carry a set of transport elements; the transport elements, hereinafter referred to as impellers, consist of horizontal axis revolution bodies with downward section towards the central housing part of the product; according to preferred embodiment, said impellers are hemispheres. It is envisaged that said impellers are made or covered with an elastomeric material, cellular plastic or the like, when impacts are avoided due to the delicacy of the product; however, depending on the product, the impellers may be formed or coated with other materials or combinations of materials.
Cada uno de los rodetes está unido mediante un eje, con giro libre, a un eslabón de la cadena. Hay rodetes enfrentados en cada línea de selección. Each of the impellers is connected by a shaft, with free rotation, to a link in the chain. There are runners facing each selection line.
La unidad comprende unas guías de fricción situadas en la parte inferior. The unit comprises friction guides located at the bottom.
Los rodetes se hacen girar por apoyo de los mismos en las guías de fricción. La posición de apoyo de cada rodete en cada una de las guías de fricción determinará la velocidad de giro de cada uno de dichos rodetes. El producto apoya en cuatro puntos de contacto, una en cada uno de los cuatro rodetes que determinan un alojamiento alveolar, y los cuales están situados dos en uno de los lados de la línea. Las distintas velocidades de los rodetes se transmiten al producto en su transporte sobre los rodetes. Los rodetes, girarán a distinta velocidades según la zona de contacto con las guías de fricción. Mediante la variación de las velocidades tangenciales de unos u otros rodetes (lo cual se realiza por la posición y altura de las guías de fricción), se hace girar al producto de una manera controlada y según ejes variables, por lo que en un breve espacio recorrido el fruto presenta toda su superficie a un sistema de visión artificial cenital, colocado en la parte superior de la unidad, lo que permite su escaneado en transito a velocidad nominal de desplazamiento, y en un recorrido espacio. The impellers are rotated by their support in the friction guides. The support position of each impeller in each of the friction guides will determine the speed of rotation of each one of said impeller. The product rests on four contact points, one on each of the four impellers that determine an alveolar housing, and which are located two on one of the sides of the line. The different speeds of the impellers are transmitted to the product in its transport on the impellers. The impellers will rotate at different speeds depending on the area of contact with the friction guides. By varying the tangential velocities of one or the other impellers (which is made by the position and height of the friction guides), the product is rotated in a controlled manner and according to variable axes, so in a short space traveled the fruit presents its entire surface to a zenith artificial vision system, placed at the top of the unit, which allows scanning in transit at nominal travel speed, and in a space travel.
Como se ha indicado, la velocidad de los frutos en su tránsito sobre la cadena depende de la velocidad de rotación de los rodetes que se produce por el contacto de guías fijas en la parte inferior de los mismos, montadas sobre el bastidor del conjunto. Dependiendo del punto de contacto de la guía con la superficie esférico-cónica del rodete, se consiguen velocidades distintas del producto a uno y otro lado durante el desplazamiento. Las velocidades de giro a uno y otro lado resultantes, dependerán de la geometría y motorización del conjunto. As indicated, the speed of the fruits in their transit on the chain depends on the speed of rotation of the impeller that is produced by the contact of fixed guides in the lower part thereof, mounted on the frame of the assembly. Depending on the contact point of the guide with the spherical-conical surface of the impeller, different speeds of the product are achieved on both sides during the movement. The resulting turning speeds on both sides will depend on the geometry and motorization of the assembly.
Con el sistema que se propone, los productos, particularmente los frutos, rotan sobre si mismos pero helicoidalmente sobre la propia rotación lineal, sin un eje de giro fijo durante la traslación a lo largo de la unidad. Así, la rotación se produce en cualquier sentido, pero siempre controlada por las velocidades de giro de los rodetes, que dependen del acunamiento lateral de los puntos de contacto de los rodetes, produciéndose una translación rectilínea con una traza helicoidal en un pasillo definido. Con el sistema que se propone, (grupos de cadenas que soportan rodetes independientes de giro libre) se consigue con un solo elemento, la individualización de los frutos así como su volteo y separación, de forma que las exigencias de instalación del sistema se reducen notablemente, así como su simplicidad mecánica. With the proposed system, the products, particularly the fruits, rotate on themselves but helically on the linear rotation itself, without a fixed axis of rotation during the translation along the unit. Thus, the rotation occurs in any direction, but always controlled by the speeds of rotation of the impeller, which depend on the lateral cradling of the contact points of the impeller, producing a rectilinear translation with a helical trace in a defined corridor. With the proposed system, (groups of chains that support independent free-spin impellers), the individualization of the fruits as well as their turning and separation is achieved with a single element, so that the system installation requirements are significantly reduced , as well as its mechanical simplicity.
Refiriéndonos de nuevo al objeto de la invención, se trata de sustituir las actuales cabinas de separación manual de podrido, situadas anteriormente a las mesas de selección manual, por el sistema propuesto, que permitiría la selección y evacuación de los frutos con podredumbre y también la posible selección y discriminación por color, lo cual permitiría la desverdización en precampaña. Referring again to the object of the invention, it is a question of replacing the current manual rotting booths, previously located at the manual selection tables, by the proposed system, which would allow the selection and evacuation of rotten fruits and also the possible selection and discrimination by color, which would allow greening in pre-campaign.
En definitiva, con el sistema que se propone se pueden discriminar automáticamente los frutos con podredumbre y la selección por color, lo que supone una mejora para las instalaciones con calibrado mecánico ya que se puede adaptar sin dificultad, sin tener que realizar importantes inversiones en reimplantaciones de maquinaria de calibrado electrónico. Según una realización preferida, los rodetes están provistos en su parte de unión a la cadena de una porción cilindrica que ejerce la función de pista de tracción, a través de la cual, a diferencia de la realización anteriormente indicada, se transmite el movimiento. Algunos de los rodetes están fijados a la cadena directamente a través de los ejes huecos de sus bulones y mientras que la unión de los otros tiene lugar a través de una leva, que le permite un movimiento relativo respecto a la cadena y a los otros rodetes. Los rodetes van montados en cada una de cada pareja de cadenas enfrentadas, en grupos de dos, de forma que entre cada cuatro semiesferas se crea un habitáculo alveolar que acuna los frutos y controla su rotación y traslado. De modo preferente, de los cuatro rodetes que integran cada cuna, los correspondientes a una de las diagonales están unidos directamente a la cadena, mientras que los otros rodetes están fijados a dicha cadena por medio de las levas anteriormente indicadas. Mediante el apoyo de las guías de fricción, sobre las pistas de tracción de los rodetes se produce el giro de dichos rodetes. Además, la geometría de las guías de fricción (elevación, descenso), permite que los rodetes unidos a la cadena a través de las levas puedan elevarse o descender, al tiempo que giran a causa del apoyo de dichas guías de fricción sobre dichas pistas de tracción, forzando así un determinado giro del producto transportado, perfectamente controlado. In short, with the proposed system, fruits with rot and color selection can be automatically discriminated, which is an improvement for installations with mechanical calibration since it can be adapted without difficulty, without having to make significant investments in replanting. of electronic calibration machinery. According to a preferred embodiment, the impellers are provided in their chain connection part of a cylindrical portion that exerts the function of traction track, through which, unlike the above-mentioned embodiment, the movement is transmitted. Some of the impellers are fixed to the chain directly through the hollow shafts of their bolts and while the union of the others takes place through a cam, which allows a relative movement with respect to the chain and the other impellers. The impellers are mounted in each of each pair of chains facing each other, in groups of two, so that between every four hemispheres an alveolar cabin is created that cradles the fruits and controls their rotation and transfer. Preferably, of the four impellers that make up each cradle, those corresponding to one of the diagonals are attached directly to the chain, while the other impellers are fixed to said chain by means of the aforementioned cams. Through the support of the friction guides, the impeller is rotated on the traction tracks of the impellers. In addition, the geometry of the friction guides (elevation, descent), allows the impellers attached to the chain through the cams can be raised or lowered, while rotating due to the support of said friction guides on said tracks of traction, thus forcing a certain turn of the transported product, perfectly controlled.
