U.S. patent application number 12/695900 was filed with the patent office on 2010-09-30 for apparatuses and systems for growing nursery stock.
Invention is credited to Drew C. Dyas.
Application Number | 20100242360 12/695900 |
Document ID | / |
Family ID | 37068683 |
Filed Date | 2010-09-30 |
United States Patent
Application |
20100242360 |
Kind Code |
A1 |
Dyas; Drew C. |
September 30, 2010 |
Apparatuses and Systems for Growing Nursery Stock
Abstract
The present invention is directed to, a container, multiple
arrangements of container and flat/tray pallets, corresponding
container/flat/tray/pallet assemblies, an automated pallet
assembly/disassembly system, autonomous pallet assembly transfer
units, an autonomous pallet assembly transport train, and an
integrated automated production system, for use in a horticultural
nursery environment for: substantially reducing labor needed to
produce; stabilizing of; collecting and shedding broadcast
applications to; reflecting desired sunlight to foliage of;
reducing root tip heating of; reducing water consumption in
growing; reducing wetting of foliage of; controlling excess root
growth of; and, reducing weed growth proximal to; spaced potted
plants.
Inventors: |
Dyas; Drew C.; (Spanish
Fort, AL) |
Correspondence
Address: |
SUTHERLAND ASBILL & BRENNAN LLP
999 PEACHTREE STREET, N.E.
ATLANTA
GA
30309
US
|
Family ID: |
37068683 |
Appl. No.: |
12/695900 |
Filed: |
January 28, 2010 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11339732 |
Jan 25, 2006 |
7681357 |
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12695900 |
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60646846 |
Jan 25, 2005 |
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Current U.S.
Class: |
47/66.5 |
Current CPC
Class: |
Y02A 40/252 20180101;
A01G 9/027 20130101; Y02A 40/25 20180101; A01G 9/143 20130101; A01G
9/0295 20180201 |
Class at
Publication: |
47/66.5 |
International
Class: |
A01G 9/02 20060101
A01G009/02 |
Claims
1-20. (canceled)
21. A containerized plant array stand-alone support structure
comprising: a substantially horizontal upper wall portion, wherein
the upper wall portion is contoured into a horizontal planar array
of mutually contiguous, downwardly converging funnel segments;
wherein each funnel segment of the horizontal planar array is
associated with a container receptacle extending downward from the
upper wall portion and concentric with a corresponding funnel
segment, and wherein the segment incorporates at least one liquid
overflow drainage passage proximal to the container receptacle; and
wherein each of the container receptacles includes: at least one
substantially upward-facing sealing surface for providing a seal
between the container receptacle and a container, at least one side
wall, wherein the at least one vertical side wall is tapered, a
substantially horizontal bottom wall comprising at least one upward
recess, wherein a bottom perimeter of the at least one container
receptacle side wall is coupled along a perimeter of the bottom
wall, an open upper end, at least one receptacle liquid drainage
passage, and at least one containerized plant lifting tool access
hole extending through an uppermost wall of the at least one upward
recess, wherein the containerized plant lifting tool access hole is
elevated higher from the bottom wall relative to the at least one
receptacle liquid drainage passage, and wherein the at least one
containerized plant lifting tool access hole is oriented
substantially beneath a section of at least one upward recess in a
bottom wall of a container when installed in the container
receptacle.
Description
RELATED APPLICATION
[0001] This application claims the benefit of priority to U.S.
provisional patent application Ser. No. 60/646,846, entitled
"Apparatuses and Systems For Crowing Nursery Stock," which was
filed in the United States Patent and Trademark Office on Jan. 25,
2005, and is incorporated by reference herein.
FIELD OF THE INVENTION
[0002] The present invention relates generally to a system, a
container, a container mounting structure, and a container mounting
assembly. More particularly, the invention is directed to an
automated production system, a container, a container pallet, and a
container pallet assembly for use in a horticultural nursery
environment for: reducing labor needed to produce; stabilizing,
collecting and shedding broadcast applications to; reflecting
desired sunlight to foliage of; reducing root tip heating of;
reducing water consumption in growing; reduced wetting of foliage
of; controlling excess root growth of; and, reducing weed growth
proximal to; spaced potted plants.
BACKGROUND OF THE INVENTION
[0003] The nursery industry supplies ornamental crops to the
consumer by way of large nurseries, which grow the crop for the
landscaping and garden centers where consumers and landscapers
acquire their plants for planting in consumer's yards.
[0004] The nursery industry is a multi-billion dollar industry in
the US, with more than 20,000 nurseries nationwide. Evidence
suggests that his industry, like many, also conforms to the
80/20-rule, in that 80% of all ornamentals are grown by 20% of all
growers nationwide. Plants can be segregated into shrubs and trees,
the former of which is almost exclusively grown in plastic
containers, and the latter grown both in containers and in the
ground (known as ball-and-burlap or B&B nurseries). Container
nurseries represent about 60% of the nursery industry, while the
B&B portion accounts for the remainder.
[0005] Plants grown in containers can be shipped directly to the
market without the need for transplanting. Container grown plants
produce numerous advantages to the nursery by reducing labor cost,
as well as handling, packaging and other operating costs. In
addition, growing plants in containers provides comparatively
simplified weed control and enables controlled irrigation and
fertilization.
[0006] Container nurseries range in size from a few acres to a few
thousand acres, where the larger nurseries typically comprise
operations at multiple sites. Some nurseries specialize in certain
varieties while others grow many varieties of plants. Many
nurseries clone their own varieties, propagating them, prior to
planting them in containers and growing them in the field. Once
plant material has sufficiently matured, it is sold to other
nurseries, distributors, landscape contractors, and/or retail
stores. Some nurseries specialize exclusively in propagation, while
others only grow containers--nurseries might even specialize in
growing certain ornamental varieties for a short period of time,
before reselling them to other nurseries for further maturing
before they are resold to the general public.
[0007] Container nurseries are located in different growing regions
across the US, largely where climate benefits the type plant
material grown. Plants are grown in greenhouses and in the field,
as needed to provide a productive growing environment for the plant
material. In order to maximize the usage of acreage, nurseries in
the regions with frost and snow utilize greenhouses in which plants
are grown over the winter.
[0008] Growing plants in containers does, however, have several
disadvantages. While production labor content is, indeed, reduced
through containerization of the plant material, substantial
production labor is still necessary.
[0009] Virtually all container nurseries utilize seasonal immigrant
labor, typically from Mexico, in order to meet their production
needs throughout the growing seasons. Such labor is getting more
difficult to obtain, requiring continued lobbying-effort in
Washington, D.C. to guarantee exemptions from the Immigration &
Naturalization Service (INS), involves costly recruiting south of
the border, transportation to and from their hometowns and their
accommodations once in the US and working on site. In addition, the
allure for workers to perform tiring and backbreaking work outdoors
is fading when the same labor pool is being sought for other better
paying and lower exertion jobs in the US economy such as assembly,
custodial and other such job categories. Recently, the State of
California has actually banned hand weeding of most crops due to
worker back injury issues.
[0010] A large portion of labor-intensive tasks in container
nurseries involves handling of containers. Containers are typically
repotted before every growing season, requiring them to be picked
up in the field, placed on trailers, brought to a potting shed
where they are taken out of their containers and repotted in a
larger container with additional soil (so called up-shifting),
placed on trailers, driven out to the designated bed (usually an
outdoor field area), where they are then placed back on the ground
in a variety of different tight/staggered/spaced patterns to allow
the plants to grow during the season. The plants are also
fertilized and continually watered when in the field. Growers in
frigid regions also need to take plants out of greenhouses and
perform the up-shifting and spacing operations. All these
operations are extremely labor intensive and need to be performed
in as compressed a time as possible. Competing for time (typically
mostly in early spring) is shipping of finished plant material,
which generates the revenue for the nursery. This involves
selecting plants, transporting them to the shipping dock and
loading trucks. In the case of nurseries in the `snow belt`,
containers that were placed in the field need to be moved into
greenhouses, requiring another intensive labor effort to pick them
from the field, transport them via trailer to the greenhouses, and
tightly pack them inside the structures to survive the winter
months.
[0011] The degree to which growers and laborers perform their jobs
efficiently has a large impact on the nursery's profit margin and
its ability to optimize plant growth and health. Since production
labor is the prevalent cost in growing ornamentals (up to 20% to
35% of sales according to large growers), the potential for
increasing the competitiveness of the industry through automation
in order to reduce manpower requirements, or even smooth out the
peak labor requirements, is potentially very large.
[0012] Schempf in U.S. Patent Application No. 20020182016 presents
results of a survey taken of growers, which provides us a
distribution of nursery production labor over various
production-related tasks, as follows (where no. 1 rank implies the
highest number of laborers required):
1. Moving containerized plants to the canning shed from the growing
beds and from the growing beds to the potting shed. 2. Moving
containerized plants from the growing beds to the staging
(shipping) area. 3. Spacing the containerized plants in the growing
beds. 4. Moving containerized plants into and out of the
over-wintering houses. 5. Moving containerized plants for pruning
plants. 6. Moving excess containerized plants during spacing
operations. 7. Other miscellaneous tasks (including potting,
weeding, spraying, and fertilizing).
[0013] One need for production labor that challenges growers due to
its unpredictable nature is that associated with returning
overturned containerized plant material to its normal upright
condition following windstorms. Particulate fertilizer applied to
the surface of the soil in the plant containers is spilled on
overturning of plant containers. Such spilled fertilizer, which is
often a substantial amount in total across the nursery, is often
washed away by rain, rendering it an unrecoverable loss and adding
substantially to nursery pollutant runoff. Even if the spilled
fertilizer remains on the ground adjoining the overturned plants,
labor to recover it and return it to the plant containers is
substantial.
[0014] Uncontrolled overturning of containers also can damage the
associated plant material and create the potential for spread of
disease.
[0015] Other disadvantages of growing free-standing containerized
plant material involve irrigation and other broadcast application
of chemicals (fertilizer, pesticide, herbicide, etc), whether
liquid or solid particulate in nature. The soil mixture used for
container grown plants usually has poor water retention so that
irrigation must be regularly carried out to prevent the roots from
becoming too dry. Such irrigation is typically accomplished by
broadcast sprinkling, which results in the majority of applied
water missing spaced plant containers. In most cases, spilled
irrigation water flows to a retention pond where it can be
reclaimed and reused. However, costs of electrical or other energy
to run the one or more pumps that typically supply the spilled
irrigation water is not recovered. Costs associated with wear of
the irrigation system delivering the spilled water are also not
recovered. Further, water losses still occur due to evaporation and
percolation of at least part of the spilled irrigation water as it
runs downhill along its drain paths to the retention pond,
particularly in dry locales of relatively low humidity, where the
water is needed most and is, thus, typically relatively expensive.
Further still, reclaimed water, potentially originating from many
areas within a nursery, has the potential to spread disease.
[0016] Disadvantages similar to those of broadcast irrigation apply
also to broadcast application of chemicals. Spillage of such
materials further potentially contributes adversely to pollution in
nursery site runoff, particularly following rain sufficient to
cause overflow of the nursery's one or more retention ponds.
[0017] Beeson, Haman, Knox, Smajstrla, and Yeager in U.S. Pat. No.
6,415,549 present a plant container and container attachment
yielding a funnel-shaped container upper opening for collecting
otherwise spilled irrigation water and for attachment to adjoining
like containers for increasing container orientation stability. The
container attachment, while relatively effective at collecting
otherwise spilled irrigation water, contemplates substantial
additional labor for implementation, which quickly negates water
savings.
[0018] In addition, above ground containers of containerized plants
are often in direct sunlight and wind, which contribute to rapid
water evaporation. Most containers used by wholesale nurseries have
thin walls and are constructed of plastic containing carbon black,
an ingredient that promotes high container longevity, but makes the
containers black in color and, thus, highly absorbent of impinging
sunlight's radiant energy. The thin side wall(s) of the container
thus become hot in direct sunlight and can scorch root tips
approaching the container side wall(s) on the inside, adversely
affecting the plant growth potential. Above ground containerized
plants in more northern regions are also subject to freezing
temperatures that combine with high winds to cause convective heat
losses by the containers sufficient to freeze roots of
containerized plants, potentially killing the plants.
[0019] To minimize these disadvantages associated with container
grown plants, many nurseries anchor or bury the containers in the
ground. This reduces the risk of the roots freezing and the plant
from blowing over in high winds. A significant disadvantage of
buried containers is the difficulty of removing the container from
the ground before the plants can be shipped. Moreover, the roots
from the plant grow outward through the drain holes in the
container into the surrounding soil. This increases the amount of
effort required to remove the container from the ground and usually
results in root damage to the plant. An example of this type of
growing system is shown in U.S. Pat. No. 5,007,135. This growing
system provides a sufficiently large opening in the container to
encourage the roots to grow outwardly into the surrounding soil. A
shovel or other tool cuts the roots enabling removal of the
container from the ground, inherently resulting in damage to the
root system.
[0020] In recent years, many nurseries have used a below ground
system where an empty container is buried in the ground and a
growing container containing the plant is placed in the buried
container. This system is often referred to in the industry as a
pot-in-pot system. The system has several advantages over other
growing systems. In particular, the pot-in-pot type system provides
protection for the roots to resist freezing and from drying out in
the sun. In addition, the buried container anchors the plant
container and reduces the risk of the plants from overturning in
high winds.
[0021] As in other below ground growing systems, the roots from the
growing container often grow outward from the drain holes into the
below ground container. The below ground container is required to
have drain holes to prevent excess water from remaining in the
container which will otherwise cause the roots to rot, potentially
killing the plant. Often times the roots from the growing container
will grow outward through the drain holes of the below ground
container and into the surrounding soil. When this occurs, it is
difficult to remove the growing container from the below ground
container since the containers are now tangled with the root
system. In extreme like situations the growing container cannot be
separated from the below ground container without removing both
containers from the ground and cutting the roots. This disadvantage
increases the labor costs and damages the root system of the
plant.
[0022] Another disadvantage of in-ground pot-in-pot systems is a
lack of means of collecting and funneling broadcast applications to
the containerized plants, resulting in costs of broadcast
application spillage or of increased labor for direct application
to the containerized plants. Low-flow drip irrigation systems are
often used on larger such containers, but necessitate substantial
labor for setup.
[0023] Another disadvantage of in-ground pot-in-pot systems is the
potential for the ground in which said systems are mounted to have
poor percolation, resulting in significant retention of rainwater
in said pot-in-pot system and associated resulting rot of roots of
incorporated containerized plants, reducing yield.
[0024] Another disadvantage of in-ground pot-in-pot systems,
particularly in growing smaller plant material, is the lowering of
potted plant foliage to a point nearer the ground, where it either
must compete with proximal weeds for sunlight or may be damaged by
weed eradication equipment, wherein such weeds tend to grow in soil
exposed through breeches in or in the absence of typical plastic
weed prevention sheeting material by the socket pots, increasing
labor and weed control chemicals.
[0025] Another disadvantage of in-ground pot-in-pot systems,
particularly in growing smaller plant material, is the relatively
close spacing of open socket pots needed to maximize bed space
utilization, such spacing resulting in awkward and potentially
hazardous manual interaction with bed due to the plurality of
essentially open holes in the bed.
[0026] Another disadvantage of in-ground pot-in-pot systems is the
tendency for socket pots to become at least partially filled with
clippings and other debris following crop harvest, resulting in
additional labor to clear such debris for proper nesting and
drainage of subsequently incorporated containerized plants.
[0027] Schempf in U.S. Patent Application No. 20020182016 offers an
example of a machine for semi-automatically transferring
containerized plants between a bed and trailer in the interest of
reducing nursery production labor. However, significant labor is
still required for a portion of the proposed container handling
operation and to address machine mishandling of containers, which
Schempf, in related reports, indicates affect between 0.4% and 2.3%
of containers handled, i.e., typically at least one container out
of every 250.
[0028] Examples of various plant growing containers are disclosed
in U.S. Pat. Nos. 6,038,813 to Moore et al, 4,106,235 to Smith,
5,279,070 to Shreckhise et al, 5,099,609 to Yamauchi and 1,665,124
to Wright and Italian Patent No. 681968 and French Patent No.
427,391. These patents disclose plant container systems having a
plant container and a receptacle container for receiving the plant
container and holding water for supplying water to the plant. U.S.
Pat. Nos. 5,515,783 to Peng, 4,232,482 to Watt et al, 4,027,429 to
Georgi and 1,533,342 to Schein disclose growing containers having a
tray or other container below the plant container for collecting
water. These containers do not provide a system for preventing the
roots of the plant from becoming entangled with the other
container.
[0029] Accordingly, there is a continuing need in the industry for
improved containerized plant growing system that overcomes the
above disadvantages.
SUMMARY OF THE INVENTION
[0030] The present invention is directed to an automated system, a
container, a structure, and a method, for improving the
effectiveness of growing multiple containerized plants and,
particularly, a simple free standing structure for supporting in
upright orientations multiple containerized plants in planar arrays
on a generally horizontal surface, as well as automated machinery
for transporting, handling, assembling, and disassembling such
structure assemblies.
[0031] Said pallet comprises a generally horizontal upper wall
portion having a two-dimensional array of downwardly extending
receptacles each substantially matching the shape of a container
for receipt by each said receptacle, said container for holding
soil and a live plant. The center of bottom wall of receptacle
further opens to a hollow protrusion extending downward from said
receptacle bottom wall, to a closed bottom wall that contacts the
surface on which pallet rests, said protrusion forming a column,
which with other like columns, collectively support pallet and
contents. Said columns provide for effective spacing of bottom of
supported container a short distance above pallet installation
surface, providing for air pruning of roots growing from container
drain holes, improved drainage of containers mounted in pallets
sitting on a low, ill-draining mounting surface, and for lifting of
pallets from beneath bottoms of containers mounted in pallets.
[0032] Said container has at least one side wall coupled to a
bottom wall, and at least one drain opening through said at least
one side wall and/or through said bottom wall. Said container which
may be cylindrical or frustal in shape may further have an annular
groove in its bottom wall, concentric with the container vertical
centerline, for engagement with a complementary lifting device,
facilitating container handling stability during pallet assembly
and disassembly processes. Such a groove also provides for improved
container water retention when combined with strategic placement of
container drain holes.
[0033] Unitization of containerized plant material yields a pallet
assembly having low height relative to its plan area or footprint,
thus achieving significant increase in stability relative to like
containerized plant material standing free. Such a unitized pallet
assembly significantly resists movement in the face of wind forces
as well as transport undulations. Thus, the probability is much
greater that a unitized pallet assembly will remain standing in the
same location and orientation for a significant period of time,
relative to free-standing plant material. Such stability, without
the need for ground-penetrating anchors or receptacles, makes
flexible, automated handling and processing of palletized plant
material economically feasible.
[0034] Said upper wall portion further substantially blocks direct
sunlight impingement on side of each said container, reducing
sunlight heating of wall of said container and consequent adverse
heating of proximal roots in said container. Said reduced sunlight
heating of container sides also reduces the rate at which soil in
the container dries and, thus, reduces variation in moisture from
the center of the container to its side wall(s), and, thus,
reducing the characteristic differences between soil in the
container and soil in the ground. This presents a more natural
growing environment for the containerized plant. Said upper wall
portion further substantially blocks sunlight needed for weed
growth around said containers, reducing the need for herbicide or
weed-pulling labor and the associated costs. Said upper wall
portion is further contoured as multiple, contiguous funnels
concentric with and terminating in said container receptacles, for
collecting and shedding broadcast applications to upper surfaces of
soil of said containerized plants in said containers, significantly
reducing spillage of said broadcast applications. Contouring of
said upper wall portion along with proper color and finish of its
upper surface further promotes reflection of desired sunlight onto
foliage of said containerized plants, enhancing photosynthesis and
associated growth of said containerized plants.
[0035] Bottom wall of container receptacle is also elevated to
reduce ground contacting area of said structure, substantially
reducing adverse forces on structure assemblies resulting from
impact of proximal moving accumulated rainwater against lower
portion of said structure. Incorporation of elevated container
platforms also reduces the potential for uncontrolled root rot
otherwise resulting from containers sitting on intermittent low
ground where pools of water may persist well beyond occurrences of
rain showers.
[0036] Further, tapered geometry of said structure ensures it nests
closely, quickly and easily in a stack of said structures and
denests quickly and easily from a stack of said structures.
Further, said structure provides physical guidance features for
quick, simple, consistent installation and removal of said
containerized plants, and for mechanized operations involving said
structure.
[0037] Thermoforming/trimming is the preferred construction method
given the thin-wall nature of the structures and the value added
from incorporation of two-layer sheet material. Thermoforming
process may further incorporate integral compression molding,
providing close control and thinning of selected walls of
structure, e.g. for producing integral spring-loaded hinges at
funnel spout portion inlets needed for ingress and egress of
mounted containers in one style of structure. Structures could also
be injection molded of a single color material, with a potential
subsequent coating operation applying a second color achieving a
result similar to thermoforming of two-layer material. Construction
could also be of formed sheet metal with separately
attached--either plastic over-molded or equivalently sprung hinged
spouts in one style of structure. Preferred plastic would be tough
and relatively rigid, typical of polyethylene terephthalate (PET),
and may be of post-consumer or post-industrial waste to keep costs
low. Carbon black will preferably be incorporated to the primary,
structural, layer to improve resistance to ultraviolet light. A
light-colored upper layer is incorporated to achieve the desired
light reflectivity. Stamped, sheet metal construction is of
corrosion-resistant composition or has a corrosion-resistant
coating.
[0038] This invention further contemplates pallet
manipulation/handling, assembly and disassembly by automatic
machinery comprising; a central pallet assembly/disassembly system,
a pallet assembly transport train, and one or more pallet assembly
field and/or greenhouse transfer units. A first embodiment of a
central pallet assembly/disassembly system further comprises two
pallet stacking/destacking units, two containerized plant/pallet
assembly/disassembly units (PAU's), a pallet assembly transport
train central transfer unit, a pallet/grid washing unit, a
pallet/grid accumulation unit, interconnecting pallet conveyors,
and two container indexing/spacing conveyor lines, and, optionally,
a pallet assembly semi-automatic weeding conveyor line. The central
pallet assembly/disassembly system is arranged in a loop, enabling
pallet assemblies of a first type to be removed from a pallet
assembly transport train, associated plant material removed from
said pallets of a first type and loaded into pallets of a second
type, and pallet assemblies of the second type returned to same
pallet assembly transport train. Additional processes, e.g.,
automated or semi-automated potting, automated pruning/shaping,
and/or automated, semi-automated, or automated weeding, may be
incorporated into containerized plant conveyor loop handling plant
material between points of plant material removal from said first
and installation into said second pallet types. Most system
components further operate bi-directionally, giving rise to a
plurality of combinations of operating modes best suited to nursery
seasonal production needs.
[0039] Such a system comprises servo-driven components with
programmable motion and logic controls--including sensors and
transducers for detecting and measuring, machine component and
product positions--to achieve a high degree of flexibility.
Variations in processed product combinations are accommodated by
stored recipes of machine motion sequences, which, preferably are
selected automatically by a central, enterprise-wide, inventory
control/master scheduling computer/software system. Such a master
control system directs the assembly/disassembly system and all
other autonomous field machinery through radio digital
command/feedback links. Real-time kinematic global positioning
system (RTK GPS) technology, which provides positioning accuracy to
one centimeter horizontally and 2 centimeters vertically through
radio signals from satellites and a base station, provides primary
machine position and attitude measurements required by autonomous
machinery operating in the field. For autonomous machine operation
in areas not having requisite GPS satellite line-of-sight, e.g. in
covered central pallet assembly/disassembly area, conventional
buried magnet or wire, or laser beacon techniques fill in gaps in
GPS position information. Integrated physical limit-, infrared-,
radar-, and/or ultrasonic-based sensors provide for personnel
detection around said autonomous machines for safe machine
operation.
