NL2036486B1

NL2036486B1 - Processing assembly for grading and sorting products

Info

Publication number: NL2036486B1
Application number: NL2036486A
Authority: NL
Inventors: Van Hooije Max; Sjoerd Esselink Matthijs; Willem Esselink Johannes; Theodorus Brouwers Bart
Original assignee: Sortix R&D B V
Priority date: 2023-12-11
Filing date: 2023-12-11
Publication date: 2025-06-20
Also published as: WO2025125373A2; WO2025125373A3

Abstract

Product sorting assembly for sorting and/or grading products, in particular horticultural or agricultural products such as fruits, vegetables, flower bulbs, and food products, from a bulk 5 flow, the product sorting assembly comprising: — an endless conveyor (30) configured to convey the one or more products with a plurality of product carriers (40), — the plurality of product carriers (40), each product carrier connected to the endless conveyor and configured for carrying one or more products, wherein the endless 10 conveyor is configured to move each product carrier along a transport path (31), and — at least one ejector device (50), each ejector device being configured to eject at least one product from the product carrier by which the product is carried into at least one discharge path (4), wherein each ejector device is configured to eject the at least one product from the product carrier during the motion of the at least one product carrier 15 along the transport path. 20

Description

P36310NLOO/WHA

Title: Processing assembly for grading and sorting products

FIELD OF THE INVENTION

The present invention relates to sorting and grading products, in particular horticultural or agricultural products such as fruits, vegetables and flower bulbs. In the prior art, systems for carrying out such operations are known.

BACKGROUND OF THE INVENTION

In the present invention it was recognized that existing systems for sorting and grading products, in particular horticultural or agricultural products, have certain limitations and drawbacks. It was recognized in the present invention that existing systems are either mechanically limited to a maximum of 4 classes or require multiplication of mechanics which in turn result into a big footprint area or manual labor for basic operations.

An example of such a sorting device is disclosed in WO2021037417A1 (herein: D1).

The sorting device 1 for agricultural products of D1 comprises a conveying unit 2, an image acquisition unit 6, a control unit 8,10 and a separation unit 4. Agricultural products are transported to the separation unit by the conveying unit and drop from the conveyor belt at the end of the conveyor belt. A plurality of ejection members in the separation unit change the direction of the dropping agricultural products when they need to be separated from the bulk flow into a sorted flow of agricultural products. In the present invention it was recognized that this device has a number of drawbacks.

One drawback is that the device occupies a significant area, i.e. has a relatively large footprint. Multiple sorting devices need to be placed in series to create multiple sorted flows of agricultural products. This might not always be a problem for farmers or companies with ample space available but may pose a problem for a farmer or company having a relatively small facility. These smaller farmers or companies also need to sort their agricultural products into sorted flows. without having the space for multiple sorting devices in series. Therefore, they are often still forced to rely on manual labor for these basic operations.

Another drawback of the device of D1 is that each sorting step requires an image acquisition unit, because the relative position of the agricultural products may change after each sorting step. Multiple image acquisition units make the device relatively complex and expensive.

It was further recognized in the present invention that vertically dropping agricultural products may result in relatively severe collisions between the products and a collection box or the subsequent conveyor belt. Many types of horticultural and/or agricultural products are relatively soft and fragile and can become bruised or damaged by relatively severe collisions.

Bruised or damaged agricultural products are worth less and bruises or damages may speed up the decay process.

Another example of a sorting device is disclosed in EP2893329A1 (herein: D2). The sorting device of D2 follows a similar approach to the sorting device of D1. Agricultural products are also transported by a conveyor belt and sorted by a plurality of controllable ejection members. It was recognized in the present invention that the sorting device of D2 has similar disadvantages as the sorting device of D1.

EP2907592A1 (herein: D3) discloses a sorting device designed to separate products from a bulk flow. The sorting device comprises a delivery device 3, a detection system 11 and an ejection system 31. Products can be delivered vertically or horizontally to the detection system and ejection system. The detection system determines the horizontal and/or vertical velocity of the products to estimate the time or arrival of a product at the ejection system. The ejection system comprises an array of ejector nozzles 33. The ejector nozzles produce an air pulse to change the direction of a product in a bulk flow.

A drawback of the sorting device of D3 is that it requires a large usable area or results in a relatively large risk of causing bruises or damage to the agricultural products. It requires a relatively large usable in the horizontal configuration. Mainly because multiple sorting devices need to be placed in series to include multiple sorting steps. The sorting device has a relatively large risk on causing bruises or damages when it is used in a vertical configuration.

The height from which the products are dropped increases when multiple sorting steps are included. The sorting device of D3 is therefore unsuitable for sorting a bulk flow into multiple separated flows. Other drawbacks of the ejector nozzles are the production of dust, the generation of noise and that they consume a large amount of energy.

WO2022281710A1 (herein: D4) discloses fruit sorting equipment comprising interlinked carriages 50 connected to an endless conveyor 10. Each carriage comprises two longitudinally spaced pairs of axially rotatable rollers 72,73 and 74,75 that support the fruit above the carrier. The rotatable rollers are driven by a driving means 90,91 at different speeds and/or different rotational directions allowing for re-orientation of fruit.

One drawback of the device of D4 is that each carrier only supports one product and that each carrier requires four rotatable rollers. This results in a complex system with a large number of rotatable parts. Each of these rotatable parts need to be controlled, either individually or in groups, which requires a large amount of computational power. The throughput compared to the complexity and costs for this system seems to be relatively poor.

Another drawback of the rotatable rollers in each carriage are the potentially high maintenance costs and downtime when one or more rotatable rollers malfunction.

Another example of such a product rotation device is disclosed in WO2021037417A1 (herein: D1). Document D1 comprises turning means 18 for re-orienting potatoes. Turning means comprises a succession of rollers 20 forming a plane inclined towards the portion in the field of a camera 12. The succession of rollers rotating in the opposite direction of the downwardly moving potatoes along the inclined direction of the turning means. The opposite rotation of the rollers allows turning over the potatoes on themselves in order to expose the different parts thereof to the camera 12 for analysis.

A drawback of the turning means of D4 are the rotational requirements of the succession of rollers. Rotating parts require energy to rotate, are relatively complex and have potentially high maintenance costs and downtime when one or more rotatable rollers malfunction.

OBJECT OF THE INVENTION

It is an object of the present invention to provide an improved product processing assembly which takes away at least one of the drawbacks and limitations discussed above and in general to provide a more cost-effective product sorting assembly. The products are in particular horticultural or agricultural products such as fruits, vegetables and flower bulbs, and rounded products such as rounded food products.

It is another object of the present invention to provide a product processing assembly which is relatively compact, and in particular has a relatively small footprint.

It is another object of the present invention to provide a product processing assembly which avoids relatively severe collisions between the products and the product processing assembly. The horticultural and/or agricultural often are soft and fragile and can become bruised or damaged by relatively severe collisions.

It is another object of the present invention to provide a product processing assembly for sorting and grading products which is technically simple.

In a second, independent aspect it is an object of the present invention to provide a more cost-effective product rotating device.

In the second aspect, it is another object of the present invention to provide a product rotating device which has a relatively high throughput, without bruising or damaging the products.

In the second aspect, it is another object of the present invention to provide a product rotating device with low maintenance costs and a low downtime.

SUMMARY OF THE INVENTION

At least one of the abovementioned objects is achieved with a product processing assembly for sorting and/or grading products, in particular horticultural or agricultural products such as fruits, vegetables, flower bulbs, from an incoming flow of products, the product processing assembly comprising: — an endless conveyor configured to convey the one or more products with a plurality of product carriers, — the plurality of product carriers, each product carrier connected to the endless conveyor and configured for carrying one or more products, wherein the endless conveyor is configured to move each product carrier along a transport path, and — at least one ejector device, each ejector device being configured to eject at least one product from the product carrier by which the product is carried into at least one discharge path, wherein each ejector device is configured to eject the at least one product from the product carrier during the motion of the at least one product carrier along the transport path, wherein each ejector device comprises multiple movable ejection members which are configured to eject the product out of the product carrier, either individually or acting in a group of ejection members, wherein each ejection member of each ejector device is movable between: o afirst, retracted position in which the product in the product carrier is not ejected from the product carrier when the product carrier passes the ejector device,

o a second, ejection position in which the product in the product carrier is ejected from the product carrier by at least one ejection member when the product carrier passes the ejector device.