Al subir una diagonal respecto a la otra, provocamos en el producto sustentado un giro rápido del mismo buscando su rotación en la dirección que ordena esa diagonal, con lo que el fruto exhibe toda su superficie asociada a esa diagonal. Si descienden esos rodetes y se elevan los de la diagonal opuesta se provoca en el fruto un cambio de rotación buscando la segunda diagonal con lo que exhibe toda su superficie asociada a esa segunda dirección, con lo que la exhibición es completa con certeza. Además, con la invención propuesta el fruto puede cambiar de dirección varias veces, dada su inmediata respuesta a los cambios de dirección que genera la elevación y descenso de las semiesferas diagonales. When going up one diagonal with respect to the other, we cause a rapid rotation of the product in the sustained product, looking for its rotation in the direction ordered by that diagonal, with which the fruit exhibits its entire surface associated with that diagonal. If those impellers descend and those of the opposite diagonal rise, a rotation change is caused in the fruit, looking for the second diagonal, which exhibits all its surface associated with that second direction, so that the exhibition is complete with certainty. In addition, with the proposed invention the fruit can change direction several times, given its immediate response to changes in direction generated by the elevation and descent of the diagonal hemispheres.
El conjunto de cada rodete permanece unido por medio de un circlip en los extremos de los ejes que los soporta y une a la cadena, lo que le transfiere a cada rodete una rodadura independiente y libre, respecto a su pareja y respecto a la cadena. The set of each impeller remains connected by means of a circlip at the ends of the axes that supports them and joins the chain, which transfers an independent and free rolling to each impeller, with respect to its partner and with respect to the chain.
Sobre cada cierto número de pasos de la cadena, según el tamaño de la misma (normalmente cada paso), están montados grupos de dos rodetes (semiesferas), de modo que se constituye un conjunto modular en forma de cadena que se tracciona a través de piñones y transmisiones comerciales convencionales, formando una cadena de rodetes. Cada cadena de rodetes, constituye una línea sobre la que se transportarán los productos a procesar, y repitiendo el número de líneas, se consigue un conjunto adecuado para la producción requerida. On each certain number of chain steps, depending on the size of the chain (usually each step), groups of two impellers (hemispheres) are mounted, so that a modular chain-shaped assembly is formed that is pulled through conventional commercial sprockets and transmissions, forming a chain of impellers. Each chain of impellers constitutes a line on which the products to be processed will be transported, and by repeating the number of lines, a suitable set for the required production is achieved.
Está previsto que cada cadena pueda disponer rodetes independientes a cada uno de sus lados. It is envisaged that each chain can have independent impellers on each side.
Una vez transportado los frutos y escaneados por cualquier sistema de los antes mencionados (visión artificial, ultravioleta, etc.) se precisa un sistema de identificación y selección en la salida de los productos. Once the fruits have been transported and scanned by any of the aforementioned systems (artificial vision, ultraviolet, etc.), an identification and selection system is required at the exit of the products.
Como se ha indicado anteriormente, incluye la invención un mecanismo de separación selectiva de los productos escaneados y reconocidos por el sistema de visión artificial situado en la parte superior de la unidad- Se considera fundamental para el adecuado funcionamiento del automatismo la diferenciación y separación de los frutos. Retirando los que se consideran rechazables por el sistema, según los parámetros de selección establecidos, y llevar a cabo la operación con precisión y a las velocidades de proceso de la instalación completa. El mecanismo debe responder con fiabilidad a las instrucciones del sistema de visión que escanea los productos, indicando éste al sistema de extracción cuales son aptos y cuales deben ser desechados. As indicated above, the invention includes a mechanism for selective separation of the products scanned and recognized by the artificial vision system located at the top of the unit. Differentiation and separation of fruits is considered essential for the proper functioning of the automatism. Withdrawing those that are considered rejectable by the system, according to the established selection parameters, and carry out the operation with precision and at the process speeds of the complete installation. The mechanism must respond reliably to the instructions of the vision system that scans the products, indicating this to the extraction system which are suitable and which must be discarded.
El sincronismo entre el punto de evacuación y la posición actual del fruto una vez evaluado tiene lugar mediante un encoder o motor paso a paso integrado en la cadena modular, que indica en función de la posición de giro y número de vueltas, la posición exacta y el momento en que el producto está en posición de ser evacuado por el sistema de extracción. Están previstos distintos dispositivos de selección. Según una primera opción, el dispositivo de selección consiste en un dispositivo disparador dispuesto en la zona de salida de los productos, que comprende una lengüeta accionada, por ejemplo, por un pistón neumático, que impulsa el producto no apto, lanzándolo hasta una cinta transportadora receptora, dejando caer a una segunda cinta receptora de los productos aptos; The synchronism between the evacuation point and the current position of the fruit once evaluated takes place by means of an encoder or stepper motor integrated in the modular chain, which indicates depending on the turning position and number of turns, the exact position and the moment when the product is in a position to be evacuated by the extraction system. Different selection devices are provided. According to a first option, the selection device consists of a trigger device disposed in the product exit zone, comprising a tongue actuated, for example, by a pneumatic piston, which drives the unfit product, throwing it up to a conveyor belt. receiver, dropping a second receiving tape of suitable products;
Según una segunda opción, se dispone una rampa, también accionable, a la cual se dejan caer los productos, aptos, cayendo los no aptos a una segunda rampa inferior, que según una realización particular puede ser accionada para adoptar una primera posición en la que se recogen los productos de segunda calidad o una segunda posición de productos desechables, y conducidos a su zona de tratamiento correspondiente mediante cintas transportadoras.  According to a second option, there is also a ramp, also operable, to which the products are dropped, fit, the unfit falling to a second lower ramp, which according to a particular embodiment can be actuated to adopt a first position in which second quality products or a second position of disposable products are collected, and taken to their corresponding treatment area by conveyor belts.
Están también previstas otras opciones, tales como la apertura o cierre de dos cuerpos laterales que en función de su posición de apertura cierre realizan la misma función que la opción anteriormente descrita. Other options are also provided, such as the opening or closing of two lateral bodies which, depending on their closing opening position, perform the same function as the option described above.