LIST OF ACRONYMS
[0040] CAIDOC--containerized plant assembly input/disassembly
output conveyor (part of PAU) CGAA--container gripping adapter
assembly (part of PAU CGU--container gripping unit (part of PAU)
CLAA--container lifting adapter assembly (part of PAU
CLU--container lifting unit (part of PAU) CPC--containerized plant
conveyor CPSC--containerized plant spacing conveyor
CSC--containerized plant spacing conveyor FMSRT--feature mapping
system, remote, trailer-mounted FMUH--feature mapping unit,
hand-held GPS--global positioning system HMI--human-machine
interface PA--pallet assembly PC--pallet (/grid/pallet
assembly/pallet stack/grid stack) conveyor PACTU--pallet assembly
central transfer unit PAFTU--pallet assembly field transfer unit
PAGTU--pallet assembly greenhouse transfer unit PAIDOC--pallet
assembly input/disassembly output conveyor (part of PAU)
PAODIC--pallet assembly output/disassembly input conveyor (part of
PAU) PAS--pallet assembly/disassembly system PATT--pallet assembly
transport train PAU--pallet assembly/disassembly unit PE--pallet
stack elevator (part of PGSA) PGRU--pallet & grid rotating unit
PGSA--pallet & grid stack accumulator PGSC--pallet & grid
stack conveyor PGSU--pallet & grid stacking/unstacking unit
PGWU--pallet & grid washing unit PET--polyethylene
terephthalate PXC--pallet crossover conveyor RTK GPS--real-time
kinematic global positioning system SCADA--supervisory control and
data acquisition
DESCRIPTION OF THE DRAWINGS
[0041] Referring to the drawings which form part of this
disclosure:
[0042] FIG. 1 is a basic illustration of a nursery automation
system in accordance with a first embodiment of the invention.
[0043] FIG. 2A is a perspective view of a first embodiment of a
spaced-container (no. 1/trade gallon) pallet assembly in accordance
with the invention.
[0044] FIG. 2B is a perspective exploded view of the pallet
assembly of FIG. 2A, viewed from below the assembly.
[0045] FIG. 2C is a perspective exploded close-up view of one
segment of the pallet assembly of FIG. 2A, viewed from above the
assembly.
[0046] FIG. 2D is a perspective exploded close-up view of the
segment of the pallet assembly of FIG. 2A, viewed from below the
assembly.
[0047] FIG. 2E is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 2A,
looking in direction 2E-2E of FIG. 2A, showing a pallet
configuration having a water reservoir, wherein the free surface of
the reservoir water is below the bottom of the installed
container.
[0048] FIG. 2F is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 2A,
looking in direction 2F-2F of FIG. 2A, showing a pallet
configuration having a water reservoir, wherein the free surface of
the reservoir water is below the bottom of the installed
container.
[0049] FIG. 2G is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 2A,
looking in direction 2E-2E of FIG. 2A, showing a pallet
configuration having a water reservoir, wherein the free surface of
the reservoir water is above the bottom of the installed container,
resulting in wicking of a portion of reservoir water into container
soil.
[0050] FIG. 2H is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 2A,
looking in direction 2F-2F of FIG. 2A, showing a pallet
configuration having a water reservoir, wherein the free surface of
the reservoir water is above the bottom of the installed container,
resulting in wicking of a portion of reservoir water into container
soil.
[0051] FIG. 3A is a perspective view of a second embodiment of a
spaced-container (no. 1/trade gallon) pallet assembly in accordance
with the invention.
[0052] FIG. 3B is a perspective exploded view of a split elevation
section of one-quarter of one receptacle of a pallet assembly in
accordance with a first embodiment of the invention, said split
section occurring at two perpendicular vertical planes intersecting
one another along vertical centerline of the pallet assembly
receptacle.
[0053] FIG. 3C is the same as FIG. 3, except with pallet assembly
components not exploded.
[0054] FIG. 3D is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 3A,
looking in direction 3D-3D of FIG. 3A, showing a pallet
configuration having two integral water reservoirs, wherein the
free surface of the highest reservoir water is below the bottom of
the installed container.
[0055] FIG. 3E is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 3A,
looking in direction 3E-3E of FIG. 3A, showing a pallet
configuration having two integral water reservoirs, wherein the
free surface of the highest reservoir water is below the bottom of
the installed container.
[0056] FIG. 3F is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 3A,
looking in direction 3D-3D of FIG. 3A, showing a pallet
configuration having two integral water reservoirs, wherein the
free surface of the highest reservoir water is above the bottom of
the installed container, resulting in wicking of a portion of
reservoir water into container soil.
[0057] FIG. 3G is a partial elevation section view of the lower
left-hand portion of a segment of the pallet assembly of FIG. 3A,
looking in direction 3E-3E of FIG. 3A, showing a pallet
configuration having two integral water reservoirs, wherein the
free surface of the highest reservoir water is above the bottom of
the installed container, resulting in wicking of a portion of
reservoir water into container soil.
[0058] FIG. 4 is a detailed elevation section view of a first
embodiment of the container lip engaging a corresponding pallet
receptacle recess.
[0059] FIG. 5 is a perspective exploded view of a first embodiment
of a contiguous container (no. 1/trade gallon) pallet assembly in
accordance with the invention.
[0060] FIG. 6 is a perspective exploded view of a first embodiment
of a contiguous tray (10''.times.20'' nominal) pallet assembly in
accordance with the invention.
[0061] FIG. 7 is a perspective view of a split elevation section of
one-quarter of a container with a first embodiment of a container
lifting stabilization feature comprising an annular groove in
container bottom wall and drain holes through container bottom
wall, optionally strictly on container center side of said groove,
said split section occurring at two perpendicular vertical planes
intersecting one another along vertical centerline of
container.
[0062] FIG. 8 is a perspective view of a split elevation section of
one-quarter of a container with a first embodiment of a container
lifting stabilization feature comprising an annular groove in
container bottom wall and drain holes through container bottom
wall, optionally strictly outside of said groove, said split
section occurring at two perpendicular vertical planes intersecting
one another along vertical centerline of container.
[0063] FIG. 9 is a perspective view of a split elevation section of
one-quarter of a container with a first embodiment of a container
lifting stabilization feature comprising an annular groove in
container bottom wall and drain holes optionally strictly through
container side wall, proximal to container bottom, said split
section occurring at two perpendicular vertical planes intersecting
one another at the vertical centerline of container.
[0064] FIG. 10 is a perspective view of one container receptacle of
a spaced container pallet, with a second embodiment of a collected
water overflow drainage system, comprising a circular array of
equally spaced, vertically punched holes through the upper wall of
a foliage-deflecting upward protrusion from receptacle funnel wall,
with proximal water diverter immediately up slope from each
hole.
[0065] FIG. 11 is a perspective view of one container receptacle of
a spaced container pallet, with a third embodiment of a collected
water overflow drainage system, comprising a circular array of
equally spaced, vertically punched holes each through the lower,
sloped end wall of a water diverter, each said hole immediately up
slope from a foliage diverting upward protrusion.
[0066] FIG. 12 is a perspective view of one container receptacle of
a spaced container pallet, with a fourth embodiment of a collected
water overflow drainage system, comprising a circular array of
equally spaced, vertically punched holes through receptacle funnel
wall, with proximal water diverter immediately up slope from each
hole.
[0067] FIG. 13 is a perspective view of one container receptacle of
a spaced container pallet, with a fifth embodiment of a collected
water overflow drainage system, comprising a circular array of
equally spaced, vertically punched holes, a pair of each through
sloped side walls of a corresponding water diverter.
[0068] FIG. 14 is a perspective view of one container receptacle of
a spaced container pallet, with a sixth embodiment of a collected
water overflow drainage system, comprising a circular array of
equally spaced, radially punched holes each through the lower,
sloped end wall of a water diverter.
[0069] FIG. 15 is a perspective view of one container receptacle of
a spaced container pallet, with a seventh embodiment of a collected
water overflow drainage system, comprising a circular array of
equally spaced, radially punched holes each through the upper,
substantially vertical end wall of a water radial drain trough.
[0070] FIG. 16 is a perspective view of a split elevation section
of one-quarter of a container receptacle/funnel of a spaced
container pallet, with a second embodiment of a container
receptacle comprising a container lip sealing area and ribbed,
substantially open sides.
[0071] FIG. 17 is a normal view of an elevation section of
one-quarter of a container receptacle/funnel of a spaced container
pallet, with a third embodiment of a container receptacle/container
seal arrangement comprising a relatively shallow receptacle with a
stepped container side wall for sealing with receptacle, and
container water inlet holes through container side wall,
immediately above container side wall step.
[0072] FIG. 18 is a normal view of an elevation section of
one-quarter of a container receptacle/funnel of a spaced container
pallet, with a fourth embodiment of a container
receptacle/container seal arrangement comprising a relatively
shallow receptacle with sealing occurring at bottom, outer
perimeter of container and container water inlet holes through
container side wall, immediately above container bottom wall.
[0073] FIG. 19 is a normal view of an elevation section of a second
embodiment of a sealing arrangement between a container and a
receptacle/funnel of a spaced container pallet.
[0074] FIG. 20 is a normal view of an elevation section of a third
embodiment of a sealing arrangement between a container and a
receptacle/funnel of a spaced container pallet.
[0075] FIG. 21 is a normal view of an elevation section of a fourth
embodiment of a sealing arrangement between a container and a
receptacle/funnel of a spaced container pallet.
[0076] FIG. 22 is a normal view of an elevation section of a fifth
embodiment of a sealing arrangement between a container and a
receptacle/funnel of a spaced container pallet.
[0077] FIG. 23 is a normal view of an elevation section of a sixth
embodiment of a sealing arrangement between a container and a
receptacle/funnel of a spaced container pallet.
[0078] FIG. 24 is a normal view of an elevation section of a
seventh embodiment of a sealing arrangement between a container and
a receptacle/funnel of a spaced container pallet.
[0079] FIG. 25 is a perspective view of a split elevation section
of one-quarter of one segment of a first embodiment of a chute
arrangement for conveying collected applications from pallet into
container upper end, in accordance with the invention, comprising
an array of generic application conveying chutes, said split
section occurring at two perpendicular vertical planes intersecting
one another along vertical centerline of the pallet container
receptacle.
[0080] FIG. 26 is a close-up plan view of a portion of the chute
arrangement of FIG. 27, less containerized plant canopy, showing in
part the spatial relationship between a mounted container and two
adjoining, integral flexible chutes of a plurality of such chutes
spaced along the perimeter of the associated container receptacle
hole through the upper wall portion of the pallet.
[0081] FIG. 27 is a section view of a portion of the
pallet-container application conveying chute arrangement of FIG.
26, looking in direction 27-27 of FIG. 26, said view rotated
clockwise 105 degrees from FIG. 26 section 27-27 projection,
showing spatial relationship between chute and lip of a container
installed in associated container receptacle.
[0082] FIG. 28 is substantially the same as FIG. 27, showing chute
deflecting downward under interaction with lip of container being
installed into associated container receptacle of said pallet.
[0083] FIG. 29 is substantially the same as FIG. 27, showing chute
deflecting outward and upward under interaction with lip of
container being removed from associated container receptacle of
said pallet.
[0084] FIG. 30 is a close-up plan view of a portion of a second
embodiment of a pallet-container application conveying means, less
containerized plant canopy, showing in part the spatial
relationship between a mounted container and two adjoining,
integral spring hinged chutes of a plurality of such chutes spaced
along the perimeter of the associated container receptacle hole
through the upper wall portion of the pallet.
[0085] FIG. 31 is a section view of a portion of the
pallet-container application conveying chute arrangement of FIG.
30, looking in direction 31-31 of FIG. 30, said view rotated
clockwise 90 degrees from FIG. 30 section 31-31 projection, showing
spatial relationship between chute and lip of a container installed
in associated container receptacle.
[0086] FIG. 32 is substantially the same as FIG. 31, except with
container removed, showing free, molded and trimmed state of
chute.
[0087] FIG. 33 is substantially the same as FIG. 31, except with
container being installed, showing downward and outward deflection
of chute resulting from contact between container lip and
chute.
[0088] FIG. 34 is substantially the same as FIG. 31, except with
container being removed, showing upward and outward deflection of
chute resulting from contact between container lip and chute.
[0089] FIG. 35 is a close-up plan view of a portion of a third
embodiment of a pallet-container application conveying chute
arrangement, less containerized plant canopy, showing in part the
spatial relationship between a mounted container and two adjoining,
integral spring hinged chutes of a plurality of such chutes spaced
along the perimeter of the associated container receptacle hole
through the upper wall portion of the pallet.
[0090] FIG. 36 is a partial panoramic elevation view of a portion
of the pallet-container application conveying chute arrangement of
FIG. 35, looking in direction 36-36 of FIG. 35, showing spatial
relationship between chute and lip of installed container.
[0091] FIG. 37 is the same as FIG. 36, except with container
removed, showing free, molded and trimmed state of chute.
[0092] FIG. 38 is a section view of a portion of the
pallet-container application conveying chute arrangement of FIG.
35, looking in direction 38-38 of FIG. 35, said view rotated
clockwise 105 degrees from FIG. 35 section 38-38 projection,
showing spatial relationship between chute and lip of a container
installed in associated container receptacle.
[0093] FIG. 39 is the same as FIG. 38, except with container
removed, showing free, molded and trimmed state of chute.
[0094] FIG. 40 is a partial panoramic elevation view of a portion
of a fourth embodiment of a pallet-container application conveying
chute arrangement, looking in direction comparable to 36-36 of FIG.
35, showing spatial relationship between chute and lip of installed
container.
[0095] FIG. 41 is the same as FIG. 40, except with container
removed, showing free, molded and trimmed state of chute
[0096] FIG. 42 is a section view of a portion of the
pallet-container application conveying chute arrangement of FIG.
40, looking in direction 42-42 of FIG. 40, showing free, molded and
trimmed state of chute.
[0097] FIG. 43 is the same as FIG. 42, showing spatial relationship
between chute and lip of a container installed in associated
container receptacle.
[0098] FIG. 44 is a section view of a portion of a fifth embodiment
of a pallet-container application conveying chute arrangement,
looking in direction comparable to 2-42 of FIG. 40, showing spatial
relationship between chute and lip of a container installed in
associated container receptacle.
[0099] FIG. 45 is the same as FIG. 44, except with container being
installed, showing chute downward and outward deflection on
interaction with container lip.
[0100] FIG. 46 is the same as FIG. 44, except with container being
removed, showing chute upward and outward deflection on interaction
with container lip.
[0101] FIG. 47 is a perspective, exploded view of another
embodiment of a spaced container (no. 1/trade gallon) pallet
assembly, incorporating a pallet having funnels with square outer
perimeters, which may incorporate have seal- or chute-based (shown)
water conveyance from pallet upper wall into mounted
containers.
[0102] FIG. 48 is a perspective, exploded view of another
embodiment of a contiguous container (no. 1/trade gallon) pallet
assembly, incorporating a pallet of low height relative to
container and having circular arrays of relatively slender upward
protrusions forming sides of container receptacles.
Machinery
PAS
[0103] FIG. 49 is a plan view of a first embodiment of a pallet
assembly/disassembly system with an autonomously guided a pallet
assembly transport train.
[0104] FIG. 50 is a first side elevation view of the system of FIG.
49, looking in direction 50-50 of FIG. 49.
[0105] FIG. 51 is a second side elevation view of the system of
FIG. 49, looking in direction 51-51 of FIG. 49.
[0106] FIG. 52 is a third side elevation view of the system of FIG.
49, looking in direction 52-52 of FIG. 49.
[0107] FIG. 53 is a fourth side elevation view of the system of
FIG. 49, looking in direction 53-53 of FIG. 49.
[0108] FIG. 54 is a perspective overhead view of the system of FIG.
49.
PATT
[0109] FIG. 55 is a perspective view of an autonomously-guided
pallet assembly transport train of a first embodiment, comprising a
multi-deck drive unit and two multi-deck trailers.
[0110] FIG. 56 is a perspective view of the underside of the pallet
assembly transport train of FIG. 55.
PACTU
[0111] FIG. 57 is an overhead perspective view of a pallet assembly
central transfer unit forming part of the pallet
assembly/disassembly system of FIG. 49, configured to transfer
pallet assemblies between pallet assembly transport train and an
adjoining system conveyor.
[0112] FIG. 58A is a close-up overhead perspective view of the fork
and fork elevator portion of a pallet assembly central transfer
unit forming part of the pallet assembly/disassembly system of FIG.
49.
[0113] FIG. 58B is an overhead perspective view of a pallet
assembly central transfer unit forming part of the pallet
assembly/disassembly system of FIG. 49, preparing to transfer
pallet assemblies to pallet assembly transport train from an
adjoining system conveyor.
[0114] FIG. 58C is an overhead perspective view of a pallet
assembly central transfer unit forming part of the pallet
assembly/disassembly system of FIG. 49, engaging a pair of pallet
assemblies in process of transferring such pallet assemblies to
pallet assembly transport train from an adjoining system
conveyor.
[0115] FIG. 58D is an overhead perspective view of a pallet
assembly central transfer unit forming part of the pallet
assembly/disassembly system of FIG. 49, having lifted a pair of
pallet assemblies to elevation of uppermost deck of pallet assembly
transport train in process of transferring such pallet assemblies
to pallet assembly transport train from an adjoining system
conveyor.
[0116] FIG. 58E is an overhead perspective view of a pallet
assembly central transfer unit forming part of the pallet
assembly/disassembly system of FIG. 49, placing a pair of pallet
assemblies onto uppermost deck of pallet assembly transport train
in process of transferring such pallet assemblies to pallet
assembly transport train from an adjoining system conveyor.
[0117] FIG. 58F is an overhead perspective view of a pallet
assembly central transfer unit forming part of the pallet
assembly/disassembly system of FIG. 49, having retracted from
having placed a pair of pallet assemblies onto uppermost deck of
pallet assembly transport train, preparing to return to the
position represented in FIG. 57, in process of transferring such
pallet assemblies to pallet assembly transport train from an
adjoining system conveyor.
PAU
[0118] FIG. 59A is a first perspective side view of a pallet
assembly/disassembly unit (PAU) and integral conveyors forming part
of the pallet assembly/disassembly system of FIG. 49.
[0119] FIG. 59B is a perspective frontal view of the PAU of FIG.
59A, with the pallet assembly outfeed/pallet disassembly infeed
conveyor removed, providing an improved view of the container
lifting unit.
[0120] FIG. 59C is a second perspective side view of a vertical
section of the PAU of FIG. 59A, looking upward, wherein section is
taken immediately inboard of the end of the container lifting unit
portion of the PAU.
[0121] FIG. 59D is a side upward-looking perspective view of a
vertical section of the container lifting unit portion of the PAU
of FIG. 59A, wherein section is 60 degrees from associated pallet
conveyor flow directions.
[0122] FIG. 59E is the same as FIG. 59D, except also showing PAU
interaction with a pallet and containerized plants.
[0123] FIG. 59F is a downward-looking perspective view of a
vertical section of one of a plurality of conveyor segments forming
container lifting unit conveyor portion of PAU of FIG. 59A, wherein
section is tangent to pallet conveyor flow directions.
[0124] FIG. 59G is a plan view of PAU of FIG. 59A, with container
lifting and gripping attachments removed from their operating
mounts and seated in their storage fixture on adjoining
conveyor.
[0125] FIG. 59H is a side perspective view of PAU of FIG. 59A,
arranged as described in FIG. 59G.
[0126] FIG. 59I is an overhead perspective view of container
lifting and gripping attachments of PAU of FIG. 59A, exploded to
show interaction for storage preparation.
[0127] FIG. 59J is an overhead perspective view of the PAU of FIG.
59A, showing initial interaction with the first row of pallet
assembly container receptacles and containers, wherein
container-lifting rods of container lifting unit have advanced
upward into contact with associated containers.
[0128] FIG. 59K is an overhead perspective view of the PAU of FIG.
59A, showing lowering and lateral shuttling of container grippers
to suitable elevation for interaction with containers to be lifted,
generally simultaneously with upward advancement of container
lifting rods of container lifting unit for engagement with a first
row of pallet assembly container receptacles and containers.
[0129] FIG. 59L is an overhead perspective view of the PAU of FIG.
59A, showing interaction with the first row of pallet assembly
container receptacles and containers, wherein container grippers
are positioned to engage containers lifted by upwardly advanced
lifting rods of container lifting unit.
[0130] FIG. 59M is an overhead perspective view of the PAU of FIG.
59A, showing interaction with the first row of pallet assembly
container receptacles and containers, wherein container grippers
have captured containers lifted by upwardly advanced lifting rods
of container lifting unit.
[0131] FIG. 59N is an overhead perspective view of the PAU of FIG.
59A, showing interaction with the first row of pallet assembly
container receptacles and containers, wherein container grippers
have raised captured containers to an elevation suitable for
horizontal translation to container conveyor.
[0132] FIG. 59P is an overhead perspective view of the PAU of FIG.
59A, showing indexing by pallet conveyors of pallet assemblies in
process, positioning second row of containers for lifting, while
container grippers generally simultaneously place captured
containers onto container conveyor.
[0133] FIG. 59Q is an overhead perspective view of the PAU of FIG.
59A, showing lateral indexing of container lifting rods while
container grippers generally simultaneously become disengaged with
containers placed onto container conveyor.
[0134] FIG. 59R is an overhead perspective view of the PAU of FIG.
59A, showing retraction of container grippers, allowing containers
placed on container conveyor to be conveyed away.
PGWU
[0135] FIG. 60A is a plan view of a pallet- and grid-washing unit
and a pallet and grid rotator unit at each end of pallet and grid
washing unit, in accordance with a first embodiment of the
invention.
[0136] FIG. 60B is a first elevation view of pallet and grid
washing unit of FIG. 60A, looking in direction 60B-60B of FIG. 60A,
shown with pallet rotator units removed, and with pallet and grid
washing system and rotator units in standard operating mode.
[0137] FIG. 60C is the same as FIG. 60B, except shown with pallet
rotator units in place, and with pallet and grid washing system and
rotator units in bypass mode.
[0138] FIG. 60D is a second elevation view of pallet and grid
washing unit of FIG. 60A, looking in direction 60D-60D of FIG. 60A,
shown with pallet and grid washing system and rotator units in
standard operating mode.
[0139] FIG. 60E is an overhead perspective view of pallet and grid
washing unit of FIG. 60A, shown with pallet and grid washing system
and rotator units in standard operating mode.
[0140] FIG. 60F is a side perspective view of left-hand (where
pallet and grid flow direction is forward), vertical plane,
horizontal flow pallet and grid conveyor of pallet and grid washing
unit of FIG. 60A, showing rinse/wash water jet arrays and an air
drying jet array.
PGRU
[0141] FIG. 60G is a plan view of a pallet and grid rotator unit in
accordance with a first embodiment of the invention.
[0142] FIG. 60H is a side elevation view of a pallet and grid
rotator unit of FIG. 60G, looking in direction 60H-60H of FIG.
60G.
[0143] FIG. 60I is a front elevation view of a pallet and grid
rotator unit of FIG. 60G, looking in direction 60I-60I of FIG.
60G.
[0144] FIG. 60J is an overhead perspective view of a pallet and
grid rotator unit of FIG. 60G.
[0145] FIG. 60K is a front elevation view of the pallet and grid
rotator unit of FIG. 60G, shown in the state for transitioning of
two pallets nested in two grids to or from an adjoining pallet
conveyor external to pallet and grid washing unit, and holding two
pallets nested in two grids.
[0146] FIG. 60L is the same as FIG. 60K, except with edge conveyors
advanced into contact with held pallet edges.
[0147] FIG. 60M is a front elevation view of the pallet and grid
rotator unit of FIG. 60G, shown rotated up (to `pallets on edge`
state), and holding two pallets nested in two grids.
[0148] FIG. 60N is the same as FIG. 60M, except with edge conveyors
retracted, placing supported edges of held pallets at elevation of
pallet and grid washing unit main conveyor, suitable for
transitioning.
PGSU
[0149] FIG. 61A is an overhead perspective view of a pallet/grid
stacking/destacking unit and integral conveyors forming part of the
pallet assembly/disassembly system of FIG. 49.
[0150] FIG. 61B is an overhead perspective view of one pallet
gripper head assembly forming part of the pallet
stacking/destacking unit of FIG. 61A.
[0151] FIG. 61C is an underneath perspective, partially exploded,
view of the pallet gripper head assembly of FIG. 61B.
[0152] FIG. 61D depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets at
start of a de-stacking cycle.
[0153] FIG. 61E depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with singulation hook pair having spaced bottommost pallet downward
from a hook-borne partial pallet stack to ensure reliable release
in a de-stacking cycle.
[0154] FIG. 61F depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with a downwardly spaced pallet released and removed from a
hook-borne partial pallet stack in a de-stacking cycle.
[0155] FIG. 61G depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with pallet-singulating hook pair having moved upward ready to
engage new bottommost pallet of hook-borne partial pallet stack in
a de-stacking cycle.
[0156] FIG. 61H depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with pallet-singulating hook pair engaging new bottommost pallet of
hook-borne partial pallet stack in a de-stacking cycle.
[0157] FIG. 61I depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with pallet holding hook pair disengaged from new bottommost pallet
of hook-borne partial pallet stack in a de-stacking cycle.