The endless conveyor with a plurality of product carriers is based on the Paternoster principle, wherein products are moved along a transport path of an endless conveyor using product carriers. Each ejector device forms a discharge station. The cooperation between the product carriers and an ejector device provides a controlled sorting process which can be scaled easily to increase the throughput or amount of discharge paths.

Conventional implementations of the Paternoster principle generally assume vertical displacement of the product carriers. However, the present invention is not confined to a vertical endless conveyor. A horizontal or inclined endless conveyor can also be applied.

Several implementations of the Paternoster principle in different operational fields have been disclosed in relevant literature. These implementations are mostly used in package sorting devices, but not yet in agricultural and/or horticultural product sorting devices for sorting and/or grading products such as fruits, vegetables, flower bulbs, and food products from a bulk flow. An example of such a packaging sorting device is WO2020185081A1 (herein: D5). D5 discloses an order picking system which comprises a paternoster conveyor with at least one carrier to carry the packages. The discharge conveyors comprise multiple ejection members to intercept a package in the carrier during a downward movement of the carrier. The interception prevents the package from moving downwards on the carrier and maintains it on the vertical level of the discharge path.

Other package sorting devices with comparable operational principles are disclosed in

EP2729387B1 (herein: D8), WO9534491A1 (herein: D7) and WO2012085234A1 (herein:

D8).

One of the drawbacks of the presented Paternoster literature is the throughput. Using the disclosed product carrier of documents D5-D8 only allows a single product per product carrier. This may be sufficient for processing packages, but is not sufficient for e.g. horticultural and/or agricultural products. Another drawback of the systems of these documents is the design to remove the products from the product carriers. The devices are designed for square packages and do not seem to be sufficiently supportive for products with a round shape which may rollover and thereby become damaged and/or bruised.

By allowing the multiple moveable ejection members to eject the product out of the product carrier individually or in a group of ejection members, the ejection works for any position of the products with respect to each other in the product carrier. The freedom to select one or more ejection members to eject the products allows products to be effectively ejected, regardless of their position, size and orientation with respect to the product carrier and to each other.

In some embodiments, each ejection member may be a finger.

In some embodiments, each product carrier may comprise multiple bars and multiple openings arranged in an alternating pattern, each opening in particular being located between two adjoining bars, and wherein each ejection member is configured to extend through one of the openings into the product carrier in the second, ejection position in order to eject a product from the product carrier.

The combination of alternating bars and openings allows supporting of the products while simultaneously allowing the ejection members to enter the product carrier without touching the product carrier.

In some embodiments, each ejection member may be configured to extend through an opening on a rear side and/or bottom side of the product carrier when in the second ejection position, and to eject a product via a front side of the product carrier, wherein in particular each product carrier comprises a threshold which is elevated relative to a bottom portion of the product carrier, and wherein the ejection members are configured to push the product over the threshold when ejecting the product.

In some embodiments, the multiple ejection members of each ejector device may be provided on an interior side of the product processing assembly, and wherein the ejection members move outwardly over a horizontal distance when moving from the first, retracted position to the second, ejection position.

In some embodiments, multiple ejector devices and multiple discharge paths may be positioned vertically above one another.

By having the multiple ejection members positioned on the interior side of the product processing assembly, it is possible to eject the products in a product carrier outwardly away from the product processing assembly. This allows positioning of the discharge paths at a free end or free side of the product processing assembly to simplify the placement of these discharge paths and to provide the freedom to install different types of discharge paths.

In some embodiments, the product processing assembly may comprise a control unit, wherein the control unit is configured to control each ejection member of each ejector device, in particular individually or in groups.

In some embodiments, each ejection member may be pivotable about an ejection member pivot axis, wherein in particular all ejection members of an ejector device are pivotable about a common ejection member pivot axis, and wherein the common ejection member pivot axis is in particular horizontal.

In some embodiments, the product processing assembly comprises at least two ejector devices, each ejector device being configured to eject at least one product from the product carrier by which the product is carried.

In some embodiments, each ejection member may be biased by a biasing device to move from the first, retracted position to the second, ejection position under the influence of the biasing device.

Using a biasing device to bias the motion of the ejection member to the second, ejection position simplifies the design of the ejection member actuator. It also reduces the amount of energy required for the rotational movement of the ejection members from the first, retracted position to the second, ejection position.

In some embodiments, the biasing device may be a spring.

The biasing device may also be a pneumatical cylinder, a hydraulic cylinder or any other elastic device which is able to counteract the pushing force of the product carrier against the ejection member.

In some embodiments, the product processing assembly comprises multiple ejection member actuators, each ejection member actuator being associated with an ejection member and configured to control the movement of the ejection member to the second, ejection position. This is an effective way of individually controlling the ejection members.

In some embodiments, wherein each ejection member actuator comprises a movable pin which is movable between: - afirst, holding location in which the movable pin holds the ejection member in the first, retracted position against the bias force of the biasing device until the ejection member should move to the second, ejection position, and - asecond, release location in which the movable pin releases the ejection member, wherein subsequently the biasing force of the biasing device moves the ejection member to the second, ejection position.

It was found that this is a relatively simple and effective way of controlling the movement of the ejection members.

In some embodiments, each product carrier comprises a pushback member which when seen in side view travels along an intersection path which intersects the ejection members of each ejector device when in the second, ejection position of, wherein said pushback member is configured to push an ejection member from the second, ejection position back to the first, retracted position against the biasing force of the biasing device. This is a simple way to push back multiple ejection members by the moving product carrier.

In some embodiments, each ejection member is movable by the pushback member to athird, hold-release position in which the ejection member is retracted further than in the first, retracted position, wherein in the hold-release position the ejection member is disengaged from the movable pin or exerts a smaller force on the movable pin than in the first, retracted position, as a result of which the ejection member actuator can move the movable pin from the first, holding location to the second, release location with less energy than when the ejection member is in the first, retracted position, and wherein the product sorting assembly is configured to move each movable pin from the first, holding location to the second, release location or vice versa when the ejection member is in the third, hold-release position.

This further reduces the complexity of the ejection member actuator. When the ejection member needs to move to the ejection position, the biasing device provides the biasing force to move the ejection member from the third, hold-release position to the second, ejection position via the first, retracted position. When the ejection member needs to be retracted, the product carrier, which already is moving along the transport path, moves the ejection member from the second, ejection position to the third, hold-release position, in which position the movable pin can be moved to the holding location to hold the ejection member in the first, retracted position.

A simple actuator only needs to maintain the ejection member in the first, retracted position when products do not need to be ejected from the product carrier. A simple actuator will also reduce the maintenance costs and potential downtime.

In some embodiments, each ejection member may be movable by the biasing device from the third, hold-release position to the first, retracted position or to the second, ejection position.

In some embodiments, each ejection member may be movable by a product carrier from the first, retracted position to the third, hold-release position.

Moving the ejection member to the third, hold-release position before it needs to be moved to the second, ejection position reduces the complexity of the actuator. This requires a smaller actuator which takes less space and uses less energy as it does not have to compensate for any friction between the actuator and the ejection member.

In some embodiments, each ejection member actuator is a single-direction actuator which, when activated, moves the movable pin from the first, holding location to the second, release location but not vice versa, and wherein each ejection member actuator comprises a pin biasing member which exerts a bias force on the movable pin to move the movable pin from the second, release location to the first, holding location when the ejection member actuator is not activated.

In some embodiments, each ejection member comprises a push cam configured to push the movable pin rearward when an ejection member is moved from the second, ejection position to the first, retracted position or to the third hold-release position, wherein the push cam comprises an apex which passes the movable pin, allowing the movable pin to move back to the holding location to hold the ejection member in the first, retracted position.

In some embodiments, the pushback member may be a transverse rod extending transverse to the transport path and along a length of the product carrier, and wherein in particular the bars are connected to the transverse rod.

In some embodiments, each discharge path may have a width which is similar to the length of the product carrier.

This allows full usage of the product carrier as product can be positioned and ejection using the entire length of the product carrier.

In some embodiments, the bars may be connected to the transverse rod.

In some embodiments, each ejector device may comprise an ejection member actuator for each ejection member. This allows individual control for each ejection member, providing freedom to eject products with different sizes and different positions in the product carriers.

In some embodiments, each ejection member actuator may be an ejection member release actuator which: - holds the ejection member in the first, retracted position against the bias force of the biasing device until the ejection member should move from the first, retracted position to the second, ejection position, and - releases the ejection member when a product should be ejected, wherein subsequently the biasing force of the biasing device moves the ejection member from the third, hold-release position to the second, ejection position.

In some embodiments, the control unit may control each ejection member actuator.