Breve descripción de los dibujos Brief description of the drawings
Para complementar la descripción que se esta realizando y con objeto de ayudar a una mejor comprensión de las características del invento, se acompaña a la presente memoria descriptiva, como parte integrante de la misma, una serie de figuras en las cuales con carácter ilustrativo y no limitativo, se ha representado lo siguiente: To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, accompanies the present descriptive report, as an integral part thereof, a series of figures in which for the purpose of illustration and not limitation, the following has been represented:
Figura 1 Representa una vista superior del conjunto de la cadena modular objeto de la presente invención con los elementos que la integran, conforme a un primer modo de realización; Figura 2 Representa una vista lateral del conjunto con la inclusión del sistema de discriminación de producto en posición de reposo, conforme a dicho primer modo de realización;  Figure 1 Represents a top view of the assembly of the modular chain object of the present invention with the elements that comprise it, according to a first embodiment; Figure 2 Represents a side view of the assembly with the inclusion of the product discrimination system in the rest position, according to said first embodiment;
Figura 3 Representa una vista lateral del conjunto con la inclusión del sistema de discriminación de producto en posición activa, conforme a dicho primer modo de realización;  Figure 3 Represents a side view of the assembly with the inclusion of the product discrimination system in active position, according to said first embodiment;
Figura 4 Representa una vista superior del conjunto de la cadena modular objeto de la presente invención con los elementos que la integran, según el segundo modo de realización;  Figure 4 Represents a top view of the assembly of the modular chain object of the present invention with the elements that integrate it, according to the second embodiment;
Figura 5 Representa una vista frontal del conjunto de dos rodetes, con forma de semiesfera, con los elementos que lo integran, según el segundo modo de realización;  Figure 5 Represents a front view of the set of two impellers, in the form of a hemisphere, with the elements that comprise it, according to the second embodiment;
Figura 6 Representa una vista frontal del conjunto de dos cadenas modulares con los rodetes oscilantes en las posiciones de elevación y descenso respecto a los rodetes fijos, según el segundo modo de realización;  Figure 6 Represents a front view of the set of two modular chains with the oscillating impellers in the positions of elevation and descent with respect to the fixed impellers, according to the second embodiment;
Figuras 7 y 8 Representan sendas vistas laterales del conjunto con la en distintas posiciones de las guías de conducción de los rodetes oscilantes, según el segundo modo de realización;  Figures 7 and 8 represent two side views of the assembly with the one in different positions of the guides of the oscillating impeller, according to the second embodiment;
La figura 9 Representa una vista esquemática lateral de la cadena modular en la que se aprecia una realización particular del dispositivo de selección, en la que el producto es seleccionado como apto y conducido a la siguiente etapa;  Figure 9 depicts a schematic side view of the modular chain in which a particular embodiment of the selection device is seen, in which the product is selected as suitable and taken to the next stage;
La figura 10 Representa una vista esquemática lateral semejante a la de la figura 9, pero en la que el producto es seleccionado como no apto o como de segunda calidad, y conducido a una u otra banda transportadora de retirada. Realización preferente de la invención Figure 10 represents a schematic side view similar to that of Figure 9, but in which the product is selected as unfit or of second quality, and driven to one or another withdrawal conveyor belt. Preferred Embodiment of the Invention
Como se puede apreciar en las figuras adjuntas, podemos observar una cadena (1) de charnela de ejes huecos de paso determinado, (según una realización particular, de 50 mm aprox.) y sus correspondientes dispositivos de arrastre.  As can be seen in the attached figures, we can observe a chain (1) of hollow axes of a given pitch, (according to a particular embodiment, of approx. 50 mm) and their corresponding dragging devices.
Sobre dicha cadena, se disponen a ambos lados de la misma y en cada dos pasos según unos rodetes (2), como por ejemplo semiesferas de caucho ó material similar alimentario y rugoso de diámetro proporcional al paso de la cadena empleada. Según un primer modo de realización, dichos rodetes (2) permanecen unidos entre sí y a la cadena por un eje (4) que pasa por los centros de cada rodete (2) y por los bulones huecos de la cadena (1) de forma que giran libres e independientes. On said chain, they are arranged on both sides of it and in every two steps according to impellers (2), such as for example rubber hemispheres or similar food and rough material of diameter proportional to the passage of the chain used. According to a first embodiment, said impellers (2) remain connected to each other and to the chain by an axis (4) that passes through the centers of each impeller (2) and through the hollow bolts of the chain (1) so that they turn free and independent.
En los extremos de dicho eje (4) se incorporan sendos circlip (3) para la inmovilidad lateral del conjunto y facilitar el montaje y desmontaje de los rodetes. At the ends of said shaft (4) two circlip (3) are incorporated for the lateral immobility of the assembly and facilitate the assembly and disassembly of the impellers.
La cadena queda protegida en su parte superior por medio de un cubrecadenas (8) de chapa o plástico, que evita el contacto con los productos y facilitan su mantenimiento. Una lengüeta de expulsión (5) se sitúa entre las cadenas a continuación del separador protector (10). The chain is protected at the top by means of a chain cover (8) made of sheet metal or plastic, which avoids contact with the products and facilitates their maintenance. An eject tab (5) is placed between the chains following the protective separator (10).
Una vez efectuado el montaje de los rodetes (2) sobre la cadena (1) de la forma antes descrita, se sitúa sobre un bastidor (20), normalmente de tubo de acero, que soporta las guías de las cadenas y los piñones y motorización de la misma. Según una realización, la dimensión del conjunto resultante comporta 3mts de largo por 2mtrs de ancho aprox., pero sin estar limitado a dichas dimensiones. Lateral y paralelamente a la primera cadena (1) antes descrita, y a una mínima distancia, se sitúa una segunda cadena idéntica y montada sobre los mismo pasos en los piñones de arrastre que la primera, de forma que transcurran los rodetes (2) de ambas cadenas enfrentados entre sí y solidarias en todo su recorrido. De esta forma se genera un hueco (9) entre cada cuatro rodetes (2) enfrentados dos a dos, donde se situarán los productos a procesar, acunando el producto sobre cuatro puntos de apoyo y sirviendo separadores protectores (10) como guías laterales. Once the impeller (2) is mounted on the chain (1) in the manner described above, it is placed on a frame (20), usually made of steel tube, which supports the guides of the chains and the sprockets and motorization Of the same. According to one embodiment, the size of the resulting set is 3 meters long and 2 meters wide, but not limited to said dimensions. Laterally and parallel to the first chain (1) described above, and at a minimum distance, a second identical chain is mounted and mounted on the same steps on the drive sprockets as the first, so that the impeller (2) of both pass chains facing each other and solidarity throughout their journey. In this way, a gap (9) is generated between each four impellers (2) facing two to two, where the products to be processed will be placed, cradling the product on four support points and serving protective separators (10) as lateral guides.