[0158] FIG. 61J depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with pallet singulation hook pair having returned downward to its
original position, having lowered remaining partial pallet stack
with it in a de-stacking cycle.
[0159] FIG. 61K depicts two side-by-side pairs of elevation section
segments of a portion of pallet/grid stacking unit of FIG. 61A
showing the spatial interaction between pallet hooks and pallets
with pallet holding hook pair having engaged second bottommost
pallet of remaining hook-borne partial pallet stack in a
de-stacking cycle.
[0160] FIG. 61L is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, starting a stacking
process.
[0161] FIG. 61M is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, in a second step of a
stacking process, engaging a first pallet on a first side of an
associated pallet conveyor.
[0162] FIG. 61N is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, in a third step of a stacking
process, having engaged and separated a first pallet from an
associated first grid on a first side of an associated pallet
conveyor.
[0163] FIG. 61P is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, in a fourth step of a
stacking process, wherein pallet/grid gripper heads have shuttled
to above a second side an associated pallet conveyor.
[0164] FIG. 61Q is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, in a fifth step of a stacking
process, engaging a second pallet on a second side of an associated
pallet conveyor.
[0165] FIG. 61R is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, in a sixth step of a stacking
process, having engaged and separated a second pallet from an
associated second grid on a second side of an associated pallet
conveyor.
[0166] FIG. 61S is an overhead perspective view of the pallet/grid
stacking/destacking unit of FIG. 61A, in a seventh step of a
stacking process, wherein pallet conveyor has indexed associated
pallets and grids for a subsequent, similar stacking sequence.
PAGTU
[0167] FIG. 62A is a plan view of a pallet assembly greenhouse
transfer unit in accordance with a first embodiment of the
invention.
[0168] FIG. 62B is a front elevation view of a pallet assembly
greenhouse transfer unit in accordance with a first embodiment of
the invention.
[0169] FIG. 62C is a rear elevation view of a pallet assembly
greenhouse transfer unit in accordance with a first embodiment of
the invention.
[0170] FIG. 62D is a side elevation view of a pallet assembly
greenhouse transfer unit in accordance with a first embodiment of
the invention.
[0171] FIG. 62E is a perspective view of a pallet assembly
greenhouse transfer unit in accordance with a first embodiment of
the invention.
[0172] FIG. 62F is a section view of the fork vertical guide
(mast)/drive portion of a pallet assembly greenhouse transfer unit
in accordance with a first embodiment of the invention, looking in
direction 62F-62F of FIG. 62B.
[0173] FIG. 62G is a perspective view of a pallet assembly
greenhouse transfer unit in accordance with a first embodiment of
the invention, with its fork elevated above the tops of canopies of
palletized containerized plant material adjoining that to be
retrieved.
[0174] FIG. 62H is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F following fork rotation
above adjoining plant material canopies, preparing for lateral
engagement with a proximal pallet assembly.
[0175] FIG. 62I is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F with its fork aligned and
at an elevation for lateral engagement with a proximal pallet
assembly.
[0176] FIG. 62J is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F having its fork engaged
with a pallet assembly perpendicular to the line of travel of the
pallet assembly greenhouse transfer unit primary drive wheels.
[0177] FIG. 62K is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F turning toward
fork-engaged pallet assembly, establishing a stable attitude for
lifting fork-engaged pallet assembly.
[0178] FIG. 62L is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F lifting fork-engaged
pallet assembly sufficient to clear adjoining plant material.
[0179] FIG. 62M is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F retracting load to lift
mast, maximizing stability for pallet assembly greenhouse transfer
unit travel.
[0180] FIG. 62N is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F beginning travel to
delivery point.
[0181] FIG. 62P is a plan view of the pallet assembly greenhouse
transfer unit of FIGS. 62A-62F engaging a pallet assembly on the
top deck of a pallet assembly transfer train.
[0182] FIG. 62Q is a first elevation view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F engaging a pallet
assembly on the top deck of a pallet assembly transfer train.
[0183] FIG. 62R is a second elevation view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F engaging a pallet
assembly on the top deck of a pallet assembly transfer train.
[0184] FIG. 62S is a perspective view of the pallet assembly
greenhouse transfer unit of FIGS. 62A-62F engaging a pallet
assembly on the top deck of a pallet assembly transfer train.
[0185] FIG. 62T is a perspective view of a fork assembly for a the
pallet assembly greenhouse transfer unit of FIGS. 62A-62F, in
accordance with a first embodiment of the invention.
[0186] FIG. 62U is a perspective view of a section of the fork
assembly of FIG. 62T, wherein section is taken at a vertical plane
centered on a fork tine depicted in FIG. 62T.
PAFTU
[0187] FIG. 63A is a perspective view of a pallet assembly field
transfer unit of a first embodiment.
[0188] FIG. 63B is a perspective close-up view of the pallet
assembly handling head of the pallet assembly field transfer unit
of FIG. 63A.
[0189] FIG. 63C is a perspective view of a first embodiment of the
pallet assembly field transfer unit of FIG. 63A, engaging a pallet
assembly transport train.
[0190] FIG. 63D is a perspective view of the pallet assembly field
transfer unit of FIG. 63A, holding a pallet assembly just retrieved
from or about to be placed in a nursery bed to side of said pallet
assembly field transfer unit.
[0191] FIG. 63E is a perspective view of the pallet assembly field
transfer unit of FIG. 63A, engaging a pallet assembly situated in a
nursery bed to side of said pallet assembly field transfer
unit.
[0192] FIG. 63F is a perspective view of the pallet assembly field
transfer unit of FIG. 63A, engaging a pallet assembly situated in a
nursery bed beneath said pallet assembly field transfer unit.
[0193] FIG. 63G is a perspective view of the pallet assembly field
transfer unit of FIG. 63A, holding a pallet assembly just retrieved
from or about to be placed in a nursery bed beneath said pallet
assembly field transfer unit.
[0194] FIG. 63H is a plan view of the unit of FIG. 63A configured
to operate in narrow aisles between beds, such aisles running
parallel to driveway in which pallet assembly transport train
operates.
[0195] FIG. 63I is a plan view of the unit of FIG. 63A configured
to operate on narrow beds running perpendicular to driveway in
which pallet assembly transport train operates.
FMUH
[0196] FIG. 64A is a perspective view of one configuration of a
hand-held nursery feature-mapping device, in accordance with a
first embodiment of the container gripping mechanisms of the
invention.
[0197] FIG. 64B is a perspective view of the hand-held nursery
feature-mapping device of FIG. 64A, shown momentarily mounted on an
irrigation sprinkler head.
[0198] FIG. 64C is a perspective view of the hand-held nursery
feature-mapping device, shown configured with an attachable probe
attached.
[0199] FIG. 64D is a perspective view of an operator utilizing the
hand-held nursery feature-mapping device of FIG. 64C, in accordance
with a first embodiment of the invention.
FMSRT
[0200] FIG. 65A is a perspective view of a nursery remote
feature-mapping trailer in accordance with a first embodiment of
the invention
[0201] FIG. 65B is a perspective illustration of the spatial
relationship and movements of two remote nursery feature-mapping
trailers each being towed by a 4-wheeled vehicle in accordance with
a first embodiment of the invention
PAS Emb2
[0202] FIG. 66 is a perspective overhead view of a second
embodiment of a pallet assembly/disassembly system with an
autonomously guided a pallet assembly transport train, configured
for assembly and disassembly of pallet assemblies.
[0203] FIG. 67 is a perspective overhead view of a second
embodiment of a pallet assembly/disassembly system with an
autonomously guided a pallet assembly transport train, configured
for unit processing of complete pallet assemblies.
PGSU Emb2
[0204] FIG. 68 is an overhead perspective view of a pallet/grid
stacking/destacking unit and integral conveyors forming part of the
pallet assembly/disassembly system of FIG. 66.
[0205] FIG. 69 is a second overhead perspective view of a
pallet/grid stacking/destacking unit and integral conveyors forming
part of the pallet assembly/disassembly system of FIG. 66.
PAU CGU Emb1
[0206] FIG. 70 is a plan view of a container active gripper
assembly portion of a pallet assembly/disassembly system of FIG.
49, in accordance with a first embodiment of the invention.
[0207] FIG. 71 is a side elevation view of the container active
gripper assembly of FIG. 70, looking in direction 71-71 of FIG.
70.
[0208] FIG. 72A is a frontal elevation view of the container active
gripper assembly of FIG. 70, looking in direction 72A-72A of FIG.
70.
[0209] FIG. 72B is a first overhead perspective view of the
container active gripper assembly of FIG. 70.
[0210] FIG. 72C is a second overhead perspective view of the
container active gripper assembly of FIG. 70, viewed from side of
vertical riser members opposite container gripper tines.
PAU CGU Emb2
[0211] FIG. 73A is a plan view of a container active gripper
assembly portion of a pallet assembly/disassembly system of FIG.
49, in accordance with a second embodiment of the container
gripping mechanisms of the invention.
[0212] FIG. 73B is a close-up plan view of one pincer of FIG.
73A.
[0213] FIG. 73C is a frontal elevation view of the container active
gripper assembly of FIG. 73A, looking in direction 73C-73C of FIG.
73A.
[0214] FIG. 73D is a side perspective view of a vertical section of
the container active gripper assembly of FIG. 73A, wherein section
bisects the base of a gripper tine.
PAGTU Emb2
[0215] FIG. 74A is an overhead perspective view of a pallet
assembly greenhouse transfer unit of a second embodiment, having a
fork--shown down and retracted--, which is mounted on a knuckle
boom, which is, in turn, mounted on a crawler track carriage having
a turntable.
[0216] FIG. 74B is an overhead perspective view of the pallet
assembly greenhouse transfer unit of FIG. 74A, with its fork down
and extended.
[0217] FIG. 74C is an overhead perspective view of the pallet
assembly greenhouse transfer unit of FIG. 74A, with its fork
partially elevated and extended.
[0218] FIG. 74D is an overhead perspective view of the pallet
assembly greenhouse transfer unit of FIG. 74A, with its fork
elevated and retracted.
[0219] FIG. 74E is an overhead perspective view of the pallet
assembly greenhouse transfer unit of FIG. 74A, with its fork
elevated and extended.
[0220] FIG. 74F is an underneath perspective view of the pallet
assembly greenhouse transfer unit of FIG. 74A, with its fork
partially elevated and retracted and the body swiveled about the
unit track carriage.
PAGTU Emb3
[0221] FIG. 75 is an underneath perspective view of a pallet
assembly greenhouse transfer unit of a third embodiment, having a
fork--shown partially elevated and retracted--, which is mounted on
a knuckle boom, which is, in turn, mounted on a four-wheel,
rubber-tire carriage having a turntable.
PAFTU Emb2
[0222] FIG. 76 is a perspective view of a pallet assembly field
transfer unit of a second embodiment.
DESCRIPTION OF THE INVENTION
General Arrangement
[0223] Referring now to the illustration of FIG. 1, a general
layout of a system in accordance with a first embodiment of the
invention is shown. The first embodiment of the invention comprises
an automated system 100 for handling and performing various
processes on containerized nursery stock 110 in a large
horticultural nursery, wherein a significant portion of the
containerized nursery stock 110 spends a significant portion of
growing time outdoors or in greenhouses. Key components of a first
embodiment of the invention include: multiple configurations of
containerized plant material pallet assemblies--contiguous tray
array pallet assembly 300, contiguous containerized plant array
pallet assembly 400 and spaced containerized plant array pallet
assembly 500--, shown in FIGS. 2 through 48, including innovative
features of components incorporated in pallet assemblies 300, 400
and 500; GPS satellites 114 and associated radio signals 115; a
base station 112, establishing an RTK GPS reference position and
associated radio signals 120, and providing system master control
and associated fixed 118 and radio 122 links with stationary and
autonomously guided mobile machinery; an autonomously guided pallet
assembly field transfer unit 1100; an autonomously guided pallet
assembly transport train 1200; an autonomously guided pallet
assembly greenhouse transfer unit 1300; and a central pallet
assembly/transfer system 1400. Machinery is shown in FIGS. 49-63
and 66-76. Invention also includes tools to facilitate nursery
mapping/surveying, shown in FIGS. 64 and 65.
Pallet Assemblies
FIGS. 2A, 2B--Pallet Assembly: Pallet Spaced Hex W/Grid
[0224] Invention comprises in part a family of containerized plant
pallet assemblies, a first embodiment of which comprises a spaced
container pallet assembly 500 like that shown in FIGS. 2A through
2H. Complete pallet assemblies are shown in FIGS. 2A and 2B. Pallet
assembly 500 incorporates a thin-wall pallet 502 that unitizes in a
planar array multiple individual containerized plants 200. Pallet
assembly 500 may further incorporate an optional pallet-stiffening
grid 800 into which pallet 502 nests.
[0225] Pallet 502 comprises an array of mutually contiguous,
coupled shallow funnel-shaped segments in which are centered
openings from which extend hollow downward protrusions forming
container receptacles 509 which complement shapes of containers to
be received. Unitization of individual containerized plants into
pallet assemblies 500 substantially reduces the ratio of the
effective unit height/least plan area dimension compared with
free-standing individual containerized plants 200 and, thus,
provides for a corresponding substantial gain in stability of
position and orientation of incorporated containerized plants 200
relative to freestanding individual containerized plants 200. Such
stabilization increase substantially averts toppling of
incorporated containerized plants 200 subjected to wind that would
readily topple freestanding containerized plants 200. Stability
increase also applies in transportation of incorporated
containerized plants 200. Manipulation of individual containerized
plants 200 is conducted solely by a central pallet
assembly/disassembly system 1400, described below, in which close
control over movement of such plant material to ensures highly
reliable system operation.
[0226] Outer perimeter of pallet upper wall 504 incorporates a
stiffening lip 564, which allows pallets to abut one another
without overlapping of upper walls 504 of adjoining pallets. Such
abutment promotes substantial sealing of air gaps otherwise
existing between pallets, providing--with supplemental barriers--a
significant barrier to passage of humid air from below pallet upper
wall to above, promoting relatively dry foliage 223 and relatively
moist soil, thereby reducing potential for moisture-related foliage
diseases.
FIGS. 2C, 2D--Pallet Assembly Segment
[0227] FIGS. 2C and 2D illustrate in detail a segment of an
exploded pallet assembly 500 associated with one containerized
plant 200. Containerized plant 200 nests along a vertical axis
(e.g., axis 202) into container receptacle 509 and receptacle 509
support column 518 in turn nests in and is laterally restrained by
receptacle 810 of pallet-stiffening grid 800. FIGS. 2C and 2D
depict incorporation of frustal containers 203, though containers
of other shapes are suitable with appropriate adjustments in
features of corresponding pallets.
(FIGS. 2C-2H)--Pallet Segment-General
[0228] Pallet segments are mutually contiguously coupled at their
outer perimeters 510, forming two-dimensional horizontal arrays of
segments, producing a pallet 502. Pallet segment of a first
embodiment incorporates a thin upper wall 504 with a hole in the
center, forming the upper end of receptacle 509. Coupled indirectly
to the perimeter of the hole is the upper edge of a thin receptacle
side wall 542. The bottom edge of the receptacle side wall 542 is
coupled to a plurality of equally-spaced segments of thin
receptacle bottom wall 521 that extend radially inward. Coupled to
the bottom wall 521 segments toward the container vertical
centerline is a downwardly protruding hollow pallet support column
518 with a closed bottom wall 529.
Pallet Segment Funnel/Upper Wall
[0229] Upper wall 504 of each pallet segment is in the shape of a
funnel that collects impinging rain, irrigation water and broadcast
liquids and particulates and conveys them to the container
receptacle 509 in center of funnel. Upper wall 504 also shades side
wall(s) 205 of container from direct sunlight, substantially
eliminating adverse heating of proximal tips of roots 222 of
mounted containerized plant 200. Further, upper surface of upper
wall 504 is light colored, increasing reflection of sunlight toward
containerized plant canopy 223, potentially increasing
photosynthesis and plant growth rate. Simultaneously, heating below
upper wall 504 is further reduced. Reduced heating of container
reduces rate of soil 219 dehydration, which otherwise is greatest
along the container side walls 205, and consequently improves the
soil 219 spatial and temporal moisture consistency.
[0230] Funnel outer perimeter 510 is hexagonal in a first
embodiment, yielding staggered rows of pallet segments, though
other shapes are within the realm of this invention. FIG. 2A
through 2D reflect such a pallet 502 having an array of four rows
of four segments each, though other combinations of numbers of rows
and segments are certainly within the spirit of this invention.
Continuity of upper wall 504 between pallet segments results in a
structure sufficiently rigid to remaining stable with mounted
containerized plants 200 under impinging wind and transit motion
that would readily topple stand-alone like containerized plants
200. Downwardly extending pallet lip 564 enables pallets to push
against one another in high winds, facilitating pallet position
maintenance.
Pallet Segment Funnel Ribs/Overflow Drain Holes
[0231] Pallet segment upper wall 504 incorporates stiffening ribs
513, which are coupled to like ribs on adjoining pallet segments to
increase overall pallet stiffness.
[0232] Excessive accumulation of water on top 221 of soil 219 of
mounted containerized plant 200, due to excessive rainfall,
combined with the existence of a water seal between pallet
receptacle 509 and mounted container 203, is undesirable as such
accumulation increases purging of nutrients resident in soil 219 of
containerized plants 200. Consequently, overflow drain holes 540
are incorporated are incorporated through pallet segment upper wall
504. Overflow drain holes 540 are in a first embodiment arranged to
strike a balance between manufacturing ease, i.e., achievable with
a single vertical punching action, and minimal plan area projection
open to impinging falling water and other applications. Overflow
drain holes are further placed through sides of ribs to minimize
hole area projected both toward mounted containerized plant and up
slope of funnel wall 504, thereby minimizing potential for radially
outward growing plant foliage and collecting water to enter
overflow drain hole 540. Finally, bottom edge of overflow drain
holes 540 is located slightly above funnel surface 504 in rib side
wall to divert away from overflow drain hole 540 water running down
funnel wall 504 slope. Thus, water passing through any of the
overflow drain holes 540 is substantially that forming a part of
the water accumulation to the level of the associated overflow
drain holes 540. It is expected that irrigation flow/timing are
controllable so as to avert passage, i.e. spillage, of irrigation
water through overflow drain holes 540. The vast majority of
irrigation water and other liquid and particulate applications
impinging on funnel wall 504 is shed to upper surface 221 of soil
219 of containerized plant 200.
Pallet Segment Receptacle Container Lip Recess
[0233] Along the perimeter 511 of the upper end of receptacle 509
is an annular recess 543 of cross sectional area of sufficient size
for receiving container lip 209 on installation of containerized
plant 200, thereby minimizing accumulation of collected water
outside of container lip 209. Recess 543 also incorporates an
annular upward-protruding ridge proximal to radially inward
perimeter of recess 543 for sealing against a corresponding
container surface, described below.
Pallet Segment Receptacle Side Wall
[0234] Each container receptacle 509 of a first embodiment is
essentially a thin-wall cup substantially matching the shape,
though slightly larger in corresponding girth, of a container 203
to be received. Enlarged girth of container receptacle 509 relative
to that of mounted container 203 ensures outer surface of container
side wall 205 does not contact the inner surface of the container
receptacle side wall 542 along its entire perimeter at any given
elevation, thereby preventing wedging of container 203 in container
receptacle 509 and promoting easy removal of containerized plants
200 from pallet 500. Continuous container receptacle side wall 542,
combined with a small air gap between it and the container side
wall 205 of an installed containerized plant 200 produces a thermal
insulating layer particularly beneficial during the cold season.
Humidification of air in gap arising from pallet integral water
reservoir, described below, further aids soil temperature
regulation, improving root growth environment. Also, continuous
container receptacle side wall 542 protects outer surface of
container side wall 205 of containerized plant 200 against soiling
while in production, resulting in a high-quality nursery product
presentation.
Pallet Segment Receptacle Bottom Wall, Ribs, Risers, Container
Lifting Access Holes, Container Drain Holes (Upper), Container
Center Seats, Water Reservoir
[0235] As shown in FIGS. 2C through 2H, container receptacle bottom
wall 521, which extends inward from bottom edge of container
receptacle side wall 542, has a central hole from the edge of which
downwardly protrudes a thin side wall 525 of a hollow column
518.
[0236] Spaced along interface between receptacle bottom wall 521
and column side wall 525 are generally equally-spaced gussets 512,
which provide for stiffening of said interface and for centering of
rows of pallet columns 518 in respective gaps between fork tines of
pallet-handling machinery described below. Gussets 512 are arranged
to nest with corresponding and similarly effective gussets 819 or
614 of grids 800 or grids 600, respectively, when such are
incorporated.
[0237] Receptacle bottom wall 521 incorporates container lifting
access holes 545 and drain holes 551, which in a first embodiment
are through upwardly protruding ribs 515 and risers 552,
respectively, creating a water reservoir beneath entire installed
container, for retaining container drainage up to a level just
below bottom of installed container 203 holding containerized plant
200. This feature provides for improved regulation of temperature
of soil 219 in container 203 and for water pruning of roots 222
protruding from container drain holes 228 and 241. Container
lifting access holes 545 are at the highest local elevation in
order to ensure water does not drain through them and thereby
substantially prevents growth of roots 222 of installed
containerized plants 200 out of container drain holes 228 and 241
and through container lifting access holes 545. This leaves
container lifting access holes 545 substantially clear for passage
of container lifting tooling 2654, described below. Temperature
regulation includes heat sinking during the hot season and heat
sourcing during the cold season. Cold season heat sourcing,
combined with an effective double-wall root containment system,
provides an additional degree of root ball freeze protection. Upper
surfaces of ends of container receptacle bottom wall ribs 515
adjoining central hole 522 rise in elevation to provide seats
against which sloped center portion 243 of container bottom wall
can rest, limiting sag of container bottom wall center portion
244.
[0238] In a second embodiment of container receptacle drainage
arrangement shown in FIGS. 2G and 2H, container drain hole 551/2 is
through a riser 552/2 above elevation of receptacle bottom wall
521/2 sufficient to cause receptacle reservoir water free surface
580/2 to be higher than the bottom 208 of the installed container
203, thereby maintaining bottom layer of containerized plant soil
219 immersed in reservoir water 581. This yields a wicking action
that increases the soil moisture spatially upwardly from water
contact elevation, improving container soil moisture retention
between irrigation events.
Pallet Segment Receptacle Support Column
[0239] Hollow column 518, coupled to and extending downwardly from
bottom wall 521 of container receptacle 509, supports weight of
pallet 502 segment and mounted containerized plant 203. A thin
column wall 529 closes column bottom, except where exist optional
column drain holes 547 through column bottom wall recesses 548.
Column side wall ribs 562 provide stiffening of column side walls
525 as well as communication of column drainage between column
drain holes 547 and free surface of optionally incorporated grid
600. Column side walls 525 are preferably downwardly converging
tapered, facilitating pallet alignment for automatic assembly and
disassembly, described below, and facilitating pallet 502 molding
process.
[0240] Columns 518 support bottoms of containers 203 elevated a
short distance above the pallet mounting surface, promoting
consistent container drainage control and blockage of rooting of
containerized plant into pallet mounting surface, i.e., ground, via
roots growing out of container drain holes 228 and/or 241. It also
provides access to beneath bottoms of containers 203 for lifting of
pallet assembly 500 by manual or automatic means, minimizing stress
on receptacle side walls 542 during such lifting. Columns 518 also
present to storm water running along ground a smaller impact area
than a container seated directly on ground, thereby reducing water
impact forces on pallet 500 relative to those on a pallet not
incorporating columns.
[0241] Columns may have substantially rectangular or oval plans
that increase lifting tooling, e.g., fork, access area on pallet
assembly sides that have reduced projected distances between
adjoining rows of pallet support columns 518.
(FIGS. 2A-2H, 3A-3G)--Container
Container, General
[0242] As shown in FIGS. 2A through 2H and 3A through 3H, each
plant container 203 comprises at least one sidewall 205 coupled
along its lower edge to a bottom wall 208 and terminating in an
open upper end 204, and is for holding soil 219 and a growing plant
200.
Container, Lip
[0243] Upper perimeter of container sidewall 205 incorporates an
integral stiffening lip 209 having a section enlarged relative to
that of container sidewall 205 and extending radially outward from
container sidewall 205, reinforcing the open upper end 204 of
container 203 and providing a container lifting handle.
Container Side Wall/Pallet Container Receptacle Fit
[0244] Side wall of a cylindrical or frustal container is
preferably strictly circular in girth, though may incorporate
vertical ribs, provided sufficient wall thickness or circular
girdling is incorporated to prevent significant bulging of
container girth. Bulging to the extent outer surface of container
side wall 205 wedges against inner surface of container receptacle
side wall 542 is unacceptable.