In some embodiments, a plurality of ejector devices may be arranged along a section of the transport path having a downward transport direction.

In some embodiments, multiple ejector devices are located vertically above one another.

Ejection of the products while the product carriers have a downward transport direction will reduce the surface area of a barn or shed required for the product processing assembly. It presents a vertical or substantially vertical implementation of the Pater Noster principle. This allows scaling of the amount of discharge paths without using additional space of the valuable surface area of a barn or shed.

In some embodiments, the product processing assembly comprises an image recognition device configured to record images of the incoming flow, the image recognition device being positioned upstream of the at least one ejector device wherein the image recognition device is connected to the control unit, the control unit comprising an image recognition module to determine at least one feature of the products based upon which the ejection members are controlled to eject a product or not.

The image recognition device and the image recognition module provide the possibility to monitor the quality of the products and the position of each product in a product carrier.

This information is important for the sorting steps that follow after the image recognition device. Product information is essential for the system to decide to which discharge path a product must be discharged. The position of a product and the product information are essential to determine which ejection members need to be moved to the second, ejection position to eject the product.

In some embodiments, the product sorting system may comprise a product rotating assembly having multiple contacting projections, wherein the product rotating assembly is configured to rotate products which are supplied to the product processing assembly via the supply path to ensure that multiple sides and in particular all sides of the product are exposed to the image recognition device before the product is ejected from the at least one product carrier, wherein each contacting projection is configured to enter a product carrier via one of the openings and contact a product in the product carrier.

The re-orientation of the products ensures that the image recognition device and module are able to monitor each side of the products, to provide a complete package of information about each product to the control unit. By allowing the contacting projections to extend into the product carrier through one of the openings, products can be re-oriented in a controlled way. Contact between the products and the contacting projections reduce motion of the products with respect to the product carrier. This results in friction between the products and the product carrier, causing the product to rotate inside the product carrier.

By having multiple contacting projections which do not move together with the endless conveyor, complexity, maintenance costs and downtime of the product rotating device may be reduced. Moving and/or rotating parts require often more maintenance than fixed parts.

In some embodiments, the image recognition module may be configured to create a 3D-image of each product which is rotated by the product rotating assembly and recorded by the image recognition device.

Having a 3D-image of each product provides the freedom to determine the properties which are required for the processing steps that potentially follow after the product rotating device. It allows a control unit to make certain decisions based on e.g., size, shape, color and/or anomalies.

In some embodiments, the control unit may comprise a location module configured to determine the position of each product in each product carrier, and wherein the control unit controls the ejection member actuators based on the determined locations of the products.

In some embodiments, the product processing assembly may comprise: - arecognition point located on the product carrier, - arecognition device for recognizing a position of the product carrier on the conveyor, wherein the position of the product carrier is used by the control unit to correctly time the control of the ejection member actuator with the position and movement of the product carrier.

In some embodiments, the product processing assembly may comprise a drive assembly to drive the endless conveyor.

In some embodiments, each product carrier may be elongated and may have a main longitudinal direction which is oriented orthogonal to the transport path.

In some embodiments, each ejection member pivot axis may be located at an upper end of each associated ejection member, the ejection member extending downwardly from the pivot axis.

In some embodiments, in the second, ejection position the ejection members may have an inclined orientation, wherein the upper end is located at an upper, inner position and a lower end is located at a lower, outer position, and wherein in the first, retracted position the ejection members are oriented more vertically than in the second, ejection position.

The inclined orientation of the ejection member in the second, ejection position forces the product over the edge of the product carrier onto the discharge path. In this way, it is possible to collide with the product with a low impact to prevent bruising and/or damaging the product. The more vertical orientation of the ejection member in the first, retracted position ensures that a product carrier may pass the ejection member without colliding with the ejection member to improve stability of the product carrier.

In some embodiments, each product carrier may be a basket. A basket is ideal for displacing approximately round products along an endless conveyor with a very low risk of losing any products along the way.

In some embodiments, each bar of each product carrier may comprise: - a bottom part forming part of a bottom side of the product carrier, - arear part forming part of a rear side of the product carrier, - a bend between the bottom part and the rear part. wherein the bottom part and rear part extend in a same vertical plane which is in particular parallel to the transport directions of the conveyor, wherein each opening between the bars may comprise: - a bottom opening section between two adjoining bottom parts, and - arear opening section between two adjoining rear parts, wherein the bottom opening section and rear opening section are connected, allowing an ejection member and or rotation member to enter the product carrier via a combination of the bottom opening section and the rear opening section.

In some embodiments, each product carrier may be connected to the endless conveyor via a hinge which defines a carrier pivot axis which is preferably horizontal, wherein each product carrier is pivotable about the carrier pivot axis between at least a: - arotation orientation in which the contacting projections enter the product carrier via the openings to rotate the products in the product carrier, - ejection orientation in which products can be ejected from the product carrier by the ejection members, wherein in the ejection orientation a bottom portion of the product carrier is positioned higher relative to a threshold of the product carrier than in the rotation orientation.

The hinge of the product carrier provides the freedom to the product processing assembly to implement different parts of the endless conveyor oriented and positioned differently from each other. Depending on the position of the supply path and discharge paths, and available space in a barn or shed it is possible to change the orientation and position of different parts, like the product rotating assembly and ejector devices, with respect to each other. Both can be oriented vertically or horizontally, but these orientations may also differ because the product carrier is able to rotate about pivot axis.

In some embodiments, the endless conveyor may comprise:

- a forward bend and a receiving section located at the forward bend, wherein the supply path connects to the receiving section, - afirst conveyor section which faces upwards and has a first transport direction extending at an angle of less than 20 degrees to the horizontal, wherein the product rotating assembly and the image recognition device are located at the first conveyor section to rotate the products and record images of the products in the first conveyor section, - an inner bend where the transport direction changes from the first to a second transport direction, - a second conveyor section having the second, upward transport direction, - an upper bend where the transport direction changes from the second to a third transport direction, - a third conveyor section having the third transport direction which is downward, wherein the plurality of ejector devices are located along the third conveyor section, - a lower bend where the transport direction changes from the third transport direction to a fourth transport direction, - a fourth conveyor section extending between the lower bend and the forward bend and having the fourth transport direction which extends at less than 40 degrees to the horizontal.

In some embodiments, products may be dropped from the product carrier when the product carrier reaches the lower bend of the endless conveyor to ensure that the product carrier is empty when receives new products from the supply path.

The present invention further relates to a product sorting system comprising: - the product processing assembly according to any of the preceding claims, - at least one supply path to provide the incoming flow of products to the product processing assembly, - at least one discharge path, each discharge path being configured to receive one or more products from the product processing assembly, wherein each ejector device is associated with a discharge path.

In some embodiments, the product sorting system comprises at least one ejector device and at least two discharge paths, each ejector device being configured to eject at least one product from the product carrier by which the product is carried into one of the discharge paths.

In some embodiments, the ejector device may comprise a blocking member which is configured to limit the maximal rotational movement of the ejection member.

In some embodiments, the product processing assembly may comprise a rail which supports the product carriers and a chain via which the product carriers are interconnected and moved. The product processing assembly further comprises a cam track configured to control the orientation of each product carrier. The cam track is configured to receive an orientation cam of each product carrier.

In some embodiments, the rail may be positioned in parallel with the third conveyor section, wherein the cam track is configured to: - receive the orientation cam when the product carrier passes the upper bend, - release the orientation cam when the product carrier passes the lower bend.

The lateral distance between the rail and the cam track controls the orientation of the product carrier. The lateral distance is uniform along the section(s) where the ejector devices are located so that the product carriers are maintained in an orientation in which the products can be discharged from the product carrier.

In some embodiments, the cam track may comprise a S-turn which is configured to rotate the product carrier to a release orientation, wherein in the release orientation a bottom portion of the product carrier is positioned higher relative to a threshold of the product carrier than in the ejection orientation.

In some embodiments, the rail may be positioned in parallel with the first conveyor section to ensure that each product carrier remains stable when products are rotated in the product rotating assembly.

Method

The invention further relates to a method of sorting and/or grading products from an incoming flow of products, the method comprising, - feeding a flow of products to the product sorting assembly according to the invention, - selecting one or more products to be ejected into the discharge path, and moving one or more ejection members of the ejector device from the first, retracted position to the second, ejection position and ejecting the selected product(s) from the product carrier into the discharge path.

The method provides the same advantages as the device.

In an embodiment of the method, the products may be selected based on one or more features selected from a group comprising: size, weight, shape, color, presence of undesirable spots or protrusions.