Una vez efectuado este conjunto mínimo de dos cadenas modulares sincronizadas en su arrastre de la forma antes descrita, se sitúan en la parte inferior de las mismas, donde se acunan los frutos y sujetas al bastidor, unas guías (6) y (7) de fricción que hacen girar los rodetes durante su arrastre por la fricción de dichas guías sobre su superficie y por su parte inferior. Once this minimum set of two synchronized modular chains has been carried out in its drive in the manner described above, they are located at the bottom of them, where the fruits are cradled and attached to the frame, guides (6) and (7) of friction that rotates the impeller during its drag by the friction of said guides on its surface and its lower part.
La guía (7) está montada de forma tal que fricciona en los rodetes (2) sobre los que actúa por su diámetro máximo, lo cual les transmite a éstos una velocidad de rotación mínima durante su andadura. The guide (7) is mounted in such a way that it rubs on the impellers (2) on which it acts by its maximum diameter, which transmits to them a minimum rotation speed during its walking.
La guía (6) está montada de forma tal que fricciona en los rodetes sobre los que actúa en su diámetro mínimo, con lo que se consigue una velocidad de rotación máxima durante su andadura. The guide (6) is mounted in such a way that it rubs on the impellers on which it acts at its minimum diameter, which achieves a maximum rotation speed during its travel.
Variando la posición de la guía (6) desde el diámetro mínimo al máximo, se consiguen diferentes velocidades de rotación de los rodetes solicitados por la guía (7). Ello proporciona al producto situado en el seno de cada cuatro semiesferas enfrentadas una rotación de eje vertical, añadida a la rotación de eje horizontal típica, producida por arrastre de los rodetes friccionados en su parte inferior. Así, la velocidad de giro de los rodetes es variable en función del radio de la sección de contacto con dichas guías (6,7). By varying the position of the guide (6) from the minimum to the maximum diameter, different rotation speeds of the impellers requested by the guide (7) are achieved. This provides the product located within each four hemispheres facing a vertical axis rotation, added to the typical horizontal axis rotation, produced by dragging the friction impellers in its lower part. Thus, the speed of rotation of the impellers varies according to the radius of the contact section with said guides (6,7).
Esta composición de movimientos permite que el producto genere un helicoide en su desplazamiento que permite observar toda su superficie fácilmente desde una cámara dispuesta en posición cenital. La distancia mínima de volteo completo dependerá de la posición de la guía desplazable (6). Una vez los productos han sido visualizados y calificados, se procede a su discriminación. Ésta consiste en separar mecánicamente unos de otros, lo cual conlleva un mecanismo que altere su curso durante su transporte. Según una primera opción, el mecanismo empleado para la discriminación del producto es una lengüeta de expulsión (5) que se halla situada en la zona de salida de la unidad, entre el espacio que existe entre los rodetes en la parte en la que sustentan el producto. Puede verse en la figura 1 la posición de la lengüeta de expulsión (5) vista desde la parte superior. This composition of movements allows the product to generate a helicoid in its displacement that allows to observe its entire surface easily from a chamber arranged in zenith position. The minimum complete turning distance will depend on the position of the movable guide (6). Once the products have been visualized and qualified, they proceed to discriminate. This consists of mechanically separating each other, which entails a mechanism that alters its course during transport. According to a first option, the mechanism used for product discrimination is an eject tab (5) that is located in the exit area of the unit, between the space between the impellers in the part in which they support the product. The position of the eject tab (5) seen from the top can be seen in Figure 1.
La figura 2 representa una vista lateral del conjunto en la que se aprecia una sección de un ramal de cadena en el cabezal tractor y la descarga de los productos. Figure 2 represents a side view of the assembly in which a section of a chain branch can be seen in the tractor head and the discharge of the products.
La cadena (1) soporta los rodetes (2), en forma de semiesfera según realización preferida, unidos a ella a través del eje (4) y sujetos por los circlip (3). Los rodetes friccionan por su parte inferior con las guías de fricción (6,7) que provocan su rotación de forma independiente y distinta, dado que contactan los rodetes en diámetros diferentes (respecto al eje de rotación) y, por lo tanto, a velocidades diferentes. The chain (1) supports the impellers (2), in the form of a hemisphere according to a preferred embodiment, connected to it through the axis (4) and held by the circlip (3). The impellers rub at the bottom with the friction guides (6,7) that cause their rotation independently and differently, since they contact the impellers in different diameters (with respect to the axis of rotation) and, therefore, at speeds different.
Una vez ha sido efectuada la rotación del producto y tomadas las correspondientes imágenes se procede a la descarga de los productos. Once the product rotation has been carried out and the corresponding images taken, the products are downloaded.
Cuando un producto a discriminar, se sitúa enfrente a la lengüeta (5) activa un mecanismo de expulsión integrado, por ejemplo, por un pistón neumático (19) o un relé, que actúa sobre una leva (11), que actúa sobre el producto rechazable (12) situado sobre ella impulsándolo hacia una cinta de recogida (16) que reúne los frutos rechazados. When a product to be discriminated against, is positioned opposite the tongue (5) activates an integrated ejection mechanism, for example, by a pneumatic piston (19) or a relay, which acts on a cam (11), which acts on the product rejectable (12) located on it by pushing it towards a collection belt (16) that gathers the rejected fruits.
Los productos aptos (15), continúan su trayectoria de caída abandonando la cadena a través de un deflector (13) hasta una cinta de recogida (14) que la conduce de forma rectilínea al resto de máquinas para su tratamiento posterior y su confección. The suitable products (15), continue their trajectory of fall leaving the chain through a deflector (13) to a collection tape (14) that the leads rectilinearly to the rest of the machines for further treatment and preparation.
En la figura 3 se representa la separación de los frutos rechazados a través del movimiento de la lengüeta (5) activada por el pistón neumático (19) o relé eléctrico sujeto al bastidor (10) de la unidad. Figure 3 shows the separation of the rejected fruits through the movement of the tongue (5) activated by the pneumatic piston (19) or electric relay attached to the frame (10) of the unit.
Según una realización avanzada de la invención, algunos de los rodetes (2) están unidos a la cadena (1) a través de una leva (23) también de giro libre. La cadena está provista de bulones (22), huecos. Algunos de los rodetes (2) están unidos a los bulones (22) de la cadena (1) por medio del eje (25) del rodete (2), fijo; a estos rodetes los denominaremos rodetes fijos (24). Otros rodetes están, como se ha dicho, unidos a la cadena a través de una leva (23); a estos rodetes los denominaremos rodetes móviles (28). La leva (23) tendrá normalmente la misma longitud entres sus ejes que el paso de la cadena; según realización particular, uno de los ejes u orificios de dicha leva (23) es solidario al eje (26) del rodete móvil (28) sobre el que está montado un casquillo (27) que soporta dicho rodete móvil (28). Así, las distancias entre rodetes sobre la cadena permanecen invariables. En los extremos de los ejes (26) se incorporan sendos circlip para la inmovilidad lateral del conjunto y facilitar el montaje y desmontaje de los rodetes. According to an advanced embodiment of the invention, some of the impellers (2) are connected to the chain (1) through a cam (23) also of free rotation. The chain is provided with bolts (22), holes. Some of the impellers (2) are connected to the bolts (22) of the chain (1) by means of the shaft (25) of the impeller (2), fixed; We will call these impellers fixed fixed impellers (24). Other impellers are, as stated, attached to the chain through a cam (23); We will call these impellers mobile impellers (28). The cam (23) will normally be the same length between its axes as the passage of the chain; according to a particular embodiment, one of the axes or holes of said cam (23) is integral with the axis (26) of the mobile impeller (28) on which a bushing (27) is mounted, which supports said mobile impeller (28). Thus, the distances between impellers on the chain remain unchanged. At the ends of the shafts (26) two circlip are incorporated for the lateral immobility of the assembly and facilitate the assembly and disassembly of the impellers.