Container, Bottom Wall, Recesses, Drain Holes
[0245] Container 203 incorporates an annular upward recess 233 in
container bottom wall. Recess 233 preferably has a generally
isosceles triangular section wherein the angle at its upper vertex
is acute. Recess 233 cross section shape serves a container lifting
stabilization role described below. Recess 233 may also serve a
soil moisture retention role, acting as a dam blocking gravity flow
of water in soil below upper rim of recess/dam 233 from one side of
recess/dam 233 to drain holes on opposing side of recess/dam 233.
Water in soil on side of recess/dam 233 opposite container drain
hole 228 or 241, exclusively, as applicable, must climb over
recess/dam 233 under diffusion/wicking action, against gravity, in
order to reach incorporated drain hole 228 or 241, exclusively, as
applicable, and, thus, the rate of soil dehydration in the affected
zone is reduced relative to a zone in gravity communication with an
incorporated drain hole 228 or 241, exclusively, as applicable.
Omission of strictly container drain holes 228 through container
bottom, radially outward from recess/dam 233, gives rise to an
annular slowed dehydration zone radially outward from recess/dam
233. Omission of container drain holes 241 strictly through
container bottom, radially inward from recess/dam 233, gives rise
to a frustal slowed dehydration zone radially inward from
recess/dam 233. Incorporation of all container drain holes 228 and
241 results in no slowed dehydration zone.
[0246] Radial, upward recesses 242 in container bottom wall 208
allow drainage from container inner drain holes to flow freely out
from beneath an associated containerized plant sitting on a planar
horizontal surface. Upward, outward sloping of drain hole recesses
229 and 243 enables drain holes 228 and 241 to convey drainage from
beneath container and to be punched in a single vertical trimming
stroke. Such sloping of outer drain hole recesses 229 also creates
barriers to growth of containerized plant roots 222 from container
drain holes 228 into lifting rod access holes 545 of pallet
container receptacle 509. Also, a plurality of container inner
seats 560 adjoining lifting access holes 545 block direct access to
container lifting access holes 545 of roots 222 growing from
container inner drain holes 241.
FIG. 4--Pallet Container Receptacle/Container Lip Sealing
[0247] As shown in FIG. 4, an annular seal 553 is formed between
container lip 209 and a corresponding annular surface of pallet
container receptacle recess 543. Water collected by funnel 504
associated with container receptacle, upon accumulating to upper
surface 211 of container lip 209, begins flowing into container
203. Annular recess 543 minimizes water accumulation prior to
spillage of collected water into container 203. Sealing area 553
supports most of weight of mounted containerized plant 200, thereby
improving seal. Also, outer edge of lip is in close proximity to
recess wall, thereby acting as a filter that keeps debris away from
sealing area 553. Further, annular trough 561 adjoining outside of
annular sealing area 553 also facilitates keeping seal-foiling
debris away from sealing area 553. Still further, seal occurs at
the top of an annular ridge that contacts bottom of uppermost wall
211 of container lip 209, resulting in minimal pressure drop across
seal on accumulation of water to top of uppermost wall 211 of
container lip 209, at which point water begins flowing over
container lip 209 into container. Thus, contamination of low
leakage pressure drop and debris filtering from sealing area 553
will result in negligible loss of collected water. Optionally, an
elastomeric gasket or foam producing material could be applied to
(at least in part) upward facing surface(s) of trough 561,
providing a further improved sealing surface against which
corresponding downward facing surface of container lip 209 wall
would contact. Incidental debris caught in resulting sealing area
would be pressed into relatively highly elastic material, thereby
failing to keep sealing surfaces substantially separated, and
enabling a satisfactory seal to be achieved.
FIGS. 2A-2H--Pallet-Stiffening Grid
[0248] An optional pallet-stiffening grid 800, shown in FIGS. 2A
through 2H is provided as a means to further stiffen pallets
against wind, tightly controlling horizontal spacing of pallet
support columns 518, aiding pallet 500 upper wall 504 locally in
remaining substantially parallel to pallet mounting surface,
maintaining pallet lip 564 outwardly, downwardly sloped in face of
high winds, resulting in consistently downward, restraining force
on pallet 500 in reaction to resulting upward deflection of
impinging wind.
[0249] An array of hollow, downwardly extending, slightly inwardly
converging tapered pallet column receptacles 810 receive
corresponding pallet segment columns 518. Each receptacle 810 has
side wall 811 and bottom wall 812. Receptacle 810 is of slightly
larger girth at corresponding elevations than that of pallet
segment column 518, providing close registration of position of
pallet 502 to grid 800 on engagement of pallet segment column 518
into receptacle 810, while avoiding wedging between side walls 525
and 811 of columns 518 and 800, respectively.
[0250] Container lifting access holes 815 through receptacle lip
813 of grid 800 aligns with corresponding container lifting access
hole 545 through container receptacle. Receptacle flange 813, lip
814 and container lifting access holes 815 maintain ability of
containerized plants 200 to be lifted from beneath containers 203
in the process of installing containerized plants 200 in pallet
assemblies 500 and removing containerized plants 200 from pallet
assemblies 500, with grids 800 incorporated as part of pallet
assemblies 500.
[0251] Spaced along interface between receptacle lip 813 and column
side wall 811 are generally equally-spaced gussets 819, which
provide for centering of rows of grid receptacles and, thus, pallet
columns 518 in respective gaps between fork tines of
pallet-handling machinery described below. Gussets 819 are arranged
to nest with corresponding and similarly effective gussets 512 of
pallets.
[0252] Outer edges of receptacle bottom wall 812 incorporate
equally-spaced upward recesses 817 having grid drain holes 816.
Such an arrangement averts creation of a vacuum between pallet
column 518 and grid receptacle 810, promoting ready separation of
pallets 502 and grids 800 during disassembly of pallet assemblies
incorporating grids 800.
FIGS. 3A-3G=Pallet Stiffening Grid/Water Reservoir
[0253] A second embodiment of a pallet-stiffening grid 600, which
incorporates its own integral water reservoir, is shown in FIGS. 3A
through 3G. Webbing 610 between ribs 608 provide for water
retention between columns 518. Ridges 604 between adjoining grid
segments, prevent communication of drain water between adjoining
grid segments, reducing potential spread of diseases in collected
container drainage. Grid drain holes 606, through risers 605
upwardly limit the level of water in grid 600. Elevation of risers
605 is below that of upper edge of ridges 604, causing excess
accumulated drain water to drain ground without flowing over ridges
604.
[0254] Container lifting access hole 603 through grid aligns with
corresponding container lifting access hole 545 through container
receptacle and is through upwardly protruding grid rib 608, at
higher elevation than grid drain hole risers 605, thereby averting
grid water drainage through container lifting access holes 603.
Such aversion to drainage through container lifting access holes
603 consequently averts drawing to them roots 222 growing from
container drain holes 228 or 241, as applicable. Container lifting
access holes 603 maintain ability of containerized plants 200 to be
lifted from beneath containers 203 in the process of installing
containerized plants 200 in pallet assemblies 500 and removing
containerized plants 200 from pallet assemblies 500, with grids 600
incorporated as part of pallet assemblies 500.
[0255] Hollow, downwardly extending, slightly downwardly converging
tapered hollow column 602 at center of grid/water reservoir 600
segment receives corresponding pallet segment column 518. Column
602 has side wall 612 and bottom wall 613. Grid segment column 602
is of slightly larger girth at corresponding elevations than that
of pallet segment column 518, providing close registration of
position of pallet 502 to grid 600 on mating of columns, while
avoiding wedging between side walls 525 and 612 of columns 518 and
602, respectively.
[0256] Spaced along interface between grid webbing 610 and column
side wall 612 are generally equally-spaced gussets 614, which
provide for centering of rows of grid receptacles and, thus, pallet
columns 518 in respective gaps between fork tines of
pallet-handling machinery described below. Gussets 614 are arranged
to nest with corresponding and similarly effective gussets 512 of
pallets.
[0257] One configuration of stiffening grid/water reservoir 600 may
incorporate segment perimeter ridges 604 and container lifting hole
603 risers at elevations that upwardly limit the reservoir water
free surface 607 to below plant container 203 bottom while a second
configuration may incorporate variants of such features that
upwardly limit the reservoir water surface 607 to above plant
container 203 bottom, providing for continual contact of container
soil with reservoir, and associated wicking
FIG. 5--8.times.8 Hex Contiguous PA
[0258] In the exploded view of FIG. 5 is a first embodiment of a
contiguous container receptacle pallet assembly 400, comprising a
pallet 402 having a contiguous container receptacle array, an
optional corresponding pallet-stiffening grid 450, and the
appropriate number (64) of containerized plants 200. Pallet 402 and
grid 450 are constructed substantially similarly to spaced pallet
502 and grid 600 or 800, though with accordingly reduced segment
centerline distances.
FIG. 6--2.times.4 Tray Contiguous PA
[0259] In the exploded view of FIG. 6 is a first embodiment of a
contiguous tray pallet assembly 300, comprising a pallet 302 having
a contiguous two-dimensional (4.times.2) tray array and the
appropriate number (8) of trays 303 of plants. Other combinations
are certainly within the spirit of the invention. Pallet 302
comprises a generally planar horizontal body having substantially
vertically upwardly protruding flat/tray retaining side walls 311
substantially vertically downwardly protruding pallet support
columns 312 and drain holes 307. Pallet support columns 312 support
pallet 302 and indirectly trays/flats 303 of plants elevated a
relatively short distance above surface on which pallet assembly
300 is seated, providing for lifting fork 1142 or 1657 access and
having other benefits described above. Pallet 302 further
incorporates an integrally formed drip pan/water reservoir 313 for
holding contents, typically excess irrigation or rainwater, with
its free surface 308 below the bottom of each mounted flat/tray 303
or, alternately, slightly above the bottom of each mounted
flat/tray 303. Level of free surface 308 of contents 314 of each
segment of drip pan/water reservoir 313 is upwardly limited by
drain holes 307 through riser portions 306 the tops of which are at
the desired elevation of the free surface 308 of the drip pan/water
reservoir contents 314. Pallet 302 provides sufficient water
retention to avert need for separate drip pan/water reservoir.
Trays 303 are supported relative to free surface of drip pan/water
reservoir water by ribs 315 and receptacle perimeter ledges 316.
Perimeter walls 305 mark perimeters of receptacles and pallet 302,
controlling positioning of trays 303 within pallet 302. While
readily incorporated, no specific tray lifting access holes through
pallet 302 are shown as lips 310 of trays are exposed and suitable
for mechanized or manual lifting of trays 303 from pallet 302.
[0260] The container 203/2 shown in FIG. 7 has the first embodiment
of a container lifting stabilization feature comprising an annular
recess 233 in container bottom wall 208 and drain holes 241 through
sloped portion 243 of container bottom wall 244, strictly on
container center side of recess 233. Recess 233 doubles as a dam,
which reduces the rate of dehydration of soil near container bottom
208, radially outward from recess/dam 233, relative to that of soil
near container center bottom 244. This occurs as water in subject
annular zone of soil reduced dehydration rate must diffuse upward
against gravity in order to reach drain holes 241 on opposing side
of recess/dam 233. Again, recesses 242 provide for passage of
drainage from drain holes 241 out from beneath container 203. Also,
presence of recesses 229, while not incorporating potential drain
holes, suggests a common mold could produce containers with
optional drain holes. Recesses 229 are not necessary in the absence
of drain holes through container bottom along container outer
perimeter.
[0261] The container 203/3 shown in FIG. 8 has annular recess 233
of FIG. 7, but drain holes 228 through sloped portion 229 of
container bottom wall 241, strictly radially outward of recess 233.
Again, recess 233 doubles as a dam, which reduces the rate of
dehydration of soil near container bottom 244, radially inward from
recess/dam 233, relative to that of soil near container outer
bottom 208. This occurs as water in subject frustal zone of soil
reduced dehydration rate must diffuse upward against gravity in
order to reach drain holes 228 on opposing side of recess/dam 233.
Presence of channel recesses 242 in the absence of drain holes
through container bottom radially inward of recess/dam 233, merely
suggests a common mold could produce containers with optional drain
holes. Channel recesses 242 are not necessary in the absence of
drain holes through container bottom 243, radially inward of
recess/dam 233.
[0262] The container 203/4 shown in FIG. 9 provides substantially
the same function as container 203/3 of FIG. 8, except drain holes
227 are through container side wall 205 instead of container bottom
wall 208.
[0263] The pallet segment 502/2 shown in FIG. 10 has a second
embodiment of a collected water overflow drainage system,
comprising a circular array of equally spaced overflow drain holes
540/2 through the upper wall of a foliage-deflecting upward
protrusion 570/2 extending from receptacle funnel wall 508, with
proximal water diverter 539/2 immediately up slope from each hole
540/2. Overflow drain holes 540/2 may be vertically punched in a
single stroke. In this embodiment, overflow drain holes 540/2 are
not affiliated with stiffening ribs 513/2.
[0264] The pallet segment 502/3 shown in FIG. 11 has a third
embodiment of a collected water overflow drainage system,
comprising a circular array of equally spaced overflow drain holes
540/3 through the lower, sloped end wall of a water diverter 539/3,
each said hole immediately up slope from a foliage diverting upward
protrusion 570/3 extending from receptacle funnel wall 508.
Overflow drain holes 540/3 may be vertically punched in a single
stroke. In this embodiment, overflow drain holes 540/3 are not
affiliated with stiffening ribs 513/3.
[0265] The pallet segment 502/4 shown in FIG. 12 has a fourth
embodiment of a collected water overflow drainage system,
comprising a circular array of equally spaced overflow drain holes
540/4 through receptacle funnel wall 508, with proximal water
diverter 539/4 immediately up slope from each hole 540/4. Foliage
deflection as in earlier embodiments is not necessary since hole
540/4 is not projected in radial growth direction of plant foliage.
Overflow drain holes 540/4 may be vertically punched in a single
stroke. In this embodiment, overflow drain holes 540/4 are not
affiliated with stiffening ribs 513/4.
[0266] The pallet segment 502/5 shown in FIG. 13 has a fifth
embodiment of a collected water overflow drainage system,
comprising a circular array of equally spaced pairs of overflow
drain holes 540/5 through opposing sloped side walls of a
corresponding water diverter 539/5. Foliage deflection as in
earlier embodiments is not necessary since holes 540/5 are not
projected in radial growth direction of plant foliage. Overflow
drain holes 540/5 may be vertically punched in a single stroke. In
this embodiment, overflow drain holes 540/5 are not affiliated with
stiffening ribs 513/5.
[0267] The pallet segment 502/6 shown in FIG. 14 has a sixth
embodiment of a collected water overflow drainage system,
comprising a circular array of equally spaced overflow drain holes
540/6 each through the down slope end of a corresponding water
diverter 539/6. Foliage deflection may be incorporated with an
upward protrusion down slope from each hole 540/6, but is not
shown. Overflow drain holes 540/6 are radially punched so that
holes 540/6 are not projected vertically, reducing unintentional
spillage of particularly irrigation water and other broadcast
liquids and particulates. In this embodiment, overflow drain holes
540/6 are not affiliated with stiffening ribs 513/6.
[0268] The pallet segment 502/7 shown in FIG. 15 has a seventh
embodiment of a collected water overflow drainage system,
comprising a circular array of equally spaced overflow drain holes
540/7 each through the upper, substantially vertical end wall of a
water radial drain trough 571/7. Foliage deflection may be
incorporated with an upward protrusion down slope from each hole
540/7, but is not shown. Overflow drain holes 540/7 are radially
punched so that holes 540/7 are not projected vertically, reducing
unintentional spillage of particularly irrigation water and other
broadcast liquids and particulates. In this embodiment, overflow
drain holes 540/7 are not affiliated with stiffening ribs
513/7.
[0269] The pallet segment 502/8 shown in FIG. 16 has a second
embodiment of a container receptacle 509/8 that is similar to
container receptacle of first embodiment, except comprising ribs
514/8 and otherwise open sides, reducing the amount of material
required for construction of pallet 502/8. Sealing of pallet
container receptacle 509/8 with container is the same as in the
first container receptacle embodiment. While not depicted in
illustration, ribs 514/8 may have contoured cross sections for
increased compressive load capacity. Such contouring is limited by
pallet stack nesting pitch requirements.
[0270] The pallet assembly segment 500/9 shown in FIG. 17 has a
third embodiment of a container receptacle 509/9 that is
significantly more shallow relative to earlier embodiments and to
the mounted container 203/2. Container 203/2 is a second
embodiment, having a stepped side wall 205/2, wherein seal 553/9
between container receptacle 509/9 and container 203/2 is achieved
at step 231/2, and collected water enters container 203/2 through
water inlet holes 234/2 in container side wall 205/2, immediately
above container side wall step 231/2. Thus, it is not necessary for
collected water 541/9 to accumulate above container lip 209/9 in
order for collected water 541/9 to enter container. Hence the lower
elevation of overflow drain hole 540/9 relative to container lip
209/9. Accommodations for container drainage are similar to earlier
embodiments. This pallet container receptacle embodiment and
container embodiment render container lip 209/9 above local funnel
wall 508, and, thus, accessible for direct lifting. Consequently,
there is no need for a secondary container lifting system to
extract containers 203/2 from pallet in process of disassembly of
pallet assemblies 500/9.
[0271] The pallet assembly segment 500/10 shown in FIG. 18 has a
fourth embodiment of a container receptacle 509/10 that is shallow
relative to the mounted container 203/3. Container 203/3 is a third
embodiment, having an annular sealing step 231/3 adjoining outer
bottom corner of container 203/3 that seals against container
receptacle step 511/10, producing seal 553/10. Collected water
enters container 203/3 through water inlet holes 234/3 in container
side wall 205/3, immediately above container side wall step 231/3.
Thus, it is not necessary for collected water 541/10 to accumulate
above container lip 209/3 in order for collected water 541/10 to
enter container. Hence the lower elevation of overflow drain hole
540/10 relative to container lip 209/10. Annular upward recess 233
in container bottom wall blocks direct water flow path between
water inlet holes 234/3 and container drain holes 241, preventing
excessive soil erosion. This arrangement also results in a soil
reduced dehydration rate zone between recess 233 and container side
wall 205/3 with container 203/3 holding containerized plant
installed in pallet container receptacle 509/10. Container drainage
is through drain hole 241 on container center side of annular
recess 233. This pallet container receptacle embodiment and
container embodiment render container lip 209/9 above local funnel
wall 508, accessible for direct lifting. Consequently, there is no
need for a secondary container lifting system to extract containers
203/3 from pallet in process of disassembly of pallet assemblies
500/10.
[0272] The elevation section view of FIG. 19 illustrates a fourth
embodiment of a seal 553/21 between pallet container receptacle
recess 543/21 and a container lip 209/21. Lip 209/21 is shown
engaged with pallet container receptacle recess 543/21 at perimeter
511/21 of hole through pallet segment upper wall 508. Recess
minimizes accumulation of water between seal area 553/21 and
uppermost surface 211/21 of container lip 209/21. Accumulated water
is limited to level 541/21 by overflow drain holes (not shown).
Container lip 209/21 is rolled after thermoforming to create a
section approximating a circle for increased stiffness. Such lip
shape also presents a smooth wall 212/21 at sealing area 553/21,
better suited for sealing than a cut edge. Pallet segment further
incorporates ribs 513/21 and 514/21 for increased stiffness. Air
gap between pallet container receptacle side wall 542/21 and
container side wall 205/21 provide degree of thermal insulation.
Rounded outer surfaces of lip 209/21 produce a container having
greater comfort in handling.
[0273] The elevation section view of FIG. 20 illustrates a fifth
embodiment of a seal 553/22 between pallet container receptacle
recess 543/22 and a container lip 209/22. Lip 209/22 is shown
engaged with pallet container receptacle recess 543/22 at perimeter
511/22 of hole through pallet segment upper wall 508. Recess
minimizes accumulation of water between seal area 553/22 and
uppermost surface 211/22 of container lip 209/22. Accumulated water
is limited to level 541/22 by overflow drain holes (not shown).
Container lip 209/22 is open to facilitate capture of particulates
and potentially for aesthetic value. Outer lower corner of outer
lower bend in lip 209/22 presents a smooth wall 212/22 at sealing
area 553/22, better suited for sealing than a cut edge. Pallet
segment further incorporates ribs 513/22 and 514/22 for increased
stiffness. Air gap between pallet container receptacle side wall
542/22 and container side wall 205/22 provide degree of thermal
insulation. Rounded outer surfaces of lip 209/22 produce a
container having greater comfort in handling.
[0274] The elevation section view of FIG. 21 illustrates a sixth
embodiment of a seal 553/23 between pallet container receptacle
recess 543/23 and a container lip 209/23. Lip 209/23 is shown
engaged with pallet container receptacle recess 543/23 at perimeter
511/23 of hole through pallet segment upper wall 508. Recess
minimizes accumulation of water between seal area 553/23 and
uppermost surface 211/23 of container lip 209/23. Accumulated water
is limited to level 541/23 by overflow drain holes (not shown).
Container lip 209/23 is folded as shown--typical of a blow molding
process--to increase stiffness. Outer lower corner of outer lower
bend in lip 209/23 presents a smooth wall 212/23 at sealing area
553/23, better suited for sealing than a cut edge. Pallet segment
further incorporates ribs 513/23 and 514/23 for increased
stiffness. Air gap between pallet container receptacle side wall
542/23 and container side wall 205/23 provide degree of thermal
insulation. Rounded outer surfaces of lip 209/23 produce a
container having greater comfort in handling.
[0275] The elevation section view of FIG. 22 illustrates a seventh
embodiment of a seal 553/24 formed between pallet container
receptacle recess 543/24 and a container lip 209/24. Lip 209/24 is
shown engaged with pallet container receptacle recess 543/24 at
perimeter 511/24 of hole through pallet segment upper wall 508.
Recess 543/24 minimizes accumulation of water between seal area
553/24 and uppermost surface 211/24 of container lip 209/24. Recess
561/24 incorporates an elevated annular inner rim the top of which
provides sealing surface 553/24. Trough between elevated sealing
surface and recess outer perimeter 511/24 provides a place for
debris to settle under gravity, away from sealing surface 553/24.
Accumulated water is limited to level 541/24 by overflow drain
holes (not shown). Container lip 209/24 is folded as shown--typical
of a blow molding process--to increase stiffness. Outer lower
corner of outer leg of lip 209/24 is in close proximity to recess
wall 543/24, filtering debris from entering recess 543/24. Pallet
segment further incorporates ribs 513/24 for increased stiffness.
Air gap between pallet container receptacle side wall 542/24 and
container side wall 205/24 provide degree of thermal
insulation.
[0276] The elevation section view of FIG. 23 illustrates an eighth
embodiment of a seal 553/25 between pallet container receptacle
recess 543/25 and a different container lip 209/25. Sealing
engagement is similar to that of FIG. 21.
[0277] The elevation section view of FIG. 24 illustrates a ninth
embodiment of a seal 553/27 formed between pallet container
receptacle recess 543/27 and a container lip 209/27. Lip 209/27 is
shown engaged with pallet container receptacle recess 543/27 at
perimeter 511/27 of hole through pallet segment upper wall 508.
Recess 543/27 minimizes accumulation of water between seal area
553/27 and uppermost surface 211/27 of container lip 209/27. Recess
543/27 incorporates an elevated annular inner rim the top of which
provides sealing surface 553/27. Trough 561/27 between elevated
sealing surface and recess outer perimeter 511/27 provides a place
for debris to settle under gravity, away from sealing surface
553/27. Accumulated water is limited to level 541/27 by overflow
drain holes (not shown). Lower inner surface of outer leg of
inverted "U" container lip 209/27--typical of a thermoforming
process--provides sealing surface 553/27. Pallet segment further
incorporates ribs 513/27 and 514/27 for increased stiffness. Air
gap between pallet container receptacle side wall 542/27 and
container side wall 205/27 provide degree of thermal
insulation.
[0278] FIGS. 25 through 29 illustrate a first embodiment of a chute
arrangement for conveying applications from funnel surface 504 of a
pallet 502/28 into the open upper end of container 203 under
gravity, wherein arrangement comprises flexible, downward, radially
inwardly sloped chutes 530/10 attached to funnel wall along
perimeter 535/10, the discharge ends 534/10 of which overhang lip
209/28 of an installed container 203/28. Upper surface 211/28 of
container lip 209/28 slopes downwardly, radially inwardly relative
to pallet container receptacle center, facilitating conveyance into
container 203/28 of material discharged by chute 530/10 along free
edges 534/10. Such sloping of upper surface 211/28 of container lip
applies in all embodiments involving chutes for conveying materials
from funnel surface 504 into containers 203/28, as described below.