PRODUCT ROTATION DEVICE

In an independent aspect, the present invention further relates to a product rotation device for rotating products in one or more product carriers, the product rotation device comprising: - an endless conveyor, - one or more product carriers connected to the endless conveyor and configured for carrying one or more products, wherein the endless conveyor is configured to move each product carrier along a transport path, and wherein each product carrier comprises multiple bars and multiple openings arranged in an alternating pattern, each opening being located between two adjoining bars, - a product rotating assembly for rotating the products in each product carrier and comprising multiple contacting projections which are located below a first conveyor section, wherein each contacting projection is configured to extend into the product carrier through one of the openings in order to contact the product in the product carrier.

By allowing the contacting projections to extend into the product carrier through one of the openings, products can be re-oriented in a controlled way. Contact between the products and the contacting projections reduce motion of the products with respect to the product carrier. This results in friction between the products and the product carrier, causing the product to rotate inside the product carrier.

In some embodiments, an upper side of each projection may have a varying shape in the direction of the transport path of the product carrier.

By having an upper side with a varying shape, rotational speed of the products in the product carrier can vary along the length of the endless conveyor. The varying shape may also affect the rotational direction of the products in the product carrier. Thereby, it becomes possible to control the orientation of each product in the product carrier along the length of the endless conveyor.

In some embodiments, the product carrier may not collide with the contacting projections.

Collisions between the product carrier and the contacting projections may result in an unstable system. An unstable system provides a difficult environment for controlling the orientation of the products in the product carrier. In addition, it may result in products which roll over the edge of the product carrier, when swinging motion of the product carrier lowers one edge of the product carrier.

In some embodiments, the multiple contacting projections may be positioned horizontally below the first conveyor section and do not move together with the endless conveyor.

By having multiple contacting projections which do not move together with the endless conveyor, maintenance costs and downtime of the product rotating device may be reduced.

Moving and/or rotating parts require often more maintenance than fixed parts.

In some embodiments, multiple contacting projections may be positioned in a row which extends transverse to the transport direction.

In some embodiments, each product carrier may comprises multiple openings and wherein the product rotating assembly may comprise at least a same number of contacting projections so that at least one contacting projection may be associated with each opening.

Multiple contacting projections in a row result in multiple small collisions with the product in the product carrier. The force exerted on a product is thereby divided over multiple contacting projections. This will reduce bruising and/or damaging of the products.

In some embodiments, the product rotation device may comprise an image recognition device configured to record images of each product in the product carrier, wherein the image recognition device is connected to a control unit.

The image recognition device provides the possibility to monitor the quality of the products and the position of each product in a product carrier. This information may be important for any additional processing steps that potentially follow after the product rotating device.

In some embodiments, the product contacting assembly may be configured to ensure that multiple sides of the product are exposed to the image recognition device.

Every side of the product needs to be exposed to the image recognition device because otherwise minor deflects can potentially be overlooked. This may negatively affect the quality of the processing steps that potentially follow after the product rotating device.

In some embodiments, the control unit may comprise an image recognition module configured to create a 3D-image of each product which is rotated by the product rotating assembly and recorded by the image recognition device.

In some embodiments, the product processing assembly may comprise a drive assembly to drive the endless conveyor. The drive assembly is essential for the product ejection device, because the product carriers need to move along the transport path of the endless conveyor in the first conveyor section for the collisions to occur.

An elongated product carrier provides space for multiple products next to each other, increasing the throughput of the product rotating device without affecting the performance of the image recognition device and module.

In some embodiments, the product processing assembly may comprise a rail configured to control the orientation of each product carrier, wherein the rail comprises a cam track configured to receive a orientation cam of each product carrier.

BRIEF DESCRIPTION OF THE FIGURES

Fig. 1 shows an isometric view of the product sorting system according to the invention.

Fig. 2 shows a side view of the product sorting system.

Fig. 3 shows a side view of the product rotation device.

Fig. 4a - 4b show a side view of the product processing assembly.

Fig. 5 shows an isometric view of the product ejection device and discharge paths.

Fig. 6a — 6c show the product carrier.

Fig. 7a — 7d show the ejector device.

Fig. 8a — 8e show different views of the process flow in the product sorting system.

Fig. 9a — 9k show a cross-sectional view of the operating principle of the product processing assembly.

Fig. 10a — 10e show different cross-sectional views of the ejector device.

Fig. 11a — 11c show different views of a product rotation device.

Fig. 12 shows a cross-sectional, side view of the lower bend.

Fig. 13A — 13B show a schematic view of the ejector device.

DETAILD DESCRIPTION OF THE FIGURES

Turning to figure 1, a product sorting system 10 for sorting and/or grading products 1 from an incoming flow 2 of products is shown. See figures 8A-8D for the products 1 and the incoming flow 2. The incoming flow may be a bulk flow. The products comprise in particular horticultural or agricultural products such as fruits, vegetables, flower bulbs, and food products. The product sorting system 10 comprises at least one supply path 3 and at least one discharge path 4. The supply path 3 provides the bulk flow 2 of products 1 to the product processing assembly 20. Each discharge path 4 is configured to receive one or more products from the product processing assembly 20.

Turning to figure 2, a cross-sectional side view of the product sorting system 10 is shown. The product sorting system 10 comprises a product processing assembly 20. The product processing assembly 20 comprises an endless conveyor 30, a plurality of product carriers 40 and at least a first ejector device 50. Each product carrier 40 is connected to the endless conveyor 30 and is configured for carrying one or more products 1. The endless conveyor 30 is configured to move each product carrier 40 along a transport path 31. The product processing assembly further comprises a drive assembly 38 to drive the endless conveyor 30.

The ejector device 50 is configured to eject at least one product 1 from the product carrier 40, by which the product is carried, into the at least one discharge path 4. Each ejector device 50 is configured to eject the at least one product 1 from the product carrier 40 during the motion of each product carrier along the transport path 31. The ejector devices are arranged along a section of the transport path 31 having a downward transport direction 34.

Each ejector device 50 is associated with a discharge path 4.

The endless conveyor 30 comprises four different conveyor sections 102,105,107,108 with each conveyor section having a different transport direction T1,T2,T3,T4. The endless conveyor 30 is bent between each conveyor section. The first conveyor section 102 is positioned between a forward bend 100 and an inner bend 103. The supply path 3 is positioned close to the endless conveyor 30 at a receiving section 101 which is located at the forward bent 100. The first conveyor section 102 faces upwards and has a first transport direction T1 extending at an angle of less than 20 degrees to the horizontal. A product rotating assembly 80 and an image recognition device 62 are located at the first conveyor section. The transport direction changes at the inner bend 103 from the first to the second transport direction T2, wherein a second conveyor section 108 is having the second transport direction T2.

The second conveyor section 108 extends from the inner bend 103 to an upper bend 104. The transport direction changes at the upper bend 104 from the second to the third transport direction T3. A third conveyor section 105 comprises the third transport direction T3 downward. The third conveyor section 105 extends from the upper bend 104 to an lower bend 106. The plurality of ejector devices 50 are located along the third conveyor section T3. The third transport direction T3 changes into a fourth transport direction T4 at the lower bend 106.

A fourth conveyor section 107 extends between the lower bend 106 and the forward bend 100. The fourth conveyor section 107 has the fourth transport direction T4 which extends at less than 40 degrees to the horizontal.

The products are dropped from the product carrier 40 when the product carrier 40 reaches the lower bend 106 of the endless conveyor 30 to ensure that the product carrier 40is empty when it moves in the direction of the receiving section 101 to receive new products from the supply path 3.

Turning to figures 4A, 4B and 5, the ejector device 50 is shown. Each ejector device comprises multiple movable ejection members 52. The ejection members are fingers 65 but may have a different shape. The movable ejection members 52 are configured to eject the product 1 out of the product carrier 40, either individually or acting in a group of ejection members. Each ejection member 52 of each ejector device 50 is movable between a first,

retracted position 54 and a second, ejection position 55. The product 1 in the product carrier 40 is not ejected from the product carrier 40 when the product carrier 40 passes the ejector device 50 when one or more ejection members 52 are in the first, retracted position 54. The product 1 in the product carrier 40 is ejected from the product carrier 40 by at least one ejection member 52 when the product carrier 40 passes the ejector device 50 when one or more ejection members 52 are in the second, ejection position 55.