Según esta segunda y preferente realización, los rodetes comprenden unas pistas de arrastre (29,30,31,32) y transmisión del giro por fricción con guías (36,37) de fricción. Dichas pistas de arrastre (29,30,31,32) presentan forma anular con el mismo eje que el correspondiente rodete, del cual forman parte, y los de distintos rodetes pueden tener distintos diámetros. De este modo, las pistas de arrastre (29,30,31,32) de los rodetes apoyan en la correspondiente guía (36,37), y la velocidad de giro de cada uno de los rodetes será dependiente del diámetro de la correspondiente pista de arrastre en su apoyo sobre la correspondiente guía, ya que la velocidad de desplazamiento es igual para todos los rodetes. Los rodetes que están unidos a la cadena (1) mediante levas (23), podrán elevarse o descender en función de que la guía sobre la que apoyan tenga una forma elevada o rehundida. Es deseable que los rodetes dispuestos cada una de las diagonales tengan las pistas de arrastre esencialmente idénticas entre sí, y distintas a los de la otra diagonal. En particular se considera idóneo que las pisas de los rodetes (28) unidos a la cadena (1) mediante levas (23) tengan una pista de arrastre (31) de menor diámetro que los demás rodetes. De este modo, los rodetes fijos (24) tienen un tránsito sobre sus guías (36) lineal y rectilíneo y los rodetes móviles (28) transitan de modo que "copian" en su trayectoria la forma de las respectivas guías (37), lineales y ascendentes y descendentes para efectuar los movimientos de elevación y descenso. En la vista frontal de la figura 5, se observa el conjunto de dos rodetes, uno fijo (24) y otro móvil (28) por medio de la leva (23), enfrentados entre sí. Cada uno de ellos está siendo movido por la fricción en las correspondientes pistas de arrastre (29,30,31,32) producido por el desplazamiento a lo largo de las guías (36,37), montadas sobre una placa (35) que a su, vez está sustentada por el bastidor (20). According to this second and preferred embodiment, the impellers comprise drag tracks (29,30,31,32) and friction rotation transmission with friction guides (36,37). Said drag tracks (29,30,31,32) have an annular shape with the same axis as the corresponding impeller, of which they are part, and those of different impellers can have different diameters. In this way, the drag tracks (29,30,31,32) of the impellers support the corresponding guide (36,37), and the rotation speed of each of the impellers will be dependent on the diameter of the corresponding track. of drag in its support on the corresponding guide, since the speed of trip is equal for all the impellers. The impellers that are attached to the chain (1) by means of cams (23), can be raised or lowered depending on whether the guide on which they rest has a raised or recessed shape. It is desirable that the impellers arranged each one of the diagonals have the drag tracks essentially identical to each other, and different from those of the other diagonal. In particular, it is considered ideal for the impeller treads (28) attached to the chain (1) by means of cams (23) to have a drag track (31) of smaller diameter than the other impellers. In this way, the fixed impellers (24) have a transit over their linear and rectilinear guides (36) and the mobile impellers (28) transit so that they "copy" the shape of the respective guides (37), linear, in their trajectory. and ascending and descending to carry out the movements of elevation and descent. In the front view of Figure 5, the set of two impellers, one fixed (24) and the other mobile (28) is observed by means of the cam (23), facing each other. Each of them is being moved by friction in the corresponding drag tracks (29,30,31,32) produced by the displacement along the guides (36,37), mounted on a plate (35) that its, is supported by the frame (20).
Puede observarse en la figura 6 una vista frontal del conjunto de dos cadenas modulares formadas por las cadenas de arrastre (1) rodetes fijos (24) que friccionan por su pista de arrastre (29,30) sobre guías (36), y rodetes móviles (28) (oscilantes) que friccionan por una pista de arrastre (31) con un diámetro menor por la acción de guías (37) que se elevan ( parte izquierda del dibujo), o descienden (parte derecha del dibujo), estando sujetos dichos rodetes móviles (28) por medio de levas (23) . Las guías están apoyadas en la placa (5) que a su vez está montada sobre el bastidor del conjunto. A front view of the set of two modular chains formed by the drive chains (1) fixed impellers (24) that friction along its driveway (29,30) on guides (36), and mobile impellers can be seen in Figure 6 (28) (oscillators) that rub along a drag track (31) with a smaller diameter due to the action of guides (37) that rise (left part of the drawing), or descend (right part of the drawing), being said subjects mobile impellers (28) by means of cams (23). The guides are supported on the plate (5) which in turn is mounted on the frame of the assembly.
En las figuras 7 y 8 puede observarse una vista del conjunto de arrastre de la cadena modular en dos posiciones de las guías (37) de accionamiento de los rodetes móviles (28), en un primer caso en que se produce una elevación de los correspondientes rodetes, y en otro en el que se produce un descenso. Según la figura 7, los rodetes móviles (28) unidos a la cadena de arrastre (1) por medio de las levas (23) están en la posición elevada respecto a las fijas (2), por el apoyo en la guía (37) en posición ascendente respecto a la guía (36) donde se apoyan en su tránsito los rodetes fijos (24). En la figura 8 se observa la situación contraria, en la que los rodetes móviles (28) están en una posición más baja que los rodetes fijos (24) por la posición en bajada de la guía (37). In figures 7 and 8 a view of the drive assembly of the modular chain can be seen in two positions of the guides (37) for driving the mobile impellers (28), in a first case where there is an elevation of the corresponding impellers, and in another where there is a descent. According to figure 7, the mobile impellers (28) connected to the drive chain (1) by means of the cams (23) are in the raised position with respect to the fixed ones (2), by the support in the guide (37) in ascending position with respect to the guide (36) where the fixed impellers (24) are supported in its transit. Figure 8 shows the opposite situation, in which the mobile impellers (28) are in a lower position than the fixed impellers (24) due to the downward position of the guide (37).
Una vez efectuado el montaje de los rodetes (2;24,28) sobre la cadena (1) de la forma antes descrita, se sitúa sobre un bastidor (20), normalmente de tubo de acero, que soporta las guías de las cadenas y los piñones y motorización de la misma. Así, puede obtenerse un conjunto resultante de muy reducidas dimensiones (de 2m de ancho por 2m de largo, según un modo de realización). Está previsto que lateral y paralelamente a la primera cadena antes descrita, y a una mínima distancia, se sitúe una segunda cadena de idénticas características que la anteriormente descrita y montada sobre los mismos pasos en los piñones de arrastre que la primera, de forma que discurran enfrentados los correspondientes rodetes (2) de ambas cadenas enfrentadas entre sí por su diámetro máximo y solidarias en todo su recorrido. Once the impeller (2; 24,28) is mounted on the chain (1) in the manner described above, it is placed on a frame (20), usually made of steel tube, which supports the chain guides and the pinions and motorization of it. Thus, a resulting set of very small dimensions can be obtained (2m wide by 2m long, according to an embodiment). It is foreseen that laterally and parallel to the first chain described above, and at a minimum distance, a second chain of identical characteristics is placed that the one described above and mounted on the same steps in the drive sprockets as the first one, so that they run opposite the corresponding impellers (2) of both chains facing each other for their maximum diameter and solidarity throughout their travel.