Pallet container receptacle 509/28 sides comprise equally spaced
ribs 514/28 with open spaces between. Ribs 514/28 are coupled at
their upper ends to funnel wall ribs 513/28 and at their lower ends
to receptacle bottom wall ribs 515/28. Such arrangement of ribs
514/28 and open spaces applies in all embodiments involving chutes
for conveying materials from funnel surface 504 into containers
203/28, as described below.
[0279] Focus of FIGS. 26 through 29 are two adjoining, integral
flexible chutes 530/10 coupled along perimeter 511/28 to funnel
wall 508. While only two adjoining chutes 530/10 are depicted,
incorporation of one or more, as can be reasonably fit between ribs
514/10, is considered intuitive, and such is the case for all
embodiments, as described below, incorporating such chutes. Chute
side walls 531/10 and 537/10 prevent water from spilling from chute
sides. Chute side walls 531/10 between adjoining chutes are
preferably flexible and joined to one another to achieve a
bellows-type effect, further averting spillage. Downwardly formed
gussets 532/10 stiffen joint 511/28 between chutes 530/10 and upper
wall 508. Downward protrusions 536/10, on contact with radially
outward surface of container lip 209/28 during container 203/28
removal from pallet assembly, ensure chutes 530/10 deflect outward,
clearing lip 209/28.
[0280] FIGS. 30 through 34 illustrate a second embodiment of a
pallet-container chute arrangement for conveying applications from
funnel surface 504 of a pallet 502/28 into the open upper end of
container under gravity, wherein arrangement comprises integral,
two-segment, spring hinged, downward, radially inwardly sloped
chutes attached to funnel wall 504 along perimeter 535/11, the
discharge ends 534/11 of which overhang lip 209/28 of an installed
container 203/28.
[0281] Each of two adjoining, integral chutes comprises an upper
segment 556/11 coupled along perimeter 535/11 and a lower segment
557/11 coupled to upper segment 56/11 along perimeter 538/11. Each
of perimeters walls 535/11 and 538/11 is thinned by a groove on
underside, forming an integral spring hinge. Protrusion 555/11
extending downward from funnel wall 504 limits outward deflection
of chute upper segment 556/11, while protrusions 554/11 and 536/11,
extending downward from chute upper segment 556/11 and lower
segment 557/11, respectively, limit downward deflection of chute
lower segment 557/11 relative to chute upper segment 556/11.
Described deflections are the result of chute interaction with
container lip 209/28 on container installation to and removal from
associated pallet container receptacle. Chute side walls 531/11
prevent water from spilling from chute sides. Folds 537/11 and
538/11 in chute side walls 531/11 facilitate spring joint
flexibility while preventing water loss from chute sides. Downward
protrusions 536/11, on contact with radially outward surface of
container lip 209/28 during container 203/28 removal from pallet
assembly, ensure chute segments 556/11 and 557/11 deflect outward,
clearing lip 209/28.
[0282] Free molded and trimmed state of chute depicted in FIG. 32
demonstrates no hidden surfaces preventing vertical extraction from
mold of molded pallet with chutes having segments 556/11 and
557/11.
[0283] FIGS. 35 through 39 illustrate a third embodiment of a
pallet-container chute arrangement for conveying applications from
funnel surface 504 of a pallet 502/28 into the open upper end of
container under gravity, wherein arrangement comprises integral,
single-segment, spring hinged, downward, radially inwardly sloped
chutes 530/12 attached to funnel wall 504 along perimeter 535/12,
the discharge ends 534/12 of which overhang lip 209/28 of an
installed container 203/28.
[0284] Each of two adjoining, integral chutes 530/12 is
substantially rigid and is coupled along its upper perimeter by a
thinned wall 535/12, which is thinned by a groove on underside,
forming an integral spring hinge. Lip 203/28 of container being
installed into associated pallet container receptacle 509/12
contacts side walls 530/12 of chutes 530/12, driving chutes 530/12
to rotate downward about hinge 535/12, until uppermost surface
211/28 of container lip 203/28 passes to below discharge edges
534/12 of chutes 530/12, at which point container 203/28 becomes
seated in receptacle 509/12. Spring action of hinges 535/12 causes
chutes 530/12 to rotate back upward, placing discharge edges 534/12
of chutes 530/12 over container lip 209/28. A cam 536/12 is
integral to and extends downward from each side wall 531/12 of
chutes 530/12. Cams 536/12 are separated from water discharge
perimeter 534/12 so that water discharge perimeter is locally the
lowest point contacted by discharging water and such water will
have no surface leading outside of the container to which to cling
and thus be substantially spilled. Discharging water therefore, in
a worst case, drips vertically from chute discharge perimeter
534/12 onto downwardly, radially inwardly sloped upper surface
211/28 of container lip 209/28 and splashes largely into container
203/28. On removal of container 203/28 from pallet container
receptacle 509/12, container lip 203/28 contacts cam 536/12,
causing chutes 530/12 to again rotate downward until clear of path
of container lip 209/28.
[0285] Chute side walls 531/12 prevent water from spilling from
chute sides. Folds 537/12 in chute side walls 531/12 facilitate
spring joint flexibility while preventing water loss from chute
sides.
[0286] Free molded and trimmed state of chute depicted in FIG. 39
demonstrates no hidden surfaces preventing vertical extraction from
mold of molded pallet with chutes 530/12.
[0287] FIGS. 40 through 43 illustrate a fourth embodiment of a
pallet-container chute arrangement for conveying applications from
funnel surface 504 of a pallet 502/28 into the open upper end of
container under gravity, wherein arrangement comprises integral,
single-segment, spring hinged, downward, radially inwardly sloped
chutes 530/13 attached to funnel wall 504 along perimeter 535/13,
the discharge ends 534/13 of which overhang lip 209/28 of an
installed container 203/28.
[0288] Each of two adjoining, integral chutes 530/13 is
substantially rigid and is coupled along its upper perimeter by a
thinned wall 535/13, which is thinned by a groove on underside,
forming an integral spring hinge. Lip 203/28 of container being
installed into associated pallet container receptacle 509/13
contacts side walls 530/13 of chutes 530/13, driving chutes 530/13
to rotate downward about hinge 535/13, until uppermost surface
211/28 of container lip 203/28 passes to below discharge edges
534/13 of chutes 530/13, at which point container 203/28 becomes
seated in receptacle 509/13. Spring action of hinges 535/13 causes
chutes 530/13 to rotate back upward, placing discharge edges 534/13
of chutes 530/13 over container lip 209/28. A cam 536/13 is
integral to and extends downward from discharge edges 531/13 of
chutes 530/13. Cams 536/13, spring-loaded against and conforming in
shape to outer edge of container lip 209/28, substantially seals
against container lip 209/28, directing water clinging to cam
536/13 over container lip 209/28 into container 203/28. On removal
of container 203/28 from pallet container receptacle 509/13,
container lip 203/28 contacts cam 536/13, causing chutes 530/13 to
again rotate downward until clear of path of container lip
209/28.
[0289] Chute side walls 531/13 prevent water from spilling from
chute sides. Chute side walls 531/13 between adjoining chutes are
preferably flexible and joined to one another to achieve a
bellows-type effect, further averting spillage. Folds 537/13 in
chute side walls 531/13 facilitate spring joint flexibility while
preventing water loss from chute sides.
[0290] Free molded and trimmed state of chute depicted in FIG. 43
demonstrates no hidden surfaces preventing vertical extraction from
mold of molded pallet with chutes 530/13.
[0291] FIGS. 44 through 46 are section views comparable to section
45-45 of FIG. 42 and illustrate a fifth embodiment of a
pallet-container chute arrangement for conveying applications from
funnel surface 504 of a pallet 502/28 into the open upper end of
container under gravity, comprising an arrangement of integral,
single-segment, spring hinged, downward, radially inwardly sloped
chutes 530/14 attached to funnel wall 504 along perimeter 535/14,
the discharge ends 534/14 of which overhang lip 209/28 of an
installed container 203/28.
[0292] Each of two adjoining, integral chutes 530/14 is
substantially rigid and is coupled along its upper perimeter by a
thinned wall 535/14, which is thinned by a groove on underside,
forming an integral spring hinge. Lip 203/28 of container being
installed into associated pallet container receptacle 509/14
contacts side walls 530/14 of chutes 530/14, driving chutes 530/14
to rotate downward about hinge 535/14, until uppermost surface
211/28 of container lip 203/28 passes to below discharge edges
534/14 of chutes 530/14, at which point container 203/28 becomes
seated in receptacle 509/14. Spring action of hinges 535/14 causes
chutes 530/14 to rotate back upward, placing discharge edges 534/14
of chutes 530/14 over container lip 209/28. Discharging water, in a
worst case, drips vertically from chute discharge perimeter 534/12
onto downwardly, radially inwardly sloped upper surface 211/28 of
container lip 209/28 and splashes largely into container 203/28. On
removal of container 203/28 from pallet container receptacle
509/12, container lip 203/28 contacts underside of chutes 530/14,
causing chutes 530/14 to rotate upward until clear of path of
container lip 209/28. On passage of container lip 209/28 clear of
chutes 530/14, chutes 530/14 spring back to free, downwardly,
radially inwardly sloped state.
[0293] Chute side walls 531/14 prevent water from spilling from
chute sides. Chute side walls 531/14 between adjoining chutes are
preferably flexible and joined to one another to achieve a
bellows-type effect, further averting spillage. Folds 537/14 in
chute side walls 531/14 facilitate spring joint flexibility while
preventing water loss from chute sides.
[0294] Free molded and trimmed state of chute depicted in FIG. 44
demonstrates no hidden surfaces preventing vertical extraction from
mold of molded pallet with chutes 530/14.
[0295] FIG. 47 is a perspective, exploded view of a fifth
embodiment of a spaced container pallet assembly 650, incorporating
a pallet 652 having square funnels.
[0296] In a contiguous-container pallet assembly 400/2 of a second
embodiment shown in FIG. 48, containers 203 of containerized plants
200 are held substantially rigidly upright, in a horizontal
two-dimensional array of container receptacles 410/2 integral to
contiguous-container pallet 402/2, wherein lips 209 of adjoining
containers 203 are mutually contiguous. FIG. 48 depicts such a
pallet 402/2 having an array of eight rows of eight container
receptacles 410/2 each, though other combinations of numbers of
rows and container receptacles are certainly within the spirit of
this invention. Pallet 402/2 comprises a generally planar
horizontal body having substantially vertically upwardly protruding
container stabilizing beams 403/2, substantially vertically
downwardly protruding pallet/container support columns 404/2,
container lifting access holes 405/2, and drain holes 408/2.
Container stabilization beams 403/2 are arranged in symmetric
patterns about vertical axes and form container receptacles 410/2.
Pallet/container support columns 404/2 in the first embodiment are
centered in container receptacles 410/2 and support pallet 402/2
and containers 203 of containerized plants 200 elevated a
relatively short distance above surface on which pallet 402/2 is
seated, providing for lifting fork 1142 or 1657 access. Such
elevation further reduces potential of water standing beneath
pallet assembly 400/2 to adversely impact supported containerized
plants 200. Container stabilization beams 403/2 also act as pallet
stiffening ribs extending between adjoining container receptacles
410/2. Contiguous-container pallet 402/2 further incorporates an
integrally formed drip pan 411/2 for holding contents 412/2,
typically excess irrigation or rainwater, with its free surface
below the bottom of the mounted plant container 203. Drip pan 411/2
incorporates dike walls 406/2 that segregate drip pan contents
412/2 beneath each mounted containerized plant 200, preventing
cross contamination of drainage between containerized plants 200.
Level of free surface 409/2 of contents 412/2 in each drip pan
411/2 is upwardly limited by drain holes 408/2 through riser
portions 407/2 the tops of which are at the desired elevation of
free surface 409/2 of the drip pan contents 412/2. Lifting access
holes 405/2 are disposed similarly to those incorporated in
spaced-container pallet grid 600 described above, enabling
containers 203 of containerized plants 200 to be lifted from
beneath in the process of installing containerized plants 200 in
pallet assemblies 400/2 and removing containerized plants 200 from
pallet assemblies 400/2. Integral drip pan 411/2 also provides
benefits substantially the same as those of spaced-container pallet
grids 450 and 600 described above.
[0297] Pallets are preferably molded as single pieces of commodity
plastic, e.g., high-density polyethylene (HDPE), polyethylene
terephthalate (PET) or polyvinyl chloride (PVC). Post-consumer or
post-industrial recycled waste can be utilized to reduce material
costs to the extent associated material savings are not offset by
increased costs of reduced manufacturing process reliability.
Molded plastic pallets, grids and grid/water reservoirs may be
thermoformed or injection molded. Thermoformed pallets may further
be of coextruded sheet, enabling incorporation of a relatively
thin, sunlight reflective, white or equivalent pallet wall upper
layer combined with a relatively thick, carbon black-loaded pallet
wall lower layer as an ultraviolet light protected, durable
structural layer. Thermoforming may further be combined with
upstream in-line sheet extrusion for reduced material and energy
costs. Thermoforming lends itself best to thin-wall, generally
planar products like subject pallets, grids, and grids/water
reservoirs, though necessitates a subsequent trimming operation for
separation of parts from plastic processing support skeletons and
for blanking holes in parts as needed. Area-specific partial
compression molding is preferably incorporated into thermoforming
process to achieve close-tolerance and other reduced wall thickness
where necessary, e.g., grooves producing spring hinges for pallet
chutes and perimeters of walls to be trimmed to reduce wear rate of
trimming tooling. Increased reflection of sunlight adds a
substantial portion of reflected sunlight to proximal plant foliage
while simultaneously substantially reducing heating of mounted
container sides and surrounding areas. Sunlight addition to foliage
potentially increases photosynthesis and corresponding plant growth
rate. Reduced container heating corresponds to reduced heating of
roots proximal to container sides and to reduced rate of container
soil dehydration, thereby increasing container soil spatial and
temporal moisture consistency and associated root health.
[0298] Injection molded pallets, grids, and grids/water reservoirs
have the benefit of allowing use of lower-cost grades of a given
generic material, combined with better wall thickness control.
However, more material is typically used for a given part, compared
with thermoforming, and pallet material would be largely
homogeneous by the nature of the process. Consequently, a carbon
black-loaded pallet would be molded and subsequently have a
sunlight reflective white coating applied to its upper side.
[0299] Pallets, grids, and grids/water reservoirs may also be
formed and blanked out of sheet metal. Corrosion resistance and
sunlight reflectivity would either be inherent in the material or
be achieved through the addition of suitable coatings.
[0300] Containers, much like pallets, are preferably molded as
single pieces of commodity plastic. However, most common container
materials accepted in the industry are high-density polyethylene
(HDPE) and polypropylene (PP). Molded plastic containers may be
thermoformed, blow molded or injection molded. Thermoformed
containers may further be of coextruded sheet, enabling
incorporation of a relatively thin, sunlight reflective, white or
other color container wall outer layer, combined with a relatively
thick, carbon black-loaded container wall inner layer as an
ultraviolet light protected, durable structural layer. Other
discussed thermoforming characteristics applying to pallets also
apply to containers.
[0301] Blow molding of frustal, open-top containers usually
involves extrusion/blow molding of a barrel, which is subsequently
cut into two similar halves--each substantially a container--in a
trimming process. Extrusion/blow molding process necessitates
injection by a nozzle of high-pressure air into one end of a
parison tube sandwiched between two female blow mold halves the
insides of which together are in the shape of the subject barrel.
Thus, a hole in the center of the bottom of one of every two
containers produced by a conventional extrusion/blow molding
process is a natural result. Therefore, feasibility of one variant
of a container having soil reduced dehydration rate zone, as
described earlier, is limited with an extrusion/blow molded
container.
[0302] Injection molded containers have the benefits and
limitations described for injection molded pallets and grids/water
reservoirs.
Automation System
[0303] The substantial gain in stability of position and
orientation of containerized plant material offered by
incorporation of such plant material into pallet assemblies 300,
400 and 500, and the relatively recent development of real-time
kinematic global positioning system (RTK GPS) technology gives rise
to automation as illustrated in FIGS. 1 and 49 through 76 that is
in accordance with the invention. RTK GPS is a satellite-plus
land-based precision position measuring system accurate to within
10 millimeters horizontally and 20 millimeters vertically--suitable
for automated positioning of one or more pallet assembly field
transfer units (PAFTU's) 1100, pallet assembly transport trains
(PATT's) 1200, and pallet assembly greenhouse transfer units
(PAGTU's) 1300. Accuracy of positioning system, with assistance by
strategically located machine sensors, is sufficient to enable
system-required interaction between PAFTU's and/or PAGTU's, PATT's,
and a stationary pallet assembly/disassembly system (PAS) 1500, as
in a large horticultural nursery environment.
[0304] RTK GPS as a position determination means does not
necessarily preclude incorporation of supplemental position
measuring systems, e.g., inertial navigation, laser-based,
wire-in-ground or magnet-in-ground systems, on which machine
controls rely in few locations where line of sight between subject
machine and GPS satellites as required for GPS operation is not
achievable, e.g. when machine is operating below a roof. Also,
strategically placed, supplemental proximity or equivalent sensors
in heads of or elsewhere on machinery typically provide fine
position sensing of pallet and/or interacting machine edges,
surfaces, and/or the ground, to facilitate proper interaction.
Autonomous machinery also incorporates safety systems such as
infrared, vision, and/or motion detection sensors to ensure
machinery work area is properly cleared of personnel and other
safety concerns while machinery is actively working.
Pallet Assembly/Disassembly System (PAS)
[0305] A first embodiment of a pallet assembly/disassembly system
(PAS) 2000 is shown in FIGS. 1, 49 and 50. PAS components are shown
in FIGS. 55-61. This system comprises: a pallet assembly central
transfer unit (PACTU) 5000; two pallet assembly/disassembly units
(PAU's), 2100(1) and 2100(2), each with three integral PC's; two
pallet & grid stacking/de-stacking units (PGSU's) 4500(1) and
4500(2); two containerized plant spacing conveyors (CSC's) 1660(1)
and 1660(2); two pallet & grid rotating units 5500(1) and
5500(2), a pallet/grid washing unit (PGWU) 5700; a multi-level
pallet/grid stack accumulator (PGSA) 3500 with integral pallet
conveyors (PC's); a PC line conveying pallets, grids, pallet
assemblies, pallet stacks and grid stacks among PAS 2000 components
and through a semi-automatic weeding area 2010.
[0306] The preferred implementation of such an automated system of
machinery and pallets involves integration of machine controls with
the following computer-based systems: plant material growth process
database; nursery inventory and sales order scheduling and control
system; and nursery financial control system. Plant growth process
includes bills of materials, ideal plant material start time
(month), start configuration (plug, clipping, etc.), irrigation
schedule, fertilizing schedule, container upsizing schedule, growth
duration for designated canopy size/shape, pruning schedule,
etc.
Conveyors, General, Physical Description
[0307] A preferred embodiment of construction of conveyors employed
for handling pallet stacks, pallets, pallet assemblies, and
containers is as described herein.
[0308] Conveyors may of the belt/slider bed, belt/roller bed, or
synchronous belt-driven closely spaced, small-diameter roller
variety for smooth operation.
[0309] Conveyor belt of each belt type conveyor is composite,
comprising multiple, closely laterally spaced synchronous belts
1527 for positive composite belt surface positioning and belt
lateral "walking" elimination. Synchronous belt teeth of belt-type
conveyors may also face up and, thus, provide the conveyed item
support surface as conveyor motion is controlled to eliminate slip
between belt. Compared to downward-facing, bed-contacting, sliding
belt teeth, wear rate of upward facing belt teeth is substantially
lower. Further, belt can incorporate low-friction backing, still
further reducing belt wear rate.
[0310] Roller-type conveyors incorporate relatively closely-spaced,
relatively small-diameter bed rollers as necessary for relatively
small-width pallet support columns to smoothly span gaps between
bed rollers as pallets are conveyed by such a conveyor.
[0311] Each conveyor incorporates programmable, numerically
controlled servo positioning, determined by a master control system
sequence for the active PAS 1500 operating mode. Such controls also
provide programmable velocity, acceleration, and jerk control,
providing for even smoother operation, consequently virtually
eliminating slip between composite belt and conveyed items,
resulting in accurate positioning of such items by composite belt
while allowing for high-speed operation. All conveyors operate
reversibly and do so as required for PAS 1500 operating mode.
Controls also provide for conveying surface on each side of a
transition between adjoining, interacting conveyors to move at the
same speed while conveyed items are in simultaneous contact with
both surfaces, still further promoting slip-free contact between
conveyor belts and conveyed items, thereby maintaining high
positioning accuracy of conveyed items. Each conveyor incorporates
relatively small head and tail sprockets, allowing close spacing of
tandem adjoining conveyors, which provides for stable transitioning
of relatively small conveyed items between same. Each conveyor also
has a relatively large diameter, elongated sprocket driving the
composite belt on the return belt layer generally between head and
tail rollers, facilitating drive of relatively large conveyed items
while promoting long belt life. Drive sprocket is flanked by idler
rollers that provide requisite composite belt tensioning and drive
sprocket wrap angle. Composite belt drive sprocket is typically
coupled to a servomotor through a drive train, comprising a drive
train sprocket directly coupled to the composite belt drive
sprocket, which, in turn, is driven by a gear belt, which, in turn,
is driven by a second drive train sprocket, which, in turn, is
coupled to a servomotor or servo gear motor, as load dictates.
Frame of servomotor/gear motor, as applicable, is fastened to
framework against which servomotor/gear motor reacts on imparting
torque necessary to move composite belt.
[0312] As is typical in heavy-duty, precision positioning conveyor
construction, all substantially continuously operating rotating
joints incorporate rolling element, e.g., ball, bearings for
repeatability. Such bearings are preferably sealed for long life.
Use of belt construction provides the benefit of minimal system
backlash while offering long life without the need for lubrication.
Thus, conveyor accuracy is maintained with minimal system
maintenance. Sealing of bearings encloses lubrication within
bearing, minimizing tendency of lubricant to attract
bearing-life-reducing contamination. Absence of exposed lubricant
further promotes a long-lasting clean machine appearance.
[0313] Programmable servo conveyor belt positioning controls also
provide for capture of the position of an item on conveyor relative
to the strategic position along conveyor of an ancillary sensor,
e.g., a photoelectric sensor, a narrow beam of which crosses
laterally above the belt and is broken by a passing conveyed item,
indicating detection of such item. A digital representation of belt
position is reflected through the drive train by the servomotor
shaft angle measuring device--typically a resolver with digitizing
circuitry, or an encoder. Actuation of conveyor belt causes to move
an item initially having an unknown position, enabling a leading or
trailing edge of such conveyed item passing such sensor to cause
sensor to change state, signaling control system. Control system,
knowing geometry of conveyed item based on an active record
obtained from a maintained database, and knowing sensor position on
conveyor, thereby establishes position of conveyed item on receipt
of sensor signal. Once position of item is established on a first
conveyor, comparable programmable servo positioning controls of
subsequent conveyor belts and related item manipulators compute,
and, thus, reliably track item position as item progresses through
PAS 1500, with subsequent item presence detection sensors employed
only for item position verification and minor compensation, if
necessary.
[0314] Unless otherwise described, conveyors are situated in
metal--formed/welded/painted/bolted steel or bolted extruded
aluminum--framework that fixes conveyor to ground or an adjoining
frame.
[0315] Most PC's of first embodiment of PAS 1500 are at least twice
the width of the widest pallet, 302, 402, or 502, grid 800 or grid
600 the PAS 1500 is configured to process, in order to convey two
of such items closely laterally spaced. CPC's 1660 and 1660' are of
width sufficient to convey containerized plants in the largest
diameter containers desired to be processed by PAS 1500.
Item (Pallet Assembly, Pallet/Grid/Containerized Plant/Tray/Flat)
Manipulator Carriages, General
[0316] Each manipulator carriage in the PAS 1500, unless otherwise
specified, is constructed generally as described herein.
[0317] Each manipulator carriage incorporates programmable,
numerically controlled servo positioning determined by a master
control system sequence for the active PAS 1500 operating mode.
Such controls also provide programmable velocity, acceleration, and
jerk control, providing for even smoother operation, resulting in
accurate positioning of such carriages while allowing for
high-speed operation.