Turning to figures 8A-6C, the product carrier 40 is shown. Each product carrier 40 comprises multiple bars 90 and multiple openings 95 arranged in an alternating pattern. Each opening 85 is in particular located between two adjoining bars 90. Each ejection member 52 of the ejector device 50 is configured to extend through one of the openings 95 into the product carrier 40 when it is in the second, ejection position 54 in order to eject a product 1 from the product carrier 40. The product carrier 40 is a basket. Each product carrier 40 is elongate and has a main longitudinal direction 41 which is oriented orthogonal to the transport path 31.

Each ejection member 52 is configured to extend through an opening 95 on a rear side 45 and/or bottom side 46 of the product carrier 40 when in the second, ejection position.

The ejection member 52 ejects a product 1 via a front side 47 of the product carrier 40. Each product carrier 40 comprises a threshold 48 which is elevated relative to a bottom portion 49 of the product carrier 40, and wherein the ejection members 52 are configured to push the product 1 over the threshold 48 when ejecting the product 1. The multiple ejection members 52 of each ejector device 50 are provided on an interior side 32 of the endless conveyor. The ejection members 52 move outwardly over a horizontal distance 56 when moving from the first, retracted position 54 to the second, ejection position 55.

Each bar 90 of each product carrier 40 comprises a bottom part 91, a rear part 92 and a bend 93. The bottom part 91 forming part of the bottom side 46 of the product carrier 40.

The rear part 92 forming part of the rear side 45 of the product carrier 40. The bend 93 between the bottom part 91 and the rear part 92. The bottom part 91 and rear part 92 extend in a same vertical plane 94 which is in particular parallel to the transport directions 31 of the endless conveyor. Each opening 95 between the bars 90 comprises a bottom opening section 96 between two adjoining bottom parts 91 and a rear opening section 97 between two adjoining rear parts 92. The bottom opening section 96 and rear opening section 97 are connected, allowing the ejection member 52 and or rotation member 51 to enter the product carrier 40 via a combination of the bottom opening section 96 and the rear opening section 97.

Turning to figures 7A-7D, the ejector device 50 is shown. Each ejection member 52 of the ejector device 50 is pivotable about an ejection member pivot axis 57, wherein in particular all ejection members 52 of an ejector device 50 are pivotable about a common ejection member pivot axis 57. The common ejection member pivot axis 57 is in particular horizontal. The ejection member pivot axis 57 is located at an upper end 59 of each associated ejection member 52. The ejection member 52 extends downwardly from the pivot axis 57.

Turning to figures 10A-12, different cross-sectional views of the ejector device are shown. Each ejector device 50 comprises an ejection member actuator 110 for each ejection member 52. The ejection member actuator is an ejection member release actuator which holds the ejection member 52 in the first, retracted position 54 against the biasing force of the biasing device 53 until the ejection member should move to the second, ejection position 55.

The ejection member actuator 110 may be a solenoid and comprises a movable pin 115, which in this case is a retractable pin 115. The retractable pin 115 is configured to counteract the biasing force of the biasing device 53 on the ejection member 52 and hold the ejection member in place in the first, retracted position 54. A hold cam 119 in the upper end 59 of the ejection member 52 engages the movable pin 115 and applies the biasing force onto the movable pin 115, in particular onto an upper side of the movable pin.

The movable pin 115 is movable from a first, holding location 117 in which it holds the ejection member 52 in the first, retracted position 54 to a second, release location 118 in which it allows the ejection member 52 to move to the ejection position 55. The first, holding location 117 of the outer portion 116 of the retractable pin 115 is shown in figures 10A and 10B. Figures 10C, 11 and 12 show the second, release location 118 of the outer portion 116 of the retractable pin 115.

The biasing force of the biasing device 53 results in friction between the hold cam 119 and the retractable pin 115. Friction would require a relatively strong ejection member actuator 110 to move the retractable pin 115 from the first, holding location 117 to a second, release location 118. A large actuator requires a relatively large space, is more expensive and has a greater energy requirement. The retraction force in a direction B is reduced by reducing the friction. The friction is reduced by moving the ejection member 52 in a direction

A using the product carrier 40. This lifts and disengages the hold cam 119 from the retractable pin 115. The retractable pin 115 is thereafter movable from the first, holding location 117 to the second, release location 118 with relatively little force and little energy.

The biasing force of the biasing device 53 then forces the ejection member 52 into a direction

C.

Turning to figures SA-9K, the interaction between the ejection members 52 and the product carrier 40 is shown. Each ejection member 52 is biased by a biasing device 53 to move from the first, retracted position 54 to the second, ejection position 55 under the influence of the biasing device 53, this is shown in figures 9A-9C. The biasing device 53 may be a spring, a pneumatic cylinder, a hydraulic cylinder or any other elastic device. The ejection members 52 have an inclined orientation 112 when they are in the second, ejection position 55. The upper end 59 is located at an upper, inner position 113 and a lower end 58 is located at a lower, outer position 114. When an ejection member 52 is in the second, ejection position 55, the associated movable pin 115 is in a third, intermediate location 219 and engages a push cam 122 of the ejection member 52. In particular, a forward side of the movable pin 115 engages the push cam 122,

In the first, retracted position 54 the ejection members 52 are oriented more vertically than in the second, ejection position 55. The ejector device 50 further comprises a blocking member 134 which is configured to limit the maximal rotational movement of the ejection member 52.

Turning to figures 9C-9F, each product carrier 40 comprises a pushback member 70 which when seen in side view travels along an intersection path 22. The pushback member 70 intersects the second, ejection position 55 of the ejection members 52 of each ejector device 50. The pushback member is a transverse rod 72 extending transverse to the transport path 31 and along a length 74 of the product carrier 40. The bars 90 of the product carrier 40 are connected to the transverse rod 72. The width 5 of each discharge path 4 is similar to the length 74 of the product carriers 40.

Each ejection member 52 is movable by the pushback member 70 from the second, ejection position 55 to a third, hold-release position 129 against the biasing force of the biasing device 53, this is shown in figures 9D-9F.

The product carrier moves downwardly when the pushback member 70 collides with the ejection member 52. By the downward movement of the pushback member 70, the ejection member is retracted. The ejection member is retracted further in the third, hold- release position 129 by the pushback member 70 than in the first, retracted position. The ejection member 52 remains in the third, hold-release position 129 as long as the pushback member 70 engages the ejection member 52 at the bottom end of the ejection member.

Turning to figs. 9E, 9F, the friction between the hold cam 119 and the retractable pin 115 is reduced or eliminated when the ejection member 52 is in the third, hold-release position 129, because the holding cam 119 is higher than the movable pin 115. As a result, the ejection member actuator can move the movable pin from the first, holding location to the second, release location without touching the holding cam 119 and therefore with less energy than when the ejection member is in the first, retracted position. This allows the ejection member actuator 110 to move the retractable pin 115 from the second, release location 118 to the first, holding location 117, see figures 9E and 9F.

Turning to fig. 9G, once the product carrier 40 passes the respective ejection device 50, the biasing member 53 moves the ejection member 52 from the third, hold-release position 129 to the first, retracted position 54 where the hold cam 119 engages the retractable pin 115. Figure 9G shows that the ejection member actuator 110 is preventing the ejection member 52 from moving further to the second, ejection position 55.

Turning to fig. 81 and 9J, the product sorting assembly is configured to move each ejection member actuator from the first, holding location 117 to the second, release location 118 or vice versa when the ejection member is in the third, hold-release position 129. This requires little energy

The ejection member actuator 110 releases the ejection member 52 when a product 1 should be ejected from the next product carrier 40, i.e. from the product carrier which is above the product carrier of which the pushback member 70 pushes the ejection member to the third, hold-release position 129. Likewise, the retractable pin 115 is only movable to the first, holding location 117 when the ejection member 52 is forced into the third, hold-release position 129 by a pushback member. This is done by the pushback member 70 of a previous product carrier 40 that passes the ejection device 50, see figures 9H-9J. Every product carrier 40 that passes an ejector device 50 collides with the ejection member 52 to move the ejection member 52 to the third, hold-release position 129 for a short time period. The ejection member 52 only moves to the second, ejection position 55 when the retractable pin 115 is moved to the second, release location 118. Otherwise, the ejection member 52 will be moved from the third, hold-release position 129 back to the first, retracted position 52 by the biasing force of the biasing member 53 once the product carrier 40 has passed. It is held in the first, retracted position 52 by the movable pin 115.

Figure 9K shows the ejection member 52 in the second, ejection position 55. The actuator has released the retractable pin, as a result of which the retractable pin moves outward under the influence of the pin biasing member 121 and engages the push cam of the ejection member. The retractable pin does not reach the first holding location 117, but is blocked by the push cam in a third, intermediate location 219 which is between the first holding location 117 and the second release location 118. This is also the position in which the retractable pin is shown in figs. 9A and 9B.