De esta forma se genera un hueco entre cada cuatro semiesferas enfrentadas donde se situarán los frutos a procesar, acunando el fruto sobre cuatro puntos de apoyo y sirviendo los protectores de las cadenas como guías laterales. In this way, a gap is generated between every four facing hemispheres where the fruits to be processed will be placed, cradling the fruit on four points of support and serving the chain protectors as lateral guides.
Una vez efectuado este conjunto mínimo de dos cadenas modulares sincronizadas en su arrastre de la forma antes descrita, se sitúan en la parte inferior de las mismas, y sujetas al bastidor, las guías de fricción (6,7,36,37), que hacen girar las semiesferas durante su arrastre por la fricción de dichas guías sobre su superficie. Once this minimum set of two synchronized modular chains is carried out in its drive in the manner described above, the friction guides (6,7,36,37), which are attached to the frame, are attached to the frame they rotate the hemispheres during their drag by the friction of said guides on their surface.
Las guías (36) están montadas de forma tal que friccionan en las semiesferas "fijas" (24) sobre las que actúa, por su diámetro máximo, (9) lo cual le transmite una velocidad de rotación mínima durante su andadura. Las guías (37) están montadas de forma tal que friccionan en las semiesferas sobre las que actúa en su diámetro mínimo, con lo que se consigue una velocidad de rotación mayor durante su andadura. Además se le provoca un movimiento de elevación y descenso durante su andadura a través de las guías que se elevan o descienden en puntos y momentos determinados de su tránsito. The guides (36) are mounted in such a way that they rub in the "fixed" hemispheres (24) on which it acts, by its maximum diameter, (9) which transmits a minimum rotation speed during its travel. The guides (37) are mounted in such a way that they rub in the hemispheres on which it acts at its minimum diameter, which results in a higher rotation speed during its journey. In addition, it causes a movement of elevation and descent during its walk through the guides that rise or descend at certain points and moments of its transit.
Variando la posición de las guías (37) desde la posición inferior a la superior, se consiguen diferentes posiciones de las semiesferas móviles respecto a las fijas y transmitiendo esa oscilación y rotación al fruto que se acuna hace que este rote de la forma adecuada durante su transporte para su exhibición completa. By varying the position of the guides (37) from the lower to the upper position, different positions of the moving hemispheres are achieved with respect to the fixed ones and transmitting that oscillation and rotation to the fruit that is cradled makes it rotate properly during its Transportation for your full display.
Esta composición de movimientos permite que el fruto genere cambios de dirección de rotación controlados en su desplazamiento que permiten observar toda su superficie fácilmente y con certeza. La distancia mínima de volteo completo dependerá de la posición de las guías fijas y desplazables. This composition of movements allows the fruit to generate changes of direction of rotation controlled in its displacement that allow to observe its entire surface easily and with certainty. The minimum complete turning distance will depend on the position of the fixed and movable guides.
Una realización preferente del dispositivo de evacuación puede ser observada en las figuras 9 y 10. A preferred embodiment of the evacuation device can be seen in Figures 9 and 10.
Podemos ver una cadena (1) modular de rodetes (2) algunos de ellos fijos (24) y otros móviles (25), según se ha descrito anteriormente, que transporta los productos situados sobre ella (1) para su visualización y evaluación. We can see a modular chain (1) of impellers (2) some of them fixed (24) and other mobile (25), as described above, which transports the products located on it (1) for viewing and evaluation.
Situado en la parte frontal de la misma, entre los rodetes que acunan los frutos y en su parte inferior, se encuentra situada una placa de deslizamiento (41), rígida, dispuesta en pendiente y montada sobre una articulación (43) que le permite su apertura o cierre y sobre la que caen y percuten los productos que son expulsados por los rodetes (2) en su descarga y orientada en su parte más larga en la dirección del eje de traslación de los productos de forma tal que provoca un impulso hacia delante en su posición abierta que conduce a los productos sobre una cinta de recogida (14) de productos aptos (es válido cualquier tipo de transportador), situado a continuación de la cadena modular, en la dirección del transporte, y en una cota algo más baja que la parte superior de la cadena para permitir su deslizamiento por gravedad. Located in the front part of the same, between the impellers that cradle the fruits and in its lower part, a sliding plate (41) is located, rigid, arranged on a slope and mounted on a joint (43) that allows its opening or closing and on which the products that are expelled by the impeller (2) fall in and discharge in their discharge and oriented in their longest part in the direction of the axis of translation of the products in such a way that it causes a forward thrust in its open position that leads the products on a collection belt (14) of suitable products (any type of conveyor is valid), located next to the modular chain, in the direction of transport, and at a level somewhat lower than the top of the chain to allow its sliding by gravity.
La placa de deslizamiento (41) de deslizamiento montada sobre la bisagra (43) anteriormente descrita, es accionada por medio de un pistón neumático (45) de vástago montado sobre cojinetes en su parte frontal y trasera, que facilitan su apertura y cierre lineales. The sliding sliding plate (41) mounted on the hinge (43) described above, is actuated by means of a pneumatic piston rod (45) mounted on bearings in its front and rear, which facilitate its linear opening and closing.
Dicho pistón neumático está anclado en su parte posterior con un soporte sobre el bastidor (20), y en su parte anterior sobre la misma placa de deslizamiento. Said pneumatic piston is anchored in its rear part with a support on the frame (20), and in its front part on the same sliding plate.
En esta posición de placa abierta, los productos (15) son conducidos en su misma dirección de traslación hasta la cinta de recogida principal (14) situada frontalmente y que transportará los productos aptos hasta la línea de confección. In this open plate position, the products (15) are driven in their same direction of translation to the main collection belt (14) located frontally and which will transport the suitable products to the manufacturing line.
En la figura 10 podemos apreciar la disposición de los elementos en la posición de rechazo del producto rechazable (12) y su evacuación y diferenciación según los distintos parámetros de rechazo. In figure 10 we can see the disposition of the elements in the rejection position of the rejectable product (12) and its evacuation and differentiation according to the different rejection parameters.