[0318] Each manipulator carriage in the first embodiment of the PAS
1500 moves linearly relative to other manipulator carriages or
framework to which subject manipulator is attached. Relative motion
between two manipulator carriages or between a carriage and a fixed
frame is accommodated preferably by a cam follower bearing
arrangement on the shorter of the two carriages, or of a carriage
and frame, in the direction of motion, such cam follower bearing
arrangement movably attached to a complementary track on the
longer. Such motion is typically driven by a servomotor, the frame
of which is typically mounted to the shorter of the two
carriages--or of a carriage and frame, as applicable--in the
direction of motion. The shaft of the subject servomotor (or servo
gear motor, as the load dictates) typically mounts a sprocket,
which, in turn, drives a gear belt, which, in turn, is fixed at its
ends proximal to the opposing ends of the longer carriage. A pair
of idler rollers provides for requisite wrap angle and tensioning
of belt around sprocket and any long horizontal stretches of belt
in contact with a support surface to substantially mute belt
vibration.
[0319] Alternately, servomotor frame can be mounted to the
carriage/frame containing the track for a movably connected
carriage. A timing belt loop between two sprockets proximal to the
ends of the subject track and movable carriage incorporates a clamp
that is fastened to one of the timing belt legs. The shaft of the
driving servomotor (or servo gearmotor) may be mounted to one of
the loop end sprockets, or to a separate drive sprocket with
flanking idler rollers on the unclamped leg of the loop. Also, two
carriages mirroring one another may be driven simultaneously by
this alternate arrangement simply by clamping one carriage to one
leg and the other carriage to the other leg. These are a couple
examples of the use of timing belts and sprockets.
[0320] Each substantially slender carriage that must move
relatively perpendicularly to its long side and which is
geometrically limited to minimal spacing of bearings in direction
of travel necessitates coordination in movement between its ends
with greater mechanical advantage than that offered by suggested
bearing arrangement. In such case, a drive/synchronization shaft
extending the length of the carriage may be incorporated into the
drive train. A sprocket and belt arrangement like that described
immediately above, is incorporated at each end of the drive shaft.
In a convenient location along the drive shaft, preferably near the
center for drive shaft torsional stiffness balance, is mounted a
third sprocket, which is coupled to and driven by a third gear
belt, which is, in turn, coupled to and driven by a fourth
sprocket, which is mounted to and driven by the shaft of a
servomotor or servo gear motor, as load dictates, the frame of
which is fastened to the slender carriage. A rotary shaft coupling
may be incorporated into the drive shaft near the third sprocket to
facilitate change of the third timing belt. Bearings situated
proximal to each sprocket and the rotary shaft coupling mount the
drive shaft to the slender carriage. Such an arrangement is
comparable to rack-and-pinion assemblies coupled to the ends or a
long rotary shaft.
[0321] Flexible cable carriers, connected between carriages sharing
a track/cam follower bearing arrangement, provide for delivery of
electrical and fluid power and signals required by nested
carriages. Any one of strategically located belt break sensors, on
detecting a broken belt, signals control system, which
automatically executes an appropriate emergency stop algorithm for
the situation and presents audible and visual alarms that queue
facility maintenance personnel to resolve issue.
[0322] As is typical in heavy-duty, precision positioning
machinery, all substantially continuously operating rotating joints
preferably incorporate rolling element, i.e., ball, bearings for
repeatability. They also are preferably `permanently` sealed for
long life. Use of belt construction provides the benefit of minimal
system backlash while offering long life without the need for
lubrication. Thus, machine accuracy is maintained with minimal
system maintenance. Bearing lubrication fittings can be provided at
customer direction.
[0323] Programmable servo positioning controls provide for
coordination of relative motion between two or more servo
controlled carriages, enabling nested carriages to move in
desirable paths relative to fixed space or one another, thus,
achieving objectives not achievable without such coordination, and
difficult with manual intervention. A digital representation of
carriage position is reflected through the drive train by the
servomotor shaft angle-measuring device--typically a resolver with
digitizing circuitry, or an encoder. A `home` limit switch/sensor,
typically mounted proximal to one end of track on which carriage
operates, is incorporated with servo positioning systems that
utilize an incremental quadrature encoder or equivalent pulse train
generator with internal pulse counter for carriage position
determination. These features are all typically accommodated in
today's motion control systems.
[0324] Linear timing belt-driven motion manipulator carriages that
are driven at fixed inclined angles (including vertical) each
typically incorporate a `counterbalance` pneumatic cylinder. A
`counterbalance` pneumatic cylinder, as specified here and in
several other vertical motion applications forming parts of this
invention, is a pneumatic cylinder connected to a first machine
element--a carriage or frame--and having a movable piston attached
to a second machine element, where one machine element moves in
part vertically relative to other machine element. Force applied by
compressed air to side of cylinder piston that acts to lift
inclined moving machine element provides for substantial
cancellation of the effects of gravity on such machine element
while other machine element is either stationary or moves in
horizontal plane in a gravitational or other body force-producing
field. Typically, piston side of cylinder that acts to lift
inclined moving machine element is ported to a closed tank of
compressed air, such tank having volume substantially greater than
that of cylinder to avert unnecessary compressed air consumption
while providing for minimal pressure variation as piston traverses
cylinder, changing combined closed volume of compressed air. This
allows for reduced motor/drive sizing and reduced mechanical energy
waste, relative to a non-counterbalanced system, to accomplish a
given task involving inclined motion.
[0325] True mass-based counterbalancing may be incorporated in
relatively massive machine elements that to not move in consistent
directions relative to a body force-producing field.
[0326] Linear motion manipulator carriages that are driven at
inclined angles each also typically incorporate a failsafe brake
device that is automatically applied with the removal of power to
it, in an `emergency stop` situation, or with detected breakage of
a related carriage drive belt. Such a brake freezes the position of
an inclined manipulator carriage relative to the carriage or frame
to which the inclined carriage is directly movably attached,
typically through a cam follower bearing/track arrangement.
[0327] Typical manipulator is constructed of
metal--formed/welded/painted/bolted steel or bolted extruded
aluminum--framework.
[0328] The aforementioned drive techniques are merely examples.
Those skilled in the art readily appreciate the myriad of drive
type possibilities suitable for given tasks, which may involve
hydraulics, strict electric, pneumatic, mechanical (wedges/cams,
levers, cranks, screws, etc.)
Pallet Assembly Transport Train (PATT)
[0329] A first embodiment of a pallet assembly transport train
(PATT) 1200, shown in FIGS. 55-56, comprises an autonomously guided
traction unit 1202 typically towing one or more trailers 1222/1,
1222/2 in tandem with one another. PATT 1200 traction unit 1202
incorporates: servo positioning traction drives 1203 driving
traction wheels 1204; a servo positioning steering assembly drive
1207; a PATT 1200 microprocessor-based programmable control system
1210, with RTK GPS-capable receiver 1211, GPS base station error
correction signal radio antenna 1216, GPS satellite antenna 1212
and, optionally, second GPS antenna 1214; prime mover 1209; several
removable, adjustable-height plant material transport decks (4
shown, 1239, 1240, 1241, 1242); lightning rods 1230 and grounding
electrodes 1231; a forward warning illuminated beacon 1232;
headlights 1234; a personnel/obstruction detection safety sensor
1235; and, trailer coupling 1223. PATT 1200 trailer 1222
incorporates a front coupling/tow bar 1224 and thereby-driven
steering assembly 1225 mounting two freely rotating front support
wheels 1227; two fixed-direction freely rotating rear support
wheels 1228; several removable, adjustable-height plant material
transport decks (4 shown, 1243, 1244, 1245, 1246); rear
coupling/tow bar 1223; and, lightning rods 1230 and grounding
electrodes 1231. Last trailer (1222/2 shown) of PATT 1200, further
incorporates rear, illuminated safety beacon 1233.
[0330] In first embodiment of PATT 1200, each traction drive 1203
comprises a servo gearmotor coupled to a corresponding traction
wheel 1204 through a synchronous belt/sprocket set. Belt/sprocket
set are shrouded for safety. PATT 1200 steering drive 1207
similarly comprises a servo gearmotor coupled to a steering
assembly 1205 arcuate segment member that swivels about a vertical
axis centered between two steering wheels 1208. Further, a steering
belt break sensor, combined with two side-by-side steering belts,
provides steering redundancy, enabling PATT to be safely stopped
upon detection of steering belt breakage.
[0331] PATT 1200 RTK GPS-capable receiver 1211, receiving GPS
satellite radio signals via two spaced GPS antennas 1212 and 1214
and an RTK GPS error correction signal from system base station 112
via radio antenna 1216, determines PATT 1200 position, and control
system 1210, interacting with GPS receiver 1211, subsequently
determines heading and attitude of PATT 1200.
[0332] PATT 1200 must also operate beneath a roof, where PAS 2000
resides, and where GPS satellite signals may not. Thus, PATT also
incorporates a supplemental guidance system, based on buried wire
or magnets, laser-reflector, inertial navigation, or dead reckoning
techniques commonly used for autonomously guided vehicle guidance.
PATT control system switches position sensing systems at predefined
locations where two position sensing systems are both effective,
ensuring PATT is constantly aware of its position throughout its
operating domain.
[0333] PATT control system 1210 includes memory and permanent
storage in which reside data and control algorithms pertaining to
PATT 1200 operation. Data residing in PATT control system 1210 may
include: geometry, configuration and operational status of PATT
1200; layout--including topography--of nursery in which PATT 1200
operates (particularly paths on which PATT 1200 operates);
restrictions, e.g., area reduced speed limits; and, historical
information, e.g. earlier detected PATT path topological
aberrations, etc. Control algorithms include servo traction and
steering drive position and speed loops, turn maneuvers,
positioning maneuvers for loading and unloading, emergency stop
sequences, communication link loss sequences, responses to
human-machine interface (HMI) manual control inputs, etc.
[0334] Master control system 113, residing at base station 112 of
FIG. 1 likewise includes memory and permanent storage in which
reside data and control algorithms, though on a higher, supervisory
control and data acquisition (SCADA) level than that of PATT 1200.
Master control system 113 data pertaining to a given PATT 1200 may
include: PATT 1200 task queue; PATT 1200 operational status, e.g.,
master control system 113--PATT 1200 communication link status,
PATT 1200 current position, speed, command responses/deviations,
energy/fuel remaining, PATT 1200 maintenance calendar, etc. Master
control system 113 algorithms pertaining to PATT 1200 include: PATT
1200 destination coordinates generation, PATT 1200 operation
scheduling/timing/traffic control, inventory control, PATT 1200
productivity determination, primary HMI, nursery administrative
computer system interaction, PATT 1200 algorithm updates, and
system monitoring and fault processing, etc.
[0335] PATT 1200 normally operates in automatic mode wherein it
follows predefined, computer-generated paths for carrying
palletized plant material between loading and unloading points
comprising pallet assembly central transfer unit 5000 (PACTU,
described below) load/unload point of PAS 2000, a field growing
area, a load/unload point proximal to a relatively small,
inaccessible greenhouse, potentially inside a larger greenhouse, or
some combination of those. Periodically, PATT's 1200 must transport
stacks of pallets and, potentially, grids, between field- and/or
greenhouse-based storage areas and PACTU 5000 load/unload point of
PAS 2000.
[0336] PATT 1200 may also be operated in manual mode wherein it
responds to inputs from an operator via a cable- or radio-linked
HMI. An attachable seat may be provided for operator to safely ride
on PATT 1200 while manually piloting it.
[0337] PATT 1200 depicted is battery-powered and incorporates
electric, programmable servo drives (servo amplifier/motor
packages) for actuation. Actuation could alternately comprise servo
valve-controlled hydrostatic transmissions and have a diesel or
gasoline engine as a prime mover. An alternator coupled to subject
engine of a primarily hydraulically driven machine supplies
electric energy to electric functions.
[0338] Electric primary drives offer a means to readily return PATT
1200 kinetic energy to potential energy, i.e., recharging battery
through servo traction motor generation action during deceleration
of PATT 1200, with minimal losses to thermal energy, resulting in a
relatively efficient system, i.e. one requiring relatively the
least amount of energy, i.e., operating expense, to travel a given
distance with a given load.
[0339] Incorporation of positioning servo drives as traction drives
provides PATT 1200 with an ability to sense and thereby minimize
traction wheel slip, increasing PATT 1200 traction drive efficiency
and reducing potential for PATT 1200 path rut development,
particularly during wet PATT 1200 path conditions.
[0340] GPS-based positioning and a central, artificially
illuminated, PAS 2000 also enables system to operate without light,
i.e., at night. Lightning rods 1230 and associated grounding wiring
and electrodes 1231 reduce risk of damage to PATT 1200 by a stroke
of lightning, facilitating operation of PATT 1200 in a
thunderstorm, thereby still further increasing system
productivity.
Pallet Assembly Central Transfer Unit (PACTU)
[0341] Note that while most linear track rails throughout invention
are shown as simple bars, structure of rails and bearings following
them incorporates elements, typically rolling, that prevent normal
separation of bearings from track rails, regardless of direction of
force applied to bearings.
[0342] A first embodiment of PACTU 5000, shown in FIGS. 49-54 and
57-58F, is effectively a gantry-based automated forklift,
comprising moving nested carriages of which are situated generally
above PC's 5001 and 5002 of FIGS. 57-58F. PACTU automatically
transfers PA's 300, 400 or 500, as applicable, between a PC 5001 or
5002 and proximally positioned PATT 1200.
[0343] PACTU 5000 comprises two stationary frames comprising risers
5011, 5012, 5021 and 5022, and lateral beams 5013 and 5023, with
three progressively nested, mutually orthogonal, linear motion
carriages culminating in a pallet assembly fork 5400. Frame lateral
beams 5013 and 5023 incorporate track rails 5014 and 5024 traversed
by a relatively slender overhead bridge (first carriage, 5050),
which is sufficiently high to provide for passage beneath of a
loaded PATT 1200. Bridge 5050 is perpendicular to PC line it spans
and is of sufficient length to span: a PATT 1200 positioned
parallel to and in close proximity to PC line; PC 5001 or 5002; and
a parking lane for PACTU successive carriages nested below,
including PACTU fork 5400. Four frame riser supports 5011, 5012,
5021, and 5022, extending from ground are situated in four corners
of frame. PACTU bridge 5050 is movably attached to stationary track
rails 5014 and 5024 on frame.
[0344] Bridge 5050 further incorporates a horizontal second linear
track 5070, along length of bridge 5050, to which a second carriage
5100 is movably attached.
[0345] PACTU second carriage 5100 is movably attached to bridge
track 5070, providing for movement along bridge 5050 of second
carriage 5100. Second carriage 5100 may further incorporate a
swivel bearing 5108 and drive servo gearmotor 5104 providing for
rotation of a third carriage (lift mast) 5150 about a vertical
axis. Third carriage 5150 incorporates vertical linear track 5153,
to which a fourth, carriage 5200 (lift stage 1) is movably
attached.
[0346] PACTU fourth carriage 5200 (lift stage 1) is movably
attached to PACTU third carriage 5150 and incorporates a bearing
track arrangement 5205 movably attached to PACTU fifth carriage
5250 (lift stage 2), which mounts PACTU fork 5400. Hydraulic
cylinder 5155, with its butt attached to third carriage 5150 and
its rod attached to fourth carriage 5200, draws upward on fourth
carriage 5200. One end 5156 of each of two belts 5157 is attached
to bottom of third carriage 5150, while other end 5253 of each belt
5157 is attached to fifth carriage 5250. Belts 5157 wrap over tops
of respective rollers 5204 such that drawing upward of fourth
carriage 5200 by hydraulic cylinder 5155 causes fifth carriage 5250
to move upward at twice the rate and distance of fourth carriage
5200.
[0347] Fourth and fifth carriages 5200 and 5250, respectively,
provide for PA fork 5400 vertical travel between elevation of
bottoms of PA's 300, 400 or 500, as applicable, seated on PC 5001
or 5002, and elevation of bottoms of PA's 300, 400 or 500, as
applicable, just above uppermost deck 1203 of PATT 1200, wherein
PATT 1200 is situated beneath bridge 5050. Tine 5402 lateral
adjustment provides for substantially clear passage of fork tines
5402 between pallet support columns during process of fork
engagement with pallets, followed by self-centering of pallets on
pallet lifting, due to sloped surfaces of gussets between pallet
columns and bottom walls of pallet container receptacles or grids
interacting with and adjoining edges of fork tines. Such
flexibility provides for positioning of tines to accommodate
variations in geometry of pallets 302, 402, 502, or other, as
applicable.
[0348] Adjustable fork tines like those of FIGS. 62T and 62U are
relatively slender and of length sufficient to engage two PA's 300,
400, 500, or other, as applicable, closely spaced in tandem along
the tines' length. Forks 5400 may also be of sufficient width to
provide for engagement of more than one `column` of PA's 300, 400,
500, or other, as applicable, along PC 5001 or 5002 length. This
enables transfer of more than one pair of PA's 300, 400, 500, or
other as applicable, between PC's 5001 or 5002 and PATT 1200--over
full width of PATT 1200--in one PACTU machine cycle and by
accessing PATT 1200 solely from side of PATT 1200 nearest PC 5001
or 5002, as applicable.
PACTU Operation
[0349] A PAGTU 5000 transfer-to-PATT 1200 loading process is shown
in FIGS. 58B-58F. FIG. 58B shows a pair of pallet assemblies 500
seated on conveyor 5002, ready to be transferred to PATT 1200. Fork
carriage 5250 is in its parking place, adjoining conveyor 5002.
[0350] PACTU first carriage (bridge) 5050 provides for fine
alignment between fork 5250 and PA placement locations
longitudinally along PATT 1200 and PACTU-PAU PC's 5001 and 5002.
Bridge 5050 may also accommodate multiple PA transition
locations.
[0351] In assembly mode, pallet assembly transport train 1200 is
advanced to coarsely position an empty pallet assembly space on
train 1200 in substantial alignment with PACTU 5000. PACTU 5000
begins a train loading cycle by positioning its first carriage 5050
so as to place fork 5250 in fine alignment with PA 300, 400 or 500
(500 shown in FIG. 58B) pair on PC 5001 or 5002, on side of PC 5001
or 5002 opposite train 1200. PACTU second carriage 5100 then drives
fork carriage 5250 into engagement with a pair of PA's 300, 400 or
500, as applicable, seated on PC 5001 or 5002 (500 shown in FIG.
58C). PACTU fourth carriage 5200 and fork carriage 5250 then lift
engaged pair of PA's 300, 400 or 500, as applicable, to slightly
above elevation of deck 1203 of available PA space on PATT 1200,
while bridge 5050 simultaneously moves in direction parallel to
direction of PATT travel as necessary to complete fine alignment of
fork carriage 5250 with target PATT space to receive PA's 300, 400
or 500, as applicable (FIG. 58D). PACTU second carriage 5100 then
drives fork carriage 5250, with load of PA's 300, 400 or 500, as
applicable, laterally toward PATT 1200, inserting PA's into target
space (FIG. 58E). PACTU fourth carriage 5200 and fork carriage 5250
then lower engaged PA's 300, 400 or 500, as applicable, onto PATT
deck 1203 and PACTU second carriage 5100 retracts fork carriage
5250 horizontally (FIG. 58F), then vertically, as necessary, to its
home position.
[0352] Unloading of PATT 1200 by PACTU 5000 is simply the reverse
of the described loading mode.
Pallet Assembly/Disassembly Unit (PAU) Physical Description
[0353] First embodiment of the PAS 2000 incorporates two
substantially identical pallet assembly/disassembly units PAU1
2100/1 and PAU2 2100/2, respectively. (Unless otherwise explicitly
stated, description of PAU 2100 refers to features common to both
units.) A first embodiment of PAU 2100, shown in FIGS. 59A-59R,
comprises: an integral pallet assembly infeed/disassembly outfeed
conveyor (PAIDOC) 2105; an integral pallet assembly
outfeed/disassembly infeed conveyor (PAODIC) 2106; an integral
composite container lifting unit comprising laterally spaced
conveyor elements 2450; an integral containerized plant assembly
infeed/disassembly outfeed conveyor (CAIDOC) 2107; a containerized
plant lifting unit (CLU) 2350; and, a containerized plant
gripping/transfer unit (CGU) 2102. Unless otherwise stated, all PAU
2100 active motion components, including conveyors, are of the
servo positioning type.
[0354] Adjoining CAIDOC 2107 is a two-zone, servo positioning,
containerized plant spacing conveyor (CSC) 1660 (FIGS. 49, 52, 53,
54), which applies proper spacing to to-be-loaded containerized
plants immediately prior to arrival on CAIDOC 2107 in assembly
mode.
Integral Conveyors
[0355] PAIDOC 2105, array of CLU conveyor elements 2450, and PAODIC
2106 form a line of PC's that index pallets/pallet assemblies from
a first external PC adjoining one end of PAU 2100, through PAU
2100, to a second external PC adjoining opposing end of PAU 2100.
CAIDOC 2107 is located above and has flow directions perpendicular
to PAODIC 2106. Vertical distance between CAIDOC 2107--accounting
for CAIDOC 2107 cross section height--and PAODIC 2106 provides for
tallest of containerized plants 203 conveyed by PAODIC 2106 to pass
below CAIDOC 2107. All conveyors are programmable servo positioning
type, having recipe-based indexing sequences appropriate for pallet
assembly type being processed by PAU 2100.
Container Gripping & Transferring Unit (CGU) Phys Desc.
[0356] CGU 2102 further comprises: a fixed frame 2104; a first
carriage 2150 linearly movably attached to frame 2104; a second
carriage 2200 linearly movably attached to first carriage 2150; a
third carriage 2250 linearly movably attached to second carriage
2200; and a gripper array adapter 2300 (FIGS. 59H, 59I).
[0357] CGU 2102 first carriage 2150 and those nested thereon
reciprocally traverse, on bearings 2153, linear track 2152
horizontal, parallel to flow directions of PC's 2105 and 2106,
under the action of servo gearmotor 2154 (FIG. 59G), and associated
drive components. Drive components, comprising gearmotor-mounted
sync belt sprocket 2155, sync belt 2156, and drive/sync shaft
2158--mounted sync belt sprocket 2157 drive drive/sync shaft 2158
(mounted to frame 2104 on bearings not shown). Drive/sync sprockets
2159 and 2160 near ends of drive/sync shaft 2158, in turn, drive
drive/sync belts 2161 and 2162, the loops of which are supported at
the opposing ends by idler/sync sprockets 2163 and 2164 (mounted to
frame 2104 on bearings not shown), respectively. Drive belt clamps
2165 and 2166 couple first carriage 2150 to synchronous runs of
drive belts 2161 and 2162, respectively. Drive belt couplings are
substantially symmetric lateral to drive direction, minimizing
twisting of frame 2104 and first carriage 2150 that results from
acceleration of first carriage 2150 and thereon nested carriages in
motion direction of first carriage 2150. Ends of track 2152 rails
incorporate carriage shock-absorbing safety bumpers 2167, which
prevent decoupling of CGU first carriage 2150 from track 2152 in
the event of a drive/sync belt failure. Further, drive belt
breakage sensors cause control system to execute a carriage
smooth-deceleration-to-stop sequence upon detection of belt
breakage.
[0358] Container gripper first carriage 2150 movement relative to
PAU 2100 frame provides for horizontal translation of gripped
containerized plants between container lifting unit (CLU) 2350
(described below) transition point and centerline of CAIDOC 2107.
Container gripper first carriage 2150 further incorporates vertical
linear bearings 2205, which are movably attached to vertical track
2206 of container gripper second carriage 2200.
[0359] CGU second carriage 2200 incorporates a vertical track 2206
for reciprocally movable attachment of CGU second carriage 2200
relative to CGU first carriage 2150. Positioning of CGU second
carriage 2200 relative to CGU first carriage 2150 is achieved by a
positioning servo gearmotor/gear belt sprocket/gear belt
arrangement 2202, combined with a pneumatic counterbalance cylinder
2203 and spring-applied, pneumatic release failsafe brake. CGU
second carriage 2200 movement relative to CGU first carriage 2150
provides for vertical translation of gripped containerized plants
between elevation of CLU 2350 transition point and CAIDOC 2107.
Container Gripper Adapter Assembly (CGAA) Embodiment 1
[0360] A first embodiment (not necessarily preferred) of CGU second
carriage 2200 further incorporates linear bearings 2260 along its
base, which are movably attached to horizontal track 2261 of CGU
third carriage 2250.
[0361] A first embodiment of CGU third carriage 2250 reciprocally
translates relative to CGU second carriage 2200, perpendicular to
PAIDOC 2105 flow directions. Such movement of CGU third carriage
2250 enables container grippers to align with laterally staggered
pallet container receptacles 509 occurring in alternating rows of
such receptacles 509 in pallets 502 having hexagonal container
receptacle segments.