Turning to figures 13A-13B, a schematic representation of the rotational movement of the jection member 52 is shown. The ejection member 52 rotates around an ejection member pivot axis 57 and is movable between the second, ejection position 55 and the third, hold-release position 129. The first, retracted position 54 of the ejection member 52 is positioned between the second, ejection position 55 and the third, hold-release position 129.

The ejection member angle y between the ejection member 52 and the hold cam 119 is constant. Rotational movement of the ejection member 52 also results in rotational movement of the hold cam 119. In the third, hold-release position 129 the ejection members 52 are oriented more vertically than in the first, retracted position 54 and the second, ejection position 55. See first angle B and second angle y.

The ejection member 52 moves to the third, hold-release position 129 due to the collision between the pushback member 70 and the ejection member 52. The rotational displacement of the ejection member 52 with first angle B also lifts the hold cam 119 from the retractable pin 115, resulting in also a rotational displacement of first angle B. The schematical displacement with first angle B is relatively small and therefore not visible in figures 9E, 9F, 9I, 9J, 10B and 10C.

Returning to figure 9F, each ejection member further comprises a push cam 122 configured to push the movable pin 115 rearward when an ejection member 52 is moved from the second, ejection position 55 to the first, retracted position 54 or to the third hold-release position 129. The push cam 122 comprises an apex 133 which passes the movable pin 115.

The holding cam 119 is now located above the movable pin 115, allowing the movable pin 115 to move back to the first, holding location 117 when the push cam has passed the movable pin to hold the ejection member 52 in the first, retracted position 54.

Turning to fig. 9G, the movable pin 115 holds the ejection member via de holding cam 119.

Returning to figure 9A, each ejection member actuator 110 is a single-direction actuator which, when activated, moves the movable pin 115 from the first, holding location 117 to the second, release location 118 but not vice versa. Each ejection member actuator 110 comprises a pin biasing member 121 which exerts a bias force on the movable pin 115 to move the movable pin 115 from the second, release location 118 to the first, holding location 117 when the ejection member actuator 110 is not activated.

In a different embodiment which is not shown, a separate retraction mechanism can be used for each ejector device, wherein the retraction mechanism has an separate actuator and a separate bar which pushes all ejection members 52 of an ejector device 50 back to the retracted position after the product carrier has passed the ejector device. This is not preferred because extra parts are required, but also works.

Returning to figure 2, a control unit 60 is shown. The control unit 60 is configured to control each ejection member 52 of each ejector device 50, in particular individually or in groups. The product processing assembly 20 further comprises an image recognition device 62. The image recognition device 62 is configured to record images of the incoming flow 2.

The image recognition device 62 is positioned upstream of the at least one ejector device 50 and is connected to the control unit 60. The control unit comprises an image recognition module 63 to determine at least one feature of the products 1 based upon which the ejection members 52 are controlled to eject a product 1 or not.

The product processing assembly further comprises a recognition point 24, see figure s 6A-6B, located on the product carrier 40 and a recognition device 66, see figure 14, for recognizing a position 36 of the product carrier 40 on the endless conveyor 30. The recognition device 66 reads the recognition point 24 to determine which product carrier 40 passes the recognition device 66 at a particular moment. Determination of the exact position is further based on measurements from an encoder 12, see figure 14. The encoder 12 could be used to determine the rotational speed, the number of rotations and position of the conveyor in time. The position 36 of the product carrier 40 is used by the control unit 60 to correctly time the control of the ejection member actuator 110 with the position 36 and movement of the product carrier 40.

Turning to figure 3, a product rotating assembly 80 having multiple contacting projections 82 is shown. The product rotating assembly 80 is configured to rotate products 1 which are supplied to the product processing assembly 20 via the supply path 3. Products 1 are rotated to ensure that multiple sides and in particular all sides of the product 1 are exposed to the image recognition device 62 before the product 1 is ejected from the at least one product carrier 40. Each contacting projection 82 is configured to enter a product carrier 40 via one of the openings 95 and contact a product 1 in the product carrier 40. The contacting projections 82 are stationary and are positioned in a path along which the product carriers 40 are moved.

The image recognition module 83 is configured to create a 3D-image of each product 1 which is rotated by the product rotating assembly 80 and recorded by the image recognition device 62. The control unit 60 further comprises a location module 64. The location module 64 is configured to determine the position of each product 1 in each product carrier 40. The control unit 60 controls the ejection member actuators 110 based on the determined locations of the products.

Returning to figure 5, the product carrier 40 connected to the endless conveyor 30 via ahinge 33 is shown. The hinge 33 defines a carrier pivot axis 42 which is preferably horizontal. Each product carrier is pivotable about the carrier pivot axis between at least a rotation orientation 43 and an ejection orientation 44. In the rotation orientation, the contacting projections 82 enter the product carrier 40 via the openings 95 to rotate the products in the product carrier 40. In the ejection orientation 44 products can be ejected from the product carrier 40 using the ejection members 52. In addition, in the ejection orientation 44 the bottom side 46 of the product carrier 40 is positioned higher relative to the threshold 48 of the product carrier 40 than in the rotation orientation 43.

Turning to figures 8A-8E, the method of sorting and/or grading of products from a bulk flow using the product sorting system 10 is shown. The product sorting system 10 comprises the product processing assembly 20, at least one supply path 3 and at least one discharge path 4. A bulk flow 2 of products is fed to the product carriers 40 of the endless conveyor 30 at the receiving section 101 in figure 8A. In figure 8B, products are then rotated in the product carrier 40 using the product rotation assembly 80, wherein the products collide with the contacting projections 82. An 3D-image of each product is generated using the image recognition device 62 and image recognition module 63 during the rotation of the product in the product carrier.

The product information is used to select one or more products to be ejected into the first discharge path. The products are selected based on one or more features selected from a group comprising: size, weight, shape, color, presence of undesirable spots or protrusions.

The control unit 60 controls one or more ejection members of the first ejector device from the first, retracted position 54 to the second, ejection position 55. The one or more ejection members 52 will ejected the respective product from the product carrier into the first discharge path in figures 8C-8E. The same product information is also used for the products which are still in the product carrier to select whether one or more products need to be ejected into the second discharge path. The control unit 60 will move one or more ejection members 52 of the second ejector device from the first, retracted position 54 to the second, ejection position 55 and ejects the selected product(s) from the product carrier 40 into the second discharge path. The same steps are repeated for every discharge path.

Returning to figures 3, 5 and 8B, a product rotation device 120 for rotating products in one or more product carriers 40 is shown. The product rotation device 120 comprises an endless conveyor 30, one or more product carriers configured for carrying one or more products and a product rotating assembly 80 for rotating the products in each product carrier 40. The product rotation device 120 comprises a drive assembly 38 to drive the endless conveyor 30. The one or more product carriers 40 are connected to the endless conveyor 30 and the endless conveyor 30 is configured to move each product carrier 40 along a transport path 31. Each product carrier 40 comprises multiple bars 90 and multiple openings 95 arranged in an alternating pattern, each opening 95 being located between two adjoining bars 95.

The product rotating assembly 80 comprises multiple contacting projections 82 which are located below a first conveyor section 102 and against which the products in the products carriers 40 collide when the product carrier 40 moves past the contacting projections 82.

Each contacting projection 82 is configured to extend into the product carrier 40 through one of the openings 95 in order to contact the product in the product carrier 40. The product carrier 40 does not collide with the contacting projections 82.

An upper side 83 of each contacting projection 82 has a varying shape 84 in the direction of the transport path 31 of the product carrier 40. A first projection section 86 comprises a sawtooth shape 87 and a second projection section 88 comprises a hill shape 89. The varying shape 84 is configured to vary the rotational speed of the products in the product carriers 40.

The multiple contacting projections 82 are positioned horizontally below the first conveyor section 102 and do not move together with the endless conveyor 30. The multiple contacting projections 82 are positioned in a row 85 which extends transverse to the transport direction 31. Each product carrier 40 comprises 20-100 openings 95. The product rotating assembly 80 comprises at least a same number of contacting projections 82 so that at least one contacting projection 82 is associated with each opening 95. Each product carrier 40 is elongate and has a main longitudinal direction 41 which is oriented orthogonal to the transport path 31.

Returning to figure 2, a control unit 60 with image recognition module 63 is shown.

The product rotation device 120 further comprises an image recognition device 62. The image recognition device 62 is configured to record images of each product in the product carrier 40.