En la figura se distingue el pistón neumático (45) retraído, por instrucciones del sistema de visión, que confirma con precisión la correcta posición del fruto a evacuar. La placa de deslizamiento (41) montada sobre la bisagra (3) y sujeta al pistón por su parte inferior, se coloca en posición vertical, retraída, permitiendo la caída por gravedad del producto hacia el hueco creado por el escamoteado de la placa y dirigiéndose hacia una cinta de recogida (16) de los productos rechazados (12), dispuesta normalmente en perpendicular a la dirección longitudinal del conjunto de cadenas modulares y de transporte de los productos aptos. In the figure, the retracted pneumatic piston (45) is distinguished by instructions of the vision system, which accurately confirms the correct position of the fruit to be evacuated. The sliding plate (41) mounted on the hinge (3) and attached to the piston by its lower part, is placed in an upright, retracted position, allowing the product to fall by gravity into the hole created by the plate slapping and directed towards a collection belt (16) of the rejected products (12), normally arranged perpendicular to the longitudinal direction of the set of modular and transport chains of the suitable products.
A través de una fotocélula (f) dispuesta lateralmente a través de un brazo ajustable (46) y montada, según una opción, sobre el bastidor (42) de la cinta de recogida (14), se confirma con precisión el paso por el hueco del fruto rechazado, con lo que se ordena al pistón (45) su actuación sobre la placa de deslizamiento (41) para su cierre inmediato para evitar la caída del producto siguiente en caso de ser apto, y se facilita su impulsión y conducción hacia la cinta de recogida (14) de productos aptos. Así pues, el producto rechazado cae hacia la cinta de recogida (14) y más concretamente sobre un desviador (47) que dispone de dos posiciones de espera, una primera posición (44) y una segunda posición (48) para evacuar el producto rechazado a una parte o a otra de la cinta de recogida(14). Su accionamiento tiene lugar por medio de un pistón rotativo (49) protegido y montado en su parte inferior. Through a photocell (f) arranged laterally through an adjustable arm (46) and mounted, according to one option, on the frame (42) of the collection belt (14), the passage through the hole is accurately confirmed of the rejected fruit, with which the piston (45) is ordered to act on the plate sliding (41) for immediate closure to prevent the fall of the next product if it is suitable, and its drive and conduction to the collection tape (14) of suitable products is facilitated. Thus, the rejected product falls towards the collection belt (14) and more specifically on a diverter (47) that has two waiting positions, a first position (44) and a second position (48) to evacuate the rejected product to one part or another of the collection tape (14). Its operation takes place by means of a rotating piston (49) protected and mounted in its lower part.
Dicho desviador (14) funciona al simultáneamente con la placa de deslizamiento (41), de forma tal que se sitúa en posición correcta en cuanto se recibe la instrucción de apertura de placa por producto rechazado, según el grado o las causas por las que el producto es rechazado. Said diverter (14) operates simultaneously with the sliding plate (41), in such a way that it is positioned correctly as soon as the plate opening instruction is received per rejected product, depending on the degree or the causes for which the Product is rejected.
Las dos posiciones del desviador suponen una segunda selección, según los parámetros preprogramados con anterioridad en el sistema de visión, sobre los frutos a rechazar, y su evacuación diferenciada en la cinta de recogida (14). Por ejemplo, en el caso de frutas puede diferenciarse el podrido de defectos superficiales de la piel, rameado o defectos de forma. The two positions of the diverter suppose a second selection, according to the preprogrammed parameters previously in the vision system, on the fruits to be rejected, and their differentiated evacuation on the collection belt (14). For example, in the case of fruits, rotting of superficial skin defects, branchiness or shape defects can be distinguished.
Además, está previsto de un sistema de variación de velocidad de la cadena modular en el momento de la descarga del producto rechazado, permitiendo una disminución de su velocidad instantánea que dilata el tiempo entre el fruto a evacuar y el inmediato posterior, aumentando la seguridad de su diferenciación y la ausencia de colisiones indeseadas con el cierre de la placa de deslizamiento. In addition, there is a system for varying the speed of the modular chain at the time of unloading the rejected product, allowing a decrease in its instantaneous speed that expands the time between the fruit to be evacuated and the next one, increasing the safety of its differentiation and the absence of unwanted collisions with the closure of the sliding plate.

Claims

REIVINDICACIONES
1.- Unidad para el transporte y exhibición en forma de cadena modular para productos con forma de geoide caracterizado porque está formado por: 1.- Unit for transport and display in the form of a modular chain for geoid-shaped products characterized in that it is formed by:
o al menos una pareja de cadenas (1) de arrastre; en dicha pareja de cadenas el paso de los eslabones es idéntico y el movimiento está sincronizado;  or at least one pair of drag chains (1); in said pair of chains the passage of the links is identical and the movement is synchronized;
o un conjunto de rodetes (2) fijados a los eslabones de dichas cadenas (1) en pasos determinados y equidistantes, constituyendo una cadena modular de rodetes (2); los rodetes se disponen por parejas enfrentadas en las respectivas cadenas; el giro de los rodetes alrededor de su eje es libre; cada dos parejas de rodetes determinan un alojamiento o sustentación para un producto;  or a set of impellers (2) fixed to the links of said chains (1) in determined and equidistant steps, constituting a modular chain of impellers (2); the impellers are arranged in pairs facing each other in the respective chains; the rotation of the impellers around its axis is free; every two pairs of impellers determine a housing or lift for a product;
o uno o más de los rodetes (2) de los rodetes (2) de cada conjunto de las dos parejas que constituyen un alojamiento para el producto está/n unido/s a la cadena (1) mediante una leva (23) a través de la cual son posibles los movimientos de elevación o descenso del rodete, independientemente de los demás rodetes (2).  or one or more of the impellers (2) of the impellers (2) of each set of the two pairs that constitute a housing for the product is attached to the chain (1) by means of a cam (23) through which are possible the movements of elevation or descent of the impeller, independently of the other impellers (2).
o una cámara de visión artificial en posición cenital.  or an artificial vision camera in zenith position.
2.- Unidad, según la reivindicación 1, caracterizada porque los rodetes están formados por sendos cuerpos de revolución de eje horizontal con reducción de sección hacia su extremo libre. 2. Unit according to claim 1, characterized in that the impellers are formed by two horizontal axis revolution bodies with section reduction towards their free end.
3.- Unidad, según la reivindicación 2, caracterizada porque los rodetes consisten esencialmente en semiesferas. 3. Unit according to claim 2, characterized in that the impellers consist essentially of hemispheres.
4.- Unidad, según cualquiera de las reivindicaciones anteriores, caracterizada porque los rodetes están formados o recubiertos de un material elastomérico o de plástico celular. 4. Unit, according to any of the preceding claims, characterized in that the impellers are formed or covered with an elastomeric material or cellular plastic.
5.- Unidad, según cualquiera de las reivindicaciones anteriores, caracterizada porque comprende además unas guías de fricción (6,7) en las que apoyan los rodetes (2) tangencialmente y a los que imprimen movimiento de giro debido al desplazamiento longitudinal por arrastre de la cadena (1), siendo variable la velocidad de dichos rodetes en función del radio de la sección en la que dicho rodete (2) apoya en dichas guías (6,7). 5. Unit, according to any of the preceding claims, characterized in that it also comprises friction guides (6,7) on which the impellers (2) support tangentially and those that print movement of rotation due to the longitudinal displacement by dragging of the chain (1), the speed of said impellers being variable depending on the radius of the section in which said impeller (2) rests on said guides (6,7).