[0362] A first embodiment of CGU third carriage 2250 mounts a
container gripper array attachment (CGAA) 2300 having a linear
array of individual, horseshoe-shaped container gripper yokes 2306.
Each gripper yoke 2306 is arcuate and has an inner radius
substantially matching that of the body of a corresponding frustal
container 203 (FIG. 59E) immediately below the container's radially
outwardly extending lip 209. Wrap of the yoke 2306 around container
203 is limited to an amount that enables yoke 2306 to be
horizontally freely translated into and out of vertical coaxial
alignment with associated container 203 on lowering of yoke 2306
relative to associated container 203 to a point a minor distance
above the bottom of the associated container 203, resulting from
decreasing associated frustal container outer diameter
corresponding to decreasing elevation relative to the container
203. Array of container gripper yokes 2306 is attachable as an
assembly to CGU third carriage 2250, providing for expedient
production setup changes. Each container gripper yoke 2306 may
pivot a minor amount about a vertically aligned pin 2310 proximal
to container 203 to allow for minor eccentricity in placement of
containerized plant 200 on containerized plant conveyor 2107.
Container gripper yokes 2306 are further each pneumatically
"centered" their respective pivot pin. Pneumatic centering
actuators 2268 are retracted during initial engagement of each
gripper yoke 2306 with associated container 203, providing for
"free" pivoting movement of each gripper yoke 236, thus, reducing
contact forces needed for achieving proper engagement between
gripper yoke 2306 and container 203.
CGAA Embodiment 2
[0363] A second embodiment of the bottom of CGU second carriage
2700, shown in FIGS. 70-72C, contemplates an active, servo
positioned gripper linear array attachment arrangement. In this
case, bottom of CGU second carriage 2700 incorporates a beam 2703
mounting a horizontal linear track 2782/2783 reciprocally traversed
by a container gripper left-hand-side tine array mounting carriage
2730 and a container gripper right-hand-side tine array mounting
carriage 2750. Left-hand-side tine array mounting carriage 2730
comprises: a linear bearing lateral spacer bar 2732; linear
bearings 2733, 2734 (not shown), 2737, and 2738 (not shown);
left-hand-side tine array adapter assembly left hook 2735 (not
shown) and right hook 2739; and, left-hand-side tine array adapter
assembly spring-applied/pneumatically-released left latch pin 2736
(not shown) and right latch pin 2740. Right-hand-side tine array
mounting carriage 2750 comprises: a linear bearing lateral spacer
bar 2752; linear bearings 2753, 2754 (not explicitly shown), 2757,
and 2758; and, right-hand-side tine array adapter assembly left
hook 2755 (not shown) and right hook 2759; and, right-hand-side
tine array adapter assembly spring-applied/pneumatically-released
left latch pin 2756 and right latch pin 2760.
[0364] Servo positioning gearmotor 2704, coupled to left-hand-side
tine array adapter mounting carriage 2730 through sync belt drive
sprocket 2705, sync belt 2706, sync belt idler sprocket 2707, and
left-hand-side tine array carriage belt clamp 2743, actuates
container gripper left-hand-side tine array mounting carriage 2730.
Similarly, servo positioning gearmotor 2709, coupled to gripper
right-hand-side tine array adapter mounting carriage 2750 through
sync belt drive sprocket 2710, sync belt 2711, sync belt idler
sprocket 2712, and right-hand-side tine array carriage belt clamp
2763, actuates container gripper right-hand-side tine array
mounting carriage.
[0365] Attachable to left-hand-side tine array adapter mounting
carriage 2730 is a container gripper left-hand-side tine array
adapter, comprising a tine mounting bar 2782, to which are
ultimately mounted an array of container gripper left-hand-side
tines 2785. Attachable to right-hand-side tine array adapter
mounting carriage 2750 is a container gripper right-hand-side tine
array adapter, comprising a tine mounting bar 2792, to which are
ultimately mounted an array of container gripper right-hand-side
tines 2795. Tines of container gripper left-hand-side and
right-hand-side tine arrays are interleaved, combining to form an
array of container grippers. Right side of each left-hand-side tine
2785 incorporates a container position control recess 2786 while
left side of each right-hand-side tine 2795 incorporates a
container position control recess 2796, which mirrors recess
2786.
[0366] Servo positioning gearmotors 2704 and 2709 drive gripper
tine arrays synchronously in opposite directions for gripping and
releasing of array of containers holding containerized plant
material. Servo positioning gearmotors 2704 and 2709 drive gripper
tine arrays synchronously in the same direction to effect side
shifting of the container gripper array. Container control recesses
2785 and 2786 together support each container by its
downward-facing lip surface at four spaced locations along the lip,
mirrored about a vertical plane centered between container gripper
tines 2785 and 2795. Shapes of container gripper recesses enable
grippers to handle square containers in relatively small, i.e.,
pint or quart, sizes, as well as frustoconical containers in a
plurality of sizes. With gripper recess depicted, side of a small,
e.g., pint or quart-sized, cubic (or pyramidal) container nearest
gripper assembly base is held against recess surfaces 2788 and 2798
by recess surfaces 2787 and 2797 as gripper tines are driven toward
one another. Recess surfaces 2787 and 2797, which are inclined
relative to direction of gripping motion, also effectively act to
center a cubic (or pyramidal) container between tines 2785 and
2795. Also, recess surfaces 2788 and 2798 check rotation of a cubic
(or pyramidal) container about its vertical centerline, fixing
container orientation. Programmability of CGU servo drives enables
grippers to carefully approach a containerized plant and to achieve
a pre-defined gap complementing container to be gripped, maximizing
containerized plant handling reliability.
CGAA Embodiment 3
[0367] A third embodiment of the bottom of CGU second carriage
2800, shown in FIGS. 73A-D, contemplates an active, servo
positioned gripper linear array attachment arrangement. In this
case, bottom of CGU second carriage 2800 incorporates a beam 2803
mounting a horizontal linear track 2814/2815 reciprocally traversed
by a container gripper left-hand-side tine array mounting carriage
2820 and a container gripper right-hand-side tine array mounting
carriage 2850. Mounted to right end of beam is servo positioning
gearmotor 2804, on the shaft of which is mounted a sync belt drive
sprocket 2805, which mounts one end of sync belt 2806 loop, the
other end of which, in turn, is captured by sync belt idler
sprocket 2807, proximal to the middle of beam 2803. Mounted to left
end of beam is servo positioning gearmotor 2809, on the shaft of
which is mounted a sync belt drive sprocket 2810, which mounts one
end of sync belt 2811 loop, the other end of which, in turn, is
captured by sync belt idler sprocket 2812, also proximal to the
middle of beam 2803.
[0368] Container gripper left-hand-side tine array mounting
carriage 2820 is movably attached to linear track 2814/2815 via
linear bearings 2831, 2832 (not shown), 2835, and 2836 (not shown),
which are mounted to a container gripper left-hand-side tine
mounting bar/track 2830. "C"-shaped mounting bar/track 2830 is
attached to, and thereby driven by, container gripper
left-hand-side tine array mounting carriage drive belt 2806 via
clamp 2841, which protrudes through and traverses slot 2816 through
beam 2803. Container gripper right-hand-side tine array mounting
carriage 2850 is movably attached to linear track 2814/2815 via
linear bearings 2861, 2862 (not shown), 2865, and 2866 (not shown),
which are mounted to a container gripper right-hand-side tine
mounting bar/track 2860. "C"-shaped mounting bar/track 2860 is
attached to, and thereby driven by, container gripper
right-hand-side tine array mounting carriage drive belt 2811 via
clamp 2871, which protrudes through and traverses slot 2817 through
beam 2803.
[0369] Container gripper left-hand-side tine 2920 incorporates a
mounting bar mating portion having hooks 2922 and 2934 which cause
tine 2920 to be captured inside perimeter of "C" section of
mounting bar/track 2830 (FIG. 73D). Latch 2923 incorporates a cam
2924, loaded against inside wall of "C"-section mounting bar/track
2830 by spring 2926 acting on latch torque arm 2925 to create
tightly wedged coupling of gripper tine attachment 2920 with
mounting bar/track 2830 Releasing of gripper tine attachment 2920
is accomplished by squeezing of cam release arm 2927 against cam
release backup arm 2928 and sliding of left-hand-side tine 2920
from one end of mounting bar/track 2830. Hook adapter plate 2929
adapts left-hand-side tine mounting portion to left-hand-side tine
2930. Right-hand-side tine attachment 2940 mounts similarly, except
to right-hand-side tine mounting bar/track 2860.
[0370] Third embodiment enables a plurality of pallet-container
configurations to be handled (not simultaneously) by one container
gripper assembly merely by repositioning of container gripper tine
attachments on CGU and, if necessary, addition or removal, of
container gripper tine attachments to or from CGU,
respectively.
[0371] Servo positioning gearmotors 2804 and 2809 drive gripper
tine mounting bar/tracks 2830 and 2860 synchronously in opposite
directions for gripping and releasing of array of containers
holding containerized plant material. Servo positioning gearmotors
2804 and 2809 drive gripper tine arrays synchronously in the same
direction to effect side shifting of the container gripper
array.
Container Lifting Unit (CLU) Physical Description
[0372] Water collecting design of pallet assemblies results
incorporated plant containers that are not exposed for gripping or
handling without a secondary means of lifting containers at least
partially out of pallets. Consequently, a containerized plant
lifting unit (CLU) 2350 forms a part of PAU 2100. CLU 2350 is
situated in part in a relatively narrow gap between PAIDOC 2105 and
PAODIC 2106 and operates generally within a substantially
horizontal, relatively slender, frame 2352 mounted to frame 2104 of
PAU 2100.
[0373] Substantially along the top of CLU 2350 frame 2352 is a
linear horizontal track 2402 to which CLU first carriage 2400 is
movably attached via linear bearings 2415. A relatively short,
integral, composite third pallet conveyor (CLUPC) is formed of an
array of laterally spaced conveyor elements 2450 clamped to CLU
first carriage 2400. Track 2402 is lateral to PAIDOC 2105 flow
directions, and provides for shuttling of CLU first carriage 2400
to substantially one side of PAU 2100. Lateral shifting of CLU
first carriage 2400 is actuated by servo positioning gearmotor 2403
(FIG. 59G) coupled to CLU first carriage 2400 through sync belt
drive, comprising sync belt drive sprocket 2408, sync belt 2410,
and idler rollers 2412. Sync belt 2410 is open-ended and coupled to
opposing ends CLU first carriage 2400. Individual conveyor elements
2450 can be forcibly slid along length of CLU first carriage 2400,
providing for adjustment of spacing between elements to account for
differing lifting tooling geometry and spacing.
[0374] Conveyor elements 2450 (FIG. 59F illustrating one in a
longitudinal vertical section) each comprise a splined sleeve 2453,
a sync belt drive sprocket 2454, a sync belt 2455, a sync belt
support bed 2456, conveyor head 2457 and tail 2458 sync belt idler
sprockets, an idler roller 2452, and a tensioning roller 2459.
[0375] Alternately, conveyor element 2450 belt is inverted and
associated rollers and sprockets are swapped, and tensioning roller
and drive sprocket positions swapped. This arrangement results in
sync belt teeth providing the conveying surface. Such an
arrangement reduces wear rate on belt teeth as theoretically no
slip occurs between teeth and conveyed workpieces. Also, a
low-friction belt backing may be applied to reduce belt-bed sliding
friction. In earlier configuration, unless belt is modified,
potentially at significant expense, e.g., to yield a "T" cross
section and conveyor element side rails provide belt support,
wherein belt teeth do not contact, and, thus, slide against,
conveyor bed while supporting weight of conveyed workpieces, belt
teeth bear workpiece load while sliding, yielding a relatively high
wear rate of belt teeth.
[0376] Conveyor elements 2450 are actuated by a servo positioning
gearmotor 2417 through a coupling 2418 and common splined shaft
2419. CLU first carriage 2400 and thereon mounted conveyor elements
2450 may be driven to side of PAU 200 to provide for vertical
insertion and removal of container lifting tooling that mounts
below CLU first carriage 2400 conveying surface. Positions of
conveyor elements 2450 are adjusted automatically for each new
production setup by CLU first carriage 2400 positioning of each
conveyor element 2450 in an element gripping unit 2353, which
momentarily grips and effectively fixes the position of a given
conveyor element 2450 in free space while the CLU first carriage
2400, to which conveyor element is mounted, is driven in free
space, relative to the conveyor element 2450. Control system
maintains CLU first carriage 2400 and conveyor element gripping
unit 2353 geometry, conveyor element 2450 current and subsequent
positions, and associated motion algorithms as required for
automatic position changes.
[0377] Nested in CLU 2350 frame 2352 is a CLU second carriage 2500
that periodically reciprocally traverses a linear, vertical track,
driven by positioning servo controlled hydraulic actuators 2501 and
2502, which provide a portion of the linear guidance. Vertical
motion synchronization of the four corners of CLU second carriage
2500 is accomplished with arrangement of sync belts 2508, 2509,
2510, and 2511, sync belt sprockets 2506 and 2507, idler rollers
2512 and 2513, sync shaft 2503, and sync shaft 2503 support
bearings (not shown). CLU second carriage 2500 further incorporates
a linear horizontal track 2514 along the length of CLU second
carriage 2500 along which a CLU fourth carriage 2600, discussed
below, periodically, reciprocally traverses.
[0378] Also nested in CLU 2350 frame 2352 is a CLU third carriage
2550 that periodically reciprocally traverses a linear horizontal
track 2563 perpendicular to PAIDOC 2105 conveyor flow directions,
driven by servo positioning gearmotor 2552 through a drive train
comprising shaft coupling 2553, upper sync belt drive sprocket
2557, upper sync belt 2559, upper sync belt idler sprocket 2561,
drive/sync shaft 2554, lower sync belt drive sprocket 2558, lower
sync belt 2560, lower sync belt idler sprocket 2562, and drive/sync
shaft 2554 support bearings (not explicitly shown). Downward
extending guide rails 2601 and 2602 provide vertical surfaces
against which guide bearings 2604 (FIGS. 59D, E) and 2605 (FIG.
59H) mounted to a CLU fourth carriage 2600, described below, run,
synchronizing horizontal motion of CLU third carriage 2550 and CLU
fourth carriage 2600. A CLU container lifting column guide plate
2670 portion of a CLU container lifting adapter assembly (CLAA)
2650 is fastened to CLU third carriage 2550 via an array of
spring-applied, pneumatically released latches 2567 situated along
the seat of guide plate 2670. Nested in CLU second carriage 2500
and CLU third carriage 2550 is a CLU fourth carriage 2600. CLU
fourth carriage 2600 bearings 2603 and 2604 slave CLU fourth
carriage to elevation of CLU second carriage 2500 and lateral
position of CLU third carriage 2550. A CLU container lifting column
drive plate 2652 portion of CLU container lifting adapter assembly
2650 is fastened to CLU fourth carriage 2600 via an array of
spring-applied, pneumatically released latches 2606 situated along
the seat of drive plate 2652.
[0379] Arrangement of carriages yields relatively low mass of
components that must shuttle horizontally each machine cycle to
align lifting columns with staggered pallet container receptacles
in alternating rows of hexagonal pallet container receptacle
segments. This reduces on framework reaction forces and associated
motor loads.
Container Lifting Adapter Assembly (CLAA)
[0380] Each container lifting adapter assembly 2650 comprises a
container lifting column drive plate 2652 and a container lifting
column guide plate 2670. Drive plate 2652 and guide plate 2670 are
horizontally situated with drive plate 2652 spaced below and normal
to guide plate 2670. Mounted on drive plate 2652 is a linear array
of slender same-height columns 2654 or groupings 2653 of columns
extending upward from drive plate 2652. Lifting columns pass
through corresponding holes in complementary lifting column guide
plate 2670.
[0381] During CLU 2350 operation, drive plate 2652 is latched to
and consequently matches motion of CLU fourth carriage 2600 while
guide plate 2670 is latched to and consequently matches motion of
CLU third carriage 2550. Fourth carriage 2600 with drive plate 2652
provides vertical upward thrust and position control of lifted
containers of plants while third carriage 2350 with guide plate
2670 ensure upper ends of lifting columns 2654 are accurately
aligned with container lifting access holes 545 in pallets 502
(FIG. 59E), holes 815 in grids 800, and/or holes 603 in grids/grids
600 (FIG. 59E), on initial lifting column 2654 engagement.
Container lifting columns 2654 are arranged to pass through gaps
between adjoining CLUPC conveyor elements 2450, which are spaced to
substantially align with and support centers of pallet container
receptacle support columns 518. Conveyor elements 2450 may be
`doubled up` to support relatively large pallet container
receptacles, and consequent heavy containerized plants. Further,
conveyor elements 2450 not required for supporting a pallet of a
particular configuration may be positioned in gaps between pallet
container receptacle support columns 518 or to side of PAU PC
operating area.
[0382] In the case of frustal or cylindrical containers, container
lifting adapter assemblies 2650 incorporate for each container in a
row of spaced pallet container receptacles a circular array 2653 of
at least three preferably six equally spaced, equally long lifting
columns 2654 that are attached to and extend upward from container
lifting drive plate 2652, through corresponding holes in the
container lifting column guide plate 2670. In a case in which a
stabilization groove 233 is incorporated in the bottom of and
concentric with each container 203, the diameter of the circular
array 2653 of container lifting columns 2654 matches that of the
groove 233 in the container bottom. Also, in spaced container
receptacle pallets 502, the pattern of container lifting columns
2654 on the container lifting drive plate 2652 matches the
corresponding pattern of lifting access holes 545 in a row of
container receptacles 509 in a pair of pallets 502 spaced laterally
closely on the CLU conveyor. There is consequently no restriction
on rotational orientation of a mating container about its vertical
centerline for proper mating of lifting columns 2654 with groove
233 of each such container.
[0383] Also, for spaced container receptacle pallets 502, the
pattern in plan of container lifting columns 2654(1) on the
container lifting drive plate 2652(1) matches that of lifting
access holes 545 in a row of container receptacles 509 in a pair of
pallets 502 spaced laterally closely together on the CLU conveyor.
For contiguous container receptacle pallets 402, the pattern of
container lifting columns 2654(2) on the container lifting drive
plate 2652(2) matches the corresponding pattern of lifting access
holes in a row of container receptacles in a pair of pallets spaced
laterally closely together on the CLU conveyor except reflecting
the absence of every other pallet container receptacle. Such is
also the case for tray/flat pallets, which can be considered a
variant of contiguous container receptacle pallets.
[0384] In such case the upper end of each container-lifting column
2654 is in the general shape of a spade 2655 that matches an
arcuate segment of the container bottom groove 233 mating with the
lifting column 2654. Large depth of groove 233 relative to its
section width ensures upper and lower contact surfaces between
groove 233 and engaged lifting column 2654 interfere with free
tipping of lifted container 203, resulting in stable lifting in the
event of container side loading, as may result from entanglement of
adjoining plant canopies during containerized plant removal.
Container lifting columns 2654 can be cylindrical, enabling
incorporation of circular, normally blanked container lifting
access holes through pallets and grids, resulting in relatively low
production costs.
[0385] In a case in which no stabilization groove is incorporated
in the bottom of each container, the diameter of the circular array
of container lifting columns is preferably approximately that of
the outer perimeter of the container bottom. In this case the upper
ends of the container lifting columns are "L"-shaped, wherein the
horizontal leg points toward the center of the container bottom and
the vertical leg extends a minor distance upward along the side of
the container on engagement of container lifting columns with
containers. Such container lifting columns necessitate
substantially larger container lifting access holes through pallets
and grids and consequent difficult, oblique trimming of pallets in
production of container receptacles, resulting in relatively
greater production costs.
[0386] In a case in which container plans are noncircular, giving
rise to finite relationships rotationally about common vertical
centerlines between pallet container receptacles and associated
mounted containers, an otherwise circular groove in the bottom of a
container would be replaced by one or more tapered recesses. In
this case, for smaller containers, a single tapered recess of
noncircular plan, e.g., a pyramid, in and concentric with the
container bottom engaged by a single container-lifting column
yields requisite container lifting stability. Noncircular plan of
single container lifting column per container ensures associated
container remains rotationally fixed about its vertical centerline
while gripper array is in the process of retrieving it.
PAU Operation
CGU/CGAA Embodiment 1
[0387] In PAU having first embodiment of CGU/CGAA arrangement
(FIGS. 55-56), CGAA 2300 corresponding to pallet 502 configuration
to be processed is retrieved and installed, as described above.
CGU/CGAA Embodiment 2
[0388] In PAU having second embodiment of CGU/CGAA arrangement
(FIGS. 70-72C), CGAA 2780/2790 corresponding to pallet 502
configuration to be processed is retrieved and installed, similarly
to process for first embodiment.
CGU/CGAA Embodiment 3
[0389] In PAU having third embodiment of CGU/CGAA arrangement
(FIGS. 73A-D), CGAA 2920/2940 gripper tines are positioned
corresponding to pallet 502 configuration to be processed.
Common
[0390] Also, prior to start of production, CLU conveyor elements
2450 are positioned typically to align with predefined lateral
positions of centers of pallet container receptacles 509 across
PAIDOC 2105 prior to start of production run. For larger
containers, CLU conveyor elements may be "doubled up" beneath each
pallet receptacle to accommodate the relatively greater weight/mass
involved, given the lower number of receptacles 509 involved and
relatively greater spacing between container lifting columns
lifting individual containerized plants.
[0391] In production processing of spaced container receptacle
pallets 502 (FIGS. 2, 3, 55-56), a full pallet row of containerized
plants is assembled or disassembled, depending on PAU operating
mode, in one machine cycle. In processing of contiguous receptacle
pallets 402 (FIG. 5), including tray/flat pallets 302 (FIG. 6),
half of a pallet row of containerized plants, i.e., every other
containerized plant in a row, is assembled or disassembled,
depending on PAU operating mode, in one machine cycle, given space
required for grippers to access and lift containerized plants 200
by the lips of their containers or trays/flats of plants 303 by
their lips, as applicable.
[0392] In processing of hexagonal container receptacles, whether
spaced or contiguous, wherein alternating rows of container
receptacles are laterally staggered, appropriate CGU and CLU
carriages shuttle reciprocally, laterally relative to PAIDOC 2105
flow direction each machine cycle for proper alignment between
receptacles, container grippers and container lifting columns. Such
reciprocal lateral shuttling also occurs in order to process
alternating contiguous container receptacle pallets 402, as well as
flat/tray pallets 302, i.e., regardless of whether pallet container
receptacle rows are staggered, as stated above.
[0393] In processing pallet assemblies, e.g., 500, in which a
secondary means is necessary to expose container lips 209 for
lifting of containers 203, container lifting columns 2654 engage
bottoms 216 of plant containers 203 situated in pallet container
receptacles 509 where container bottoms 216 are exposed through
container lifting access holes 545 in bottoms of pallet container
receptacles 509, and through lifting access holes 603 in separate
grids 600 (or lifting access holes 815 in grids 800), if
incorporated. In processing container pallet assemblies that
present exposed lips for container lifting, container lifting
columns 2654 simply facilitate freeing containers 203 from
respective pallet container receptacles.
[0394] In pallet assembly mode, as shown for spaced container
receptacle pallets 502 in FIGS. 59R-J, (i.e., in reverse order), an
array of properly spaced flats/trays 303 of plants or containers
203 holding individually containerized plants 200, proximal to end
of CAIDOC 2107, is gripped (FIG. 59Q) by corresponding array of
container grippers 2306 (in first embodiment (FIGS. 59A-E);
2785/2795 in second embodiment (FIGS. 70-72C); 2930/2960 in third
embodiment (FIGS. 73A-D)). The array is then: lifted slightly (FIG.
59P); translated horizontally to side of CAIDOC 2107, to vertical
alignment with corresponding array of empty pallet receptacles 309,
140 or 509, as applicable, momentarily situated in PAU 2100(2)
(FIG. 59N); and, lowered to an elevation wherein flats/trays 303 of
plants or containers 203 of individually containerized plants 200
are engaged with tops of elevated container lifting columns, just
above empty pallet receptacles 309, 140 or 509, and which fourth
carriage 2600 of container lifting unit 2350 has driven up to such
a position (FIG. 59M).
[0395] Over substantially the same time period, PAIDOC 2105
receives empty pallets, potentially nested in grids, from an
adjoining first PC, and drives, in an indexing fashion, such
pallets toward containerized plant-pallet assembly area of PAU
2100, largely asynchronously with assembly action of containerized
plant-pallet assembly area of PAU 2100, though substantially
synchronously with lateral shuttling of CLU third 2550 and
downwardly retracted fourth 2600 carriages and associated container
lifting assembly adapter 2650 (FIGS. 59P, N). CLU conveyor elements
2450 index synchronously with adjoining PC's (PAIDOC 2105 or PAODIC
2106) while pallets are in simultaneous contact. PAODIC 2106
receives in an indexing fashion loaded portions of pallets from PAU
2100 assembly area (CGU/CLU combination), and ultimately conveys
completed pallet assemblies 500 to PC adjoining PAODIC 2106.