The image recognition device 62 is connected to the control unit 60. The product rotating assembly 80 is configured to ensure that multiple sides of the product are exposed to the image recognition device 62. The image recognition module 63 is configured to create a 3D- image of each product which is rotated by the product rotating assembly 80 and recorded by the image recognition device 62.

Turning to figures 13A-13C, another embodiment of a product rotation device 130 for rotating products in one or more product carriers 40 is shown. The product rotation device 130 comprises an endless conveyor 30, one or more product carriers configured for carrying one or more products and a product rotating assembly 140 for rotating the products in each product carrier 40. The product rotation device 120 comprises a drive assembly 38 to drive the endless conveyor 30. The one or more product carriers 40 are connected to the endless conveyor 30 and the endless conveyor 30 is configured to move each product carrier 40 along a transport path 31. Each product carrier 40 comprises multiple bars 90 and multiple openings 95 arranged in an alternating pattern, each opening 95 being located between two adjoining bars 95.

The product rotating assembly 140 comprises a rotating conveyor 142 which is located below a first conveyor section 102 and at least two rollers 143 connected to the rotating assembly 140. The rotational speed of the rotating conveyor 142 is similar to the rotational speed of the endless conveyor 30 such that a pair of rollers 143 move with the product carriers 40 along the transport path 31. The rollers 143 move back to the receiving section 101 after the end of the first conveyor section 102.

The rollers 143 comprise multiple disks 144. Each disk 144 is configured to extend into the product carrier 40 through one of the openings 95 in order to contact the product in the product carrier 40. The product carrier 40 does not collide with the contacting projections 82. The disks 144 are positioned in a row 145 which extends transverse to the transport direction 31. Each product carrier 40 comprises 20-100 openings 95. The product rotating assembly 140 comprises at least a same number of disks 144 so that at least one disk 144 is associated with each opening 95. Each product carrier 40 is elongate and has a main longitudinal direction 41 which is oriented orthogonal to the transport path 31. The rotational movement of the rollers 143 causes the products 1 to rotate in the product carrier 40.

Returning to figures 4A and 4B and 6A and 6B, the product processing assembly further comprises a rail 15A which is configured to support the products carriers and a chain (35) which interconnects the product carriers. The product carriers are connected to the chain via a left and right support pin 202 which is inserted in left and right holes 204 in end plates 206 of the product carriers. The product processing assembly further comprises a cam track 16A configured to control the orientation of each product carrier 40. Each product carrier comprises an orientation cam 17 which is received in the cam track. The rail 15A is positioned in parallel with the third conveyor section 105. The cam track 16A is configured to receive the orientation cam 17 when the product carrier 40 passes the upper bend 104. The cam track 16A is also configured to release the orientation cam 17 when the product carrier 40 passes the lower bend 106. The distance between the cam track 16A and the rail 15A controls the orientation of the product carrier.

Turning to figure 12, the lower bend 108 of the endless conveyor 30 is shown. The cam track 186A may comprise a S-turn 18 which is configured to rotate the product carrier 40 to a release orientation 19 by increasing the distance between the cam track and the rail. In the release orientation 19 the bottom portion 49 of the product carrier 40 is positioned higher relative to a threshold 48 of the product carrier 40 than in the ejection orientation 44. All products are dropped from the product carrier 40 once the product carrier 40 is in the release orientation 19. This step is important to ensure that the product carriers 40 are empty when they reach the receiving section 101 of the endless conveyor 30. Dropping the products before the lower bend 106 could present an additional discharge path 4, but could also be used for dropouts or to initiate a return flow for extra analysis.

Returning to figure 8B, the product rotating assembly 120 further comprises a rail 15B which is configured to control the orientation of each product carrier 40. The rail 15B comprises a cam track 16B which is configured to receive an orientation cam 17 of each product carrier 40. The rail 15B is positioned in parallel with the first conveyor section 102 to ensure that each product carrier 40 remains stable when products are rotated in the product rotating assembly 120.

As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting, but rather, to provide an understandable description of the invention. Not all embodiments may achieve all stated objects.

The terms "a" or "an", as used herein, are defined as one or more than one. The term plurality, as used herein, is defined as two or more than two. The term another, as used herein, is defined as at least a second or more. The terms including and/or having, as used herein, are defined as comprising (i.e, open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention.

Claims

CONCLUSIONS

1. Product processing device (20) for sorting and/or grading products (1), in particular horticultural or agricultural products such as fruit, vegetables, flower bulbs, from an incoming stream (2) of products, the product processing device comprising: — an endless conveyor device (30) for conveying one or more products by means of a plurality of product carriers (40), — the product carriers (40), each product carrier being connected to the endless conveyor device and configured to convey one or more products, the endless conveyor device being configured to move each product carrier along a conveyor path (31), and — at least one ejection device (50), each ejection device being configured to eject at least one product carried by the product carrier from the product carrier into at least one ejection path (4), each ejection device being configured to eject the at least one product from the product carrier during movement of the at least one product carrier along the conveyor path, each ejection device comprising a plurality of movable includes ejection elements (52) configured to eject the product from the product carrier, either individually or cooperating in a group of ejection elements, each ejection element of each ejection device being movable between: o a first, retracted position (54) in which the product in the product carrier is not ejected from the product carrier as the product carrier passes the ejection device, o a second ejection position (55) in which the product in the product carrier is ejected from the product carrier by at least one ejection element as the product carrier passes the ejection device.

Product processing device according to the preceding claim, wherein each ejection element is a finger (65).

A product processing apparatus according to any preceding claim, wherein each product carrier comprises a plurality of bars (90) and a plurality of openings (95) arranged alternately, each opening being located in particular between two adjacent bars, and wherein each ejection element is configured to extend through one of the openings in the product carrier in the second ejection position to eject a product from the product carrier.

A product handling assembly according to any preceding claim, wherein each ejection element, when in the second ejection position, is configured to extend through an opening at a rear (45) and/or bottom (48) of the product carrier and to eject a product through a front (47) of the product carrier, in particular each product carrier having a sill (48) raised relative to a bottom (49) of the product carrier, and wherein the ejection elements are configured to push the product over the sill as the product is ejected.

A product processing apparatus according to any preceding claim, wherein the plurality of ejection elements of each ejection device are arranged on an inner side (32) of the endless conveyor device, and wherein the ejection elements move outward a horizontal distance (56) when moving from the first, retracted position to the second ejection position.

Product processing device according to any of the preceding claims, further comprising a control unit (60), the control unit being configured to control each ejection element of each ejection device, in particular individually or in groups.

Product processing device according to any of the preceding claims, wherein each ejection element is rotatable about an ejection element pivot axis (57), wherein in particular all ejection elements of an ejection device are pivotable about a common ejection element pivot axis, and wherein the common ejection element pivot axis is in particular horizontal.

A product processing apparatus according to any preceding claim, wherein each ejection element is biased by a biasing device (53) to move from the first, retracted position to the second ejection position under the influence of the biasing device.

9. Product processing device according to the preceding claim, wherein the biasing device is a spring.

A product processing apparatus according to any preceding claim, comprising a plurality of ejection member actuators (110), each ejection member actuator being connected to an ejection member and configured to control movement of the ejection member to the second ejection position.

A product processing apparatus according to the preceding claim when dependent on claim 8 or 9, wherein each actuator of the ejector member includes a movable pin (115) movable between: - a first holding location (117) where the movable pin holds the ejector member in the first, retracted position against the biasing force of the biasing device until the ejector member is required to move to the second ejection position, and - a second ejection location (118) where the movable pin releases the ejector member, the biasing force of the biasing device then moving the ejector member to the second ejection position.

A product processing apparatus according to any preceding claim, wherein each product carrier includes a push-back element (70) which moves in side view along an intersection path (22) which intersects the ejection elements of each ejection device in the second ejection position, the push-back element being configured to push an ejection element from the second ejection position back to the first retracted position against the biasing force of the biasing device.

A product processing apparatus according to any of claims 11 to 12, wherein each ejector member is operable by the push-back member (70) to a third, holding position (129) in which the ejector member is retracted further than in the first, retracted position, wherein in the holding position the ejector member is disengaged from the movable pin or exerts a lesser force on the movable pin than in the first, retracted position, thereby enabling the actuator of the ejector member to move the movable pin from the first holding location to the second release location with less energy than when the ejector member is in the first retracted position, and wherein the product processing apparatus is configured to move each actuator of the ejector member from the first holding location (117) to the second release location (118) or vice versa when the ejector member is in the third holding position (129).