6.- Unidad, según cualquiera de las reivindicaciones anteriores, caracterizada porque comprende además un dispositivo de separación de los productos en función de que sean considerados rechazables o aptos. 6. Unit, according to any of the preceding claims, characterized in that it also comprises a device for separating the products depending on whether they are considered rejectable or suitable.
7.- Unidad, según la reivindicación 6, caracterizada porque el dispositivo de separación consiste en una lengüeta de expulsión con actuador neumático o eléctrico situada entre dos cadenas modulares, que es eyectado cuando el producto que está pasando por dicho actuador es considerado rechazable (12), impulsando dicho producto rechazable (12) a una cinta de recogida (16). 7. Unit according to claim 6, characterized in that the separation device consists of an ejection tab with pneumatic or electric actuator located between two modular chains, which is ejected when the product that is passing through said actuator is considered rejectable (12 ), driving said rejectable product (12) to a collection belt (16).
8.- Unidad, según la reivindicación 7, caracterizada porque la lengüeta de expulsión que separa unos productos de otros, actúa paralelamente a la dirección de traslación de la cadena (1), de manera que se efectúa una impulsión del fruto en el mismo sentido que los productos transportados sobre la dicha cadena. 8. Unit, according to claim 7, characterized in that the eject tab that separates some products from others, acts in parallel to the direction of translation of the chain (1), so that a drive of the fruit is carried out in the same direction that the products transported on said chain.
9. - Unidad, según la reivindicación 6, caracterizado porque el dispositivo de separación comprende una placa de deslizamiento (41) con apertura y cierre angular mediante articulación y un mecanismo neumático o electrónico que mueve dicha placa de deslizamiento. 9. - Unit according to claim 6, characterized in that the separation device comprises a sliding plate (41) with angular opening and closing by means of articulation and a pneumatic or electronic mechanism that moves said sliding plate.
10. - Unidad, según la reivindicación 9, caracterizada por disponer de una fotocélula de control de paso para el funcionamiento de precisión de la apertura y cierre de la placa de deslizamiento respecto de los demás productos transportados a continuación por el sistema de cadenas modulares. 10. - Unit, according to claim 9, characterized by having a step control photocell for the precision operation of the opening and closing of the sliding plate with respect to the other products subsequently transported by the modular chain system.
11. - unidad, según cualquiera de las reivindicaciones 9 a 10, caracterizado por disponer de un sistema de variación de velocidad de la cadena modular en el momento de la descarga del fruto rechazado, permitiendo una disminución de su velocidad instantánea que dilata el tiempo entre el fruto a evacuar y el inmediato posterior, para asegurar con precisión la descarga y diferenciación del producto. 11. - unit, according to any of claims 9 to 10, characterized by having a system for varying the speed of the modular chain at the time of unloading the rejected fruit, allowing a decrease in its instantaneous speed that expands the time between the fruit to evacuate and the Immediate subsequent, to ensure with precision the download and differentiation of the product.
12. - Unidad, según cualquiera de las reivindicaciones 1 a 11, caracterizada porque los rodetes (2) comprenden al menos una porción cilindrica que ejerce la función de pista de arrastre. 12. - Unit according to any of claims 1 to 11, characterized in that the impellers (2) comprise at least one cylindrical portion that performs the function of drag track.
13. - Unidad, según la reivindicación 12, caracterizada porque los diámetros de las pistas de tracción no son iguales en la totalidad de los rodetes que constituyen cada alojamiento. 13. - Unit according to claim 12, characterized in that the diameters of the traction tracks are not equal in all of the impellers that constitute each housing.
14. -. Unidad, según la reivindicación 13, caracterizada porque los diámetros de las pistas de tracción de los rodetes de cada diagonal son iguales entre sí y distintos a los de la otra diagonal. 14. -. Unit according to claim 13, characterized in that the diameters of the traction tracks of the impellers of each diagonal are equal to each other and different from those of the other diagonal.
15. - Unidad, según cualquiera de las reivindicaciones 12 a 14, caracterizado porque las guías de fricción tienen una altura variable a lo largo del recorrido. 15. - Unit according to any of claims 12 to 14, characterized in that the friction guides have a variable height along the path.
16. - Procedimiento para el transporte y exhibición en forma de cadena modular para productos con forma de geoide caracterizado por comprender el transporte de un producto, y su volteo en forma helicoidal por impulsión de rodetes laterales. 16. - Procedure for transport and display in the form of a modular chain for geoid-shaped products characterized by understanding the transport of a product, and its turning in a helical way by impulsion of lateral impellers.
17. - Procedimiento, según la reivindicación 16, caracterizado porque la velocidad de rotación es variable en función de la velocidad relativa de giro de los rodetes. 17. - Method according to claim 16, characterized in that the rotation speed is variable depending on the relative speed of rotation of the impellers.
18. - Procedimiento, según la reivindicación 17, caracterizado porque la rotación de los rodetes viene dada por la fricción pistas de arrastre existentes en los rodetes periferia de sobre guías de fricción en el movimiento de traslación de los rodetes. 18. - Method according to claim 17, characterized in that the rotation of the impellers is given by the friction of drag tracks existing on the peripheries of friction guides on the movement of the impeller.
19.- Procedimiento, según la reivindicación 18, caracterizado porque la altura de los rodetes en determinadas zonas de la trayectoria de arrastre viene dada por la forma de las guías de fricción. 19. Method according to claim 18, characterized in that the height of the runners in certain areas of the drag path is given by the shape of the friction guides.
20.- Procedimiento, según cualquiera de las reivindicaciones 16 a 19, caracterizado porque comprende además un proceso de discriminación de los productos aptos para su descarga frontal y en la dirección de traslado del procuro, y rechazables respectivamente. 20. Method according to any of claims 16 to 19, characterized in that it also comprises a process of discrimination of the products suitable for frontal discharge and in the direction of movement of the procuro, and rejectable respectively.
21.- Procedimiento, según la reivindicación 20, caracterizado porque comprende además un proceso de discriminación de los productos rechazables, en función de parámetros predeterminados. 21. Method according to claim 20, characterized in that it further comprises a process of discrimination of rejectable products, depending on predetermined parameters.
PCT/ES2011/070658 2010-09-23 2011-09-21 Modular chain unit for the transport and display of geoid products and method carried out by said unit WO2012038576A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ESP201001239 2010-09-23
ES201001239A ES2393561B1 (en) 2010-09-23 2010-09-23 INDIVIDUALIZATION, TRANSPORTATION AND EXHIBITION SYSTEM IN THE FORM OF A MODULAR CHAIN FOR CITRUS AND OTHER Horticultural Products. AND EXHIBITION PROCEDURE.
ESP201001544 2010-12-02
ES201001544A ES2394516B1 (en) 2010-12-02 2010-12-02 IMPROVED INDIVIDUALIZATION, TRANSPORTATION AND EXHIBITION SYSTEM IN THE FORM OF A MODULAR CHAIN FOR CITRUS AND OTHER HORTICAL PRODUCTS, AND EXHIBITION PROCEDURE.

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