14. Product processing apparatus according to claim 13, wherein each ejection element can be moved from the third, holding position to the second, ejection position by the biasing mechanism.

A product processing apparatus according to any one of claims 10 to 14, wherein each actuator of the ejection element is a unidirectional actuator which, when activated, moves the movable pin (115) from the first, holding location to the second,

release location moves, but not vice versa, and wherein each ejection member actuator includes a pin biasing member (121) that applies bias to the movable pin to move the movable pin from the second, release location to the first, holding location when the ejection member actuator is not activated.

A product processing apparatus as claimed in the preceding claim, wherein each ejection member includes a push cam (122) configured to push the movable pin rearward when an ejection member is moved from the second ejection position to the first retracted position or to the third holding position, the push cam including an apex (133) configured to pass the movable pin during this movement, thereby allowing the movable pin to move back to the holding location to hold the ejection member in the first retracted position.

Product processing device according to any of claims 12 to 16, wherein the push-back element is a cross bar (72) extending transversely to the transport path and along the length (74) of the product carrier, and wherein in particular the bars are connected to the cross bar.

Product processing device according to any of claims 10 to 17, wherein the control unit operates each actuator of the ejection element.

Product processing apparatus according to any of the preceding claims, wherein a plurality of ejection devices are disposed along a portion of the conveying path having a downward conveying direction (34).

Product processing device according to any of the preceding claims, wherein a plurality of ejection devices are arranged vertically above each other.

A product processing apparatus according to any preceding claim, comprising an image recognition device (62) capturing images of the incoming stream, the image recognition device being disposed upstream of the ejection device and being connected to the control unit, the control unit comprising an image recognition module (83) for determining at least one characteristic of the products on the basis of which the ejection elements are controlled to eject or not eject a product.

22. A product processing apparatus according to the preceding claim, wherein the control unit comprises a location module (64) which determines the position of each product in each product carrier, and wherein the control unit controls the actuators of the ejection elements based on the determined locations of the products.

Product handling device according to any of claims 2 to 22, wherein the product handling device comprises: - a recognition point (24) on the product carrier, - a recognition device (66) for recognizing a position (36) of the product carrier on the endless conveyor device, the position of the product carrier being used by the control unit to correctly time the control of the actuator of the ejection element with the position and movement of the product carrier.

Product processing apparatus according to any of the preceding claims, wherein each product carrier is elongated and has a main longitudinal direction (41) which is perpendicular to the transport path.

A product processing apparatus according to any one of claims 7 to 24, wherein each pivot axis of the ejection element is located at the upper end (59) of each associated ejection element and the ejection element extends downwards from the pivot axis.

A product processing apparatus according to any preceding claim, wherein the ejection elements in the second ejection position have an oblique orientation (112), wherein an upper end (58) is in an upper, inner position (113) and a lower end (58) is in a lower, outer position (114), and wherein the ejection elements are oriented more vertically in the first, retracted position than in the second ejection position.

27. Product processing device according to any of the preceding claims, wherein each product carrier is a basket.

Product processing device according to any of claims 3 to 27, wherein each rod (90) of each product carrier comprises: - a bottom part (91) forming part of the bottom of the product carrier, - a rear part (92) forming part of the rear of the product carrier, - a bend (93) between the bottom part and the rear part.

the lower part and the rear part extending in the same vertical plane (94) which is in particular parallel to the conveying directions of the conveyor device, each opening between the bars comprising: - a bottom opening (96) between two adjacent bottom parts, and - a rear opening portion (97) between two adjacent rear parts, the lower opening portion and the rear opening portion being connected to each other so that the ejection element and/or the rotation member (51) enters the product carrier through a combination of the lower opening portion and the rear opening portion.

Product processing apparatus according to any of claims 4 to 28, wherein each product carrier is connected to the endless conveyor device via a hinge (33) defining a carrier pivot axis (42) which is preferably horizontal, each product carrier being rotatable about the carrier pivot axis between at least one of: - a rotation orientation (43) in which contact projections of a product rotating device enter the product carrier through the openings to rotate the products in the product carrier, - an ejection orientation (44) in which products can be ejected from the product carrier by the ejection elements, wherein in the ejection orientation the lower portion of the product carrier is positioned higher relative to the product carrier threshold (48) than in the rotation orientation.

A product processing apparatus according to any preceding claim, wherein the endless conveyor comprises: - a front bend (100) and a receiving section (101) in the front bend, wherein the feed path connects to the receiving section, - a first conveyor section (102) directed upwards and having a first conveying direction (T1) extending at an angle of less than 20 degrees to the horizontal, wherein the product turning unit and the image recognition device are located in the first conveyor section for rotating the products and recording images of the products in the first conveyor section, - an inner bend (103) where the conveying direction changes from the first to a second conveying direction (T2), - a second conveyor section (108) having the second conveying direction,

- an upper bend (104) where the conveying direction changes from the second to a third conveying direction (T3), - a third conveying device section (105) with the third conveying direction (T3) being downward, in which the ejection devices are located along the third conveying device section, - a lower bend (106) where the conveying direction changes from the third conveying direction to a fourth conveying direction (T4), - a fourth conveying section (107) extending between the lower bend and the front bend and having its fourth conveying direction (T4) less than 40 degrees to the horizontal plane.

A product sorting system (10) comprising: - the product processing device (20) according to any one of the preceding claims, - at least one feed path (3) for feeding the incoming stream (2) of products to the product processing group {20), - at least one rejection path (4), each rejection path configured to receive one or more products from the product processing device, each rejection device being associated with a rejection path.

32. A product sorting system according to the preceding claim, comprising at least one ejection device and at least two ejection paths, each ejection device being configured to eject at least one product from the product carrier, thereby introducing the product into one of the ejection paths.

A product sorting system according to any one of the two preceding claims, comprising a product turning unit (80) having a plurality of contact projections (82), the product turning unit being configured to rotate products supplied to the product processing unit via the infeed path to ensure that a plurality of sides and in particular all sides of the product are exposed to the image recognition device before the product is ejected from the at least one product carrier, each contact projection being configured to enter a product carrier through one of the openings and to contact a product in the contact orientation of the product carrier.

34. Method for sorting and/or classifying products from a bulk flow, the method comprising,

- supplying a flow of products to the product processing device according to any of claims 1 to 30, - selecting one or more products to be ejected and moving one or more ejection elements of the ejection device from the first, retracted position to the second ejection position and ejecting the selected product(s) from the product carrier.

35. A method according to any one of the preceding method claims, wherein the products are selected on the basis of one or more characteristics from a group comprising: size, weight, shape, colour, presence of unwanted spots or protrusions.

36. Product rotation system (120, 130) for rotating products in one or more product carriers (40), the product rotation system comprising: - an endless conveyor (30), - one or more product carriers connected to the endless conveyor and configured to transport one or more products, the endless conveyor being configured to move each product carrier along a transport path (31), and each product carrier including a plurality of rods (20) and a plurality of openings (95) alternately disposed, each opening being between two adjacent rods, - a product rotating unit (80, 140) for rotating the products in each product carrier and comprising a plurality of contact projections (82, 144) disposed below a first conveyor section (102), each contact projection being configured to extend through one of the openings in the product carrier to contact the product in the product carrier.

37. Product rotation device according to the preceding claim, wherein a top (83) of each protrusion has a shape (84) varying in the direction of the transport path of the product carrier.

38. Product rotation system according to any of claims 36 to 37, wherein the product carrier does not collide with the contact protrusions.

39. A product rotation system as claimed in any one of claims 36 to 38, wherein the plurality of contact projections are disposed horizontally below the first conveyor section and do not move together with the endless conveyor.

40. Product rotation system according to any of claims 36 to 39, wherein a plurality of contact projections are arranged in a row (85) extending transversely to the conveying direction.

41. Product rotation system according to any of claims 36 to 40, wherein each product carrier has a plurality of openings and wherein the product rotation unit has at least the same number of contact protrusions, such that at least one contact protrusion corresponds to each opening.

A product rotation device according to any one of claims 38 to 41, comprising an image recognition device (62) that records images of each product in the product carrier, the image recognition device being connected to a control unit (60).

43. A product rotation device according to the preceding claim, wherein the product rotation device is configured such that a plurality of sides of the product are exposed to the image recognition device.

A product rotation device according to any one of claims 36 to 43, wherein the product handling device comprises a drive device (38) for driving the endless conveyor device.

45. Product rotation system according to any of claims 36 to 44, wherein each product carrier is elongated and has a main length direction (41) which is perpendicular to the transport path.