[0396] Container lifting columns 2654 extend upward through
container lifting access holes 545 and, if applicable 603 or 815,
such that their upper ends are positioned against the bottom of the
array of flats/trays 303 of plants or containers 203 of
individually containerized plants 200 to engage pallet container
receptacles 309, 140 or 509, as applicable (FIGS. 59A-E, M).
Grippers 2306 (in first embodiment); 2785/2795 in second embodiment
(FIGS. 70-72C); 2930/2960 in third embodiment (FIGS. 73A-D)) then
release flats/trays 303 of plants or containers 203 of individually
containerized plants 200, as applicable, and CLU fourth carriage
2600 retracts downward (FIG. 59J), completing transfer of array of
flats/trays 303 of plants or containers 203 of individually
containerized plants 200 to respective pallets 302, 402 or 502, as
applicable, then to a point wherein tops of container lifting
columns 2654 have receded through gaps between conveyor elements
2450 to below conveyor elements 2450 upper surface to allow for
indexing of pallet assemblies 300, 400 or 500, as applicable, by
PAIDOC PC 2105, CLU conveyor elements 2450, and PAODIC 2106
(similar to FIGS. 59P, N). While CLU fourth carriage 2600 is fully
retracted and PAIDOC PC 2105 and PAODIC PC 2106 are subsequently
indexing pallets 302, 402 or 502, as applicable, to load the next
empty receptacles, container grippers 2306 (in first embodiment);
2785/2795 in second embodiment (FIGS. 70-72C); 2930/2960 in third
embodiment (FIGS. 73A-D)) are moving up to retrieve another array
of flats/trays 303 of plants or containers 203 of individually
containerized plants 200, which CPC 1700 is simultaneously
conveying into position for retrieval. At substantially the same
time, CLU container lifting columns shuttle laterally to align with
next set of empty pallet container receptacles.
[0397] Pallet disassembly mode, depicted by FIGS. 59J-R (in the
order indicated), is simply the pallet assembly mode operating in
reverse. Container gripper unit 2102 periodically reciprocally
lowers container grippers 2306 to an elevation above top of pallets
302, 402 or 502, as applicable, where lips of flats/trays 303 of
plants or containers 203 of containerized plants 200 being
extracted become readily accessible through lifting of such
flats/trays 303 of plants or containerized plants 200 by CLU
container lifting columns 2654. On gripping of containers 203, CGU
2102 transfers associated containerized plants 200 to CAIDOC 2107
and CLU container lifting columns 2654 retract. Once CLU container
lifting columns 2654 are clear of PA's 300, 400 or 500, as
applicable, PAIDOC 2105, CLU conveyor elements 2450 and PAODIC
2106, index by one pallet container receptacle row toward PGWU
5700.
[0398] PAU control programming can, as part of assembly and/or
disassembly machine cycles, cause PAU container gripper array to be
positioned against upper surfaces of pallets adjoining row of
container receptacles (a) about to receive containerized plant
material and/or (b) from which plant material is being
extracted.
[0399] In the case of pallet container receptacles about to receive
containerized plant material, such momentary positioning of PAU
container gripper array prevents lifting of pallets that may
otherwise result from incidental contact between container lifting
columns and edges of associated container lifting access holes
through pallets, and, if applicable, grids, as container lifting
columns pass upward through container lifting access holes in
pallets (and, if applicable, grids). In the case of containerized
plant material being extracted, such momentary positioning of PAU
container gripper array further prevents lifting of pallets
resulting from incidental friction between pallet and containerized
plant material being upwardly extracted from pallet--friction that
may otherwise cause pallet to be lifted along with containerized
plant material being upwardly extracted from pallet.
[0400] Such incidental friction may result from accumulation of
debris in container lip-supporting trough along upper perimeter of
pallet container receptacle, outside of container lip. It may also
result from minor deformation of container side wall(s) and/or
pallet container receptacle side wall(s) (e.g., elliptical instead
of round in plan), which cause incidental contact between such
respective side walls. These are but a couple of examples of
pallet-containerized plant material friction sources and are not
intended to be all-inclusive.
[0401] Lastly, extraction of containerized plant material from
pallets may be further facilitated by minor differences (e.g.,
approximately 1/4 inch) between; (a) the height of an array of
container lifting columns associated with a first containerized
plant in a given row being extracted, and (b) the height of an
array of container lifting columns associated with a second
containerized plant adjoining said first containerized plant in the
subject row being extracted; relative to container lifting adapter
drive plate. Such variation in heights of container-associated
container lifting column arrays reduces the number of containerized
plants experiencing initial separation from the pallets at any
given temporal instant. It also results in a corresponding
concentration of pallet-containerized plant initial separation
forces for overcoming pallet-containerized plant friction. The
difference in height between the array of greatest elevation and
the array of least elevation in a given container lifting adapter
assembly is, however, sufficiently small to ensure containerized
plant material can be reliably transferred to and from
containerized gripper array, which is situated substantially in a
horizontal plane (and, therefore, does not necessarily have
corresponding gripper-to-gripper elevation variation).
[0402] Variation in gripper-to-gripper elevation relative to
gripper adapter base may alternately complement variation in
container lifting column array elevation relative to container
lifting drive plate. If so, gripper-to-gripper elevation variation
will be sufficiently small to ensure simultaneously gripped
containerized plant material can be reliably transferred to and
from a common horizontal planar (i.e., a stationary conveyor)
surface.
Automatic CGAA & CLAA Change & CLU Conveyor Element
Positioning
[0403] Programmable controls, electro-pneumatically actuated
latches and servo-driven conveyors and carriages enable switching
of CGAA 2300 and CLAA 2650 fitting one pallet configuration to
those fitting another. FIGS. 59G and H depict a PAU 2100 with its
CGAA 2300 and CLAA 2650 removed from their working mounts and
placed in a storage fixture 2680, which maintains the set as a
single unit for conveying to and storage in PGSA 3500. Automatic
process of extracting CGAA 2300 and CLAA 2650 from their working
mounts comprises: retrieving from PGSU 3500 storage fixture 2680(1)
for to-be-removed tooling and storage fixture 2680(2) (not shown)
holding to-be-installed tooling, and conveying same to PAIDOC 2105
and PAODIC 2106, respectively; shuttling CLU first carriage 2400
and thereon mounted CLU conveyor elements 2450 to one side of PAU
2100, clear of space above CLAA 2650; fully downwardly retracting
CLU second carriage 2500 and centering CLU third carriage 2550 (and
slaved fourth carriage 2600) mounting CLAA 2650; disengaging
container lifting column guide plate latches 2567 (FIG. 59I), which
frees container lifting column guide plate 2670 from its CLU third
carriage 2550 working mount, and which releases spring-loaded latch
plates 2672(F) and 2672(B), resulting in engagement of respective
latch pins 2674(F) and 2674(B) with respective latch holes 2656(F)
(not shown) and 2656(B) in container lifting columns 2654, fixing
vertical spatial relationship between container lifting column
guide plate 2670 and container lifting column drive plate 2652;
upwardly stroking CLU second carriage 2500, which elevates released
container lifting column guide plate 2670 above PAIDOC 2105
conveying surface; stroking CGU first 2150, second 2200, and third
2250 carriages to align vertical centerlines of container gripper
yokes 2306 with corresponding centerlines of CLU container lifting
column arrays 2653 with yokes 2306 below and contacting container
lifting column guide plate 2670; disengaging container lifting
column drive plate latches 2606, which frees container lifting
column drive plate 2652 from its CLU fourth carriage 2600 working
mount; CGU first 2150 and second 2200 carriage maneuvering of CGU
third carriage 2250 into engagement with, lifting and maneuvering
of CGAA 2300 and held CLAA 2650 onto associated holding fixture
2680 situated on PAIDOC 2105 (FIG. 59H); disengagement of latches
2265 fixing CGU third carriage 2250 to CGAA 2300(1), thereby
releasing CGAA 2300(1) from CGU third carriage 2250. CGU first 2150
and second 2200 carriages then maneuver CGU third carriage 2250
into engagement with replacement CGAA 2300(2) (not shown) and
install CGAA 2300(2) into CLU third 2550 and fourth 2600 carriage
mounts by a process substantially the reverse of the disassembly
process by which this point was reached.
[0404] On completion of CLAA replacement, CLU first carriage 2400
interacts with CLU conveyor element positioner 2353 to reposition
each CLU conveyor element 2450 suitably for the upcoming production
run. CLU first carriage 2400 moves each CLU conveyor element 2450
into CLU conveyor element positioner 2353, where clamp holding CLU
conveyor element 2450 to CLU first carriage 2400 is released and
CLU first carriage 2400 is relocated relative to CLU conveyor
element 2450. Programmable control system maintains a database of
positions of CLU conveyor elements 2450 for each processed pallet
type, thereby ensuring execution of the repositioning process in
the order necessary to avoid collisions between CLU conveyor
elements 2450.
Containerized Plant Spacing Conveyor (CPSC)
[0405] Adjoining and transitioning to CAIDOC 2107 is a
containerized plant spacing conveyor (CPSC) 1660 (FIGS. 49, 52, 53,
54), which automatically adjusts spacing of arriving
to-be-assembled containerized plants and trays/flats of plants to
match spacing of receptacles in corresponding pallets.
[0406] CPSC 1660 is divided into first and second servo-driven
conveyor belt positioning zones. Individually controllable
adjoining zones and of CPSC 1660 provides for substantially
infinite adjustment of container-to-container spacing of
containerized plants, as well as for additional substantially
infinite adjustment of much larger spacing between arrays of spaced
containerized plants. This results in a corresponding time period
for PAU 2100 to retrieve such arrays of containerized plants from
CAIDOC 2107 for assembly with pallets or to convey away such an
array of containerized plants from CAIDOC 2107, providing space to
receive a new array to be disassembled from pallets.
[0407] Conveyor speeds in adjoining zone are matched as
containerized plants cross transition, substantially averting
container-to-belt slip, thereby maintaining high accuracy of
containerized plant positioning in handling by CPSC. Also, servo
controls provide for programmable speed, acceleration and jerk,
thereby further smoothing conveyor flow and averting
container-to-belt slip.
Pallet & Grid Rotating Unit (PGRU)
[0408] Following use, which may last for several months, pallets
and grids will be dirty and should be rinsed with water to maintain
integrity of sealing and reflective surfaces and to prevent debris
from adversely affecting pallet and grid stack nesting for storage.
Features of pallets and grids, such as water reservoirs and lips
necessitate pallets be stood on edge for substantially complete
drainage of rinse water. Further, it is preferable that standing on
edge of pallets occurs repetitively, at a relatively high
frequency, i.e., on a production basis, without manual interaction.
Upon completion of pallet and grid rinsing, pallets should ideally
be likewise returned to a working position. Automated pallet and
grid rotator unit (PGRU) 5500 for such pallet and grid
manipulation.
[0409] Two PGRU's 5500(1) and 5500(2), which are capable of
standing pallets and grids on edge as well as returning pallets and
grids to their working orientations, are at infeed and outfeed ends
of a pallet and grid washing unit (PGWU) 5700 of FIGS. 60A, C, D,
and E, forming a line. Ends of PGRU's opposite PGWU interface with
interconnecting PC's. PGRU 5500 is detailed in FIGS. 60G-N.
[0410] PGRU 5500(1) simultaneously rotates two pallets and grids as
units from working orientation to "on edge" rinsing orientation.
PGRU 5500(2) at opposite end of PGWU 5700 simultaneously rotates
two pallets and grids as units from "on edge" rinsing orientation
to working orientation.
[0411] PGRU 5500 comprises two substantially identical carriage
assemblies, movably attached to a common frame, that rotate and
translate symmetrically mirrored about a vertical plane centered on
infeed PC and tangential to infeed PC flow direction.
[0412] PGRU 5500 comprises a frame 5502, plus, on each of two sides
lateral to conveyor line, a horizontally, linearly translating
first carriage 5520(L/R), a reciprocally rotating and conveying
second carriage 5550(L/R), a conveying third carriage 5580(L/R),
and a reciprocating and conveying fourth carriage 5620(L/R).
[0413] PGRU frame 5502 as illustrated, incorporates a linear track
having rails 5510 and 5511 9 not shown) and assembly first and
second sync belt arrangements. First and second sync belt
arrangements provide in part described mirrored symmetrical motion
of first carriages 5520(L) and 5520(R), which traverse track
5510/5511. First synchronizing belt arrangement comprises sync belt
sync sprocket 5503 and idler sprocket 5505 and thereon mounted belt
5504 to which first carriages 5520(L) and 5520(R) are coupled
through clamps 5526(L) and 5526(R), respectively. Second
synchronizing belt arrangement, comprising sync belt sync sprocket
5507 and idler sprocket 5509 and thereon mounted belt 5508 to which
first carriages 5520(L) and 5520(R) are coupled through clamps
5528(L) and 5528(R), respectively. Sync shaft 5506, which provides
carriage 1 synchronization redundancy, is coupled to sprockets 5503
and 5507 and is supported near ends by bearings not shown. While
two coupled sync belt arrangements are depicted, one arrangement,
combined with carriage 1 travel bumpers at ends of track 5510/5511
maintains first carriages 5520(L) and 5520(R) on track in the event
of a belt break. Without the need for sync shaft 5506, relatively
lesser expensive flat or equivalent belts and pulleys can replace
remaining sync belts and sprockets, respectively. Beneath PGWU
frame 5502(1) as shown in FIG. 60D, is a drip pan 5512 for catching
accumulated irrigation water spilled from pallet during rotation to
an "on edge" orientation. Drip pan 5512 funnels collected water to
a discharge port that preferably discharges into a culvert or
underground piping which directs such water to a retention pond.
Such water is typically unacceptably contaminated for reuse in
pallet rinsing.
[0414] Each PGRU first carriage 5520 is movably attached via linear
bearings 5521, 5522, 5523, and 5524 to PGRU frame 5502 track
5510/5511 and pivotally to respective second carriage 5550 via
bearings 5529 and 5530. PGRU first carriage 5520 incorporates a
PGRU second carriage rotation drive servo gearmotor 5532 coupled to
drive/sync shaft 5531, which is coupled at each end to sync belt
sprockets 5533 and 5534 and supported near each end by proximal
bearings not shown. An open-ended sync belt 5536 fixed at a first
end of a pulley segment 5552 of second carriage 5550 wraps around
sprocket 5533 and terminates at belt clip 5539 (not shown,
complements belt clip 5540 shown). Belt clip 5539 couples sync belt
5536 entering clip 5539 from one direction and two belts 5535
laterally symmetrically spaced apart by width of belt 5536,
entering clip 5539 from direction opposite belt 5536. Laterally
spaced belts 5535 wrap around an idler sprocket 5541, straddle
pulley segment 5552--wrapped belt 5536, and wrap around pulley
segment 5552 in opposite direction from belt 5536 and is fixed to
end of pulley segment 5552 opposing belt 5536 attachment end. A
second open-ended sync belt 5538 fixed at a first end of a pulley
segment 5553 of second carriage 5550 wraps around sprocket 5534 and
terminates at belt clip 5540. Belt clip 5540 couples sync belt 5538
entering clip 5540 from one direction and two belts 5537 laterally
symmetrically spaced apart by width of belt 5538, entering clip
5540 from direction opposite belt 5538. Laterally spaced belts 5537
wrap around an idler sprocket 5542, straddle pulley segment
5553--wrapped belt 5538, and wrap around pulley segment 5553 in
opposite direction from belt 5538 and is fixed to end of pulley
segment 5553 opposing belt 5538 attachment end. Servo gearmotor
5532 and described drive cause second carriage 5550 to rotate about
bearings 5529 and 5530, relative to first carriage 5520. Pivotal
connection between PGRU second carriages 5530(L) and 5530(R)
necessitates that distance between PGRU first and second carriage
pivotal joints 5529 and 5530 vary. First carriage bearings 5529 and
5530, running on PGRU track 5510/5511 provide for such
variation.
[0415] PGRU second carriage 5550 incorporates: a first set of pins
5529 for pivotal attachment to PGRU first carriage 5520; pulley
segments 5552 and 5553 coupled to PGRU first carriage 5520 forming
part of rotation drive described above; an aligned pin and hole
pair 5551 for pivotal connection to a facing second carriage 5550;
a servo gearmotor 5558--driven positioning conveyor 5555; a track
5559/5560 for movable attachment of PGRU third carriage 5580; and a
drive for positioning PGRU third carriage 5580 relative to PGUR
second carriage 5550. PGRU third carriage 5580 positioning drive
comprises gearmotor 5561 coupled to drive/sync shaft 5568, sync
belt sprockets 5565 and 5569 attached to ends of drive/sync shaft
5568, sync belt 5566 mounted to drive sprocket 5565 and looping
around idler sprocket 5567 mounted to front side of PGRU second
carriage 5550; and, sync belt 5570 mounted to drive sprocket 5569
and looping around idler sprocket 5571 mounted to rear side of PGRU
second carriage 5550. Track 5559/5560 is oriented to provide for
motion of PGRU third carriage 5580 perpendicular to conveying
surface of PGRU second carriage conveyor 5555.
[0416] PGRU third carriage 5580 incorporates: linear bearings 5581,
5582, 5583, and 5584, movably attaching PGRU third carriage 5580 to
track 5559/5560 of PGRU second carriage 5550; belt clamps 5586 and
5588 coupling PGRU third carriage 5580 to associated drive belts
5566 and 5570; a servo gearmotor 5592--driven positioning conveyor
5589; linear bearings 5593 and 5594 movably attaching PGRU third
carriage 5580 to track 5621/5624 of PGRU fourth carriage 5620; a
servo gearmotor drive for positioning PGRU fourth carriage 5620
relative to PGRU third carriage 5580. PGRU fourth carriage 5620
positioning drive comprises servo gearmotor 5595 coupled to sync
shaft 5600, near the front end of which is mounted sync belt
sprocket 5596 and idler rollers 5597 and 5598 which collectively
drive open-ended sync belt 5599, and near the rear end of which is
mounted sync belt sprocket 5601 and idler rollers 5598 and 5602
which collectively drive open-ended sync belt 5604. Sync belt 5599
is fastened at its ends to ends of PGRU fourth carriage 5620 track
front rail 5621. Sync belt 5604 is fastened at its ends to ends of
PGRU fourth carriage 5620 track rear rail 5624. Linear bearings
5593 and 5594 and associated track 5621/5624 are oriented to
provide for motion of PGRU fourth carriage 5620 perpendicular to PC
flow direction and tangential and proximal to conveying surface of
PGRU third carriage conveyor 5589.
[0417] PGRU fourth carriage 5620 incorporates: track 5621/5624,
movably attached to linear bearings 5593 and 5594 of PGRU third
carriage 5580; belt clamps 5622, 5623, 5625, and 5626, coupling
PGRU fourth carriage 5620 to associated drive belts 5601 and 5604;
and, a servo gearmotor 5629--driven positioning conveyor 5627.
[0418] Sequence of PGRU actions in rotation of pallets 502 (and, if
applicable, nested grids 800) from "working" orientations to "on
edge" orientations is shown in FIGS. 60K-N in the same order. Prior
to production run, PGRU third carriages 5580 are automatically
spaced a predefined distance from PGRU second carriages 5550,
resulting in minor clearance between tops of pallets 502 (and, if
applicable, nested grids 800) and conveyor surfaces of PGRU third
carriage 5580. Such adjustment does not change over the course of a
production run. As depicted in FIG. 60K, a pair of pallets 502
(and, if applicable, nested grids 800) first index onto respective
conveyors of PGRU second carriages 5550. As depicted in FIG. 60L,
PGRU fourth carriages 5620 then advance toward pallets 502 a
predefined distance, placing conveying surfaces of PGRU fourth
carriages 5620 in close proximity to outer edges of subject pallets
502 to avert uncontrolled movement of pallets 502 during upcoming
rotation maneuver. As depicted in FIG. 60M, PGRU second carriages
5550 then together rotate through 90 degrees about their common
pivotal axis 5551 and PGRU first/second such that their common
pivotal axis 5551 rises vertically and PGRU first carriages 5520(1)
and 5520(2) and associated PGRU first/second carriage pivot joints
5530(1) and 5530(2) approach one another. As depicted in FIG. 60N,
PGRU fourth carriages 5620 then retracts downward to same elevation
as adjoining outfeed conveyor, which has guides to support "on
edge" orientation of pallets 502 (and, if applicable, nested grids
800) now being conveyed. Finally, PGRU 5500 returns to its original
orientation to receive another pair of pallets 502 (and, if
applicable, nested grids 800).
[0419] Sequence of PGRU actions in rotation of pallets 502 (and, if
applicable, nested grids 800) from "on edge" orientations to
"working" orientations is the reverse of that described above.
Pallet & Grid Washing Unit (PGWU)
[0420] Pallet and grid washing unit (PGWU) 5700 provides for
rinsing of pallets and grids having been exposed for several months
to splashed containerized plant soil, fertilizer and dust. As
stated above and as depicted in FIGS. 60A, C, D and E, PGWU 5700 is
between and functionally aligned with two PGRU's 5500(1) and
5500(2) as PGWU processes pallets (and, if applicable, thereon
nested grids) which are standing "on edge".
[0421] PGWU main conveyor 5720 aligns with PGRU second carriage
conveyors 5555 and upwardly supports pallets processed by or
bypassing PGWU 5500. In order to accommodate a PGWU bypass mode,
PGWU main conveyor 5720 is of sufficient width to convey a pair of
pallets spaced closely laterally on conveyor. PGWU main conveyor
5720 runs continuously, generally at a constant speed, which is
adjustable depending on PGWU 5500 operating mode. Beneath PGWU main
conveyor 5720 is a drip pan 5721 having two rinse water collection
sections. First rinse water collection section is
upstream--relative to PGWU main conveyor 5720--from second rinse
water collection section, and is separated from second rinse water
collection section by drip pan separation wall 5722. First rinse
water collection section receives spilled rinse water from a pallet
and grid low-pressure initial rinse area and a pallet and grid
high-pressure rinse area. Resulting rinse water, considered
unacceptably contaminated for reuse, is discharged into a culvert
or underground piping that directs such water to a retention pond.
Second rinse water collection section receives spilled rinse water
from a pallet and grid low-pressure final rinse area. Resulting
rinse water, considered to be suitably clean for reuse, is
discharged to the inlet 5727 piping of recirculation pump 5723,
which, in turn, pumps such rinse water through piping 5724 and
flexible 5725 to pallet and grid low-pressure initial rinse water
distribution system 5785 to be combined with clean PGWU 5700 supply
water.
[0422] PGWU stationary frame 5740 incorporates PGWU first carriage
vertical guide rails 5766, 5767, 5768, and 5769 and an automatic,
cable-based, carriage elevating suspension system, which supports
PGWU first carriage 5800 substantially above PGWU main conveyor
5720. Automatic suspension system comprises: automatic motorized
elevator drive 5741 with failsafe brake, cable winding drums 5745
and 5746 (not shown), sync shaft 5744; sync shaft bearings 5742 and
5743, support cables 5747, 5748, 5749, and 5750; pulley blocks
5751, 5752, 5753 (not shown), and 5754; and, height limit switches.
Suspension system is immobile during a given production run.
Suspension system raises PGWU first carriage 5760 and all thereon
mounted components to produce substantial clearance between bottoms
of components mounted to PGWU first carriage 5760 and conveying
surface of PGWU main conveyor 5720, thereby achieving a PGWU bypass
mode in which relatively tall stacks of pallets may pass freely
through PGWU on PGWU main conveyor 5720. Alternately, motorized,
sync belt-synchronized acme screws could replace cables, being
situated reasonably proximal to (former) cable vertical runs.
[0423] PGWU first carriage 5760 incorporates: linear bearings 5762,
5763, 5764, and 5765, movably attaching PGWU first carriage 5760 to
PGWU stationary frame 5740; a low- and high-pressure water pump
unit 5785, water spray nozzle arrays and associated distribution
manifolds, (mirrors of such nozzle arrays and manifolds described
below); an air drying blower unit 5786, drying air nozzle array and
associated distribution manifold (mirrors of such nozzle array and
manifold described below); mirrored "on edge" pallet fences 5782
and 5784 which make up parts of mirrored pallet tracks 5826 and
5876, respectively, running the length of PGWU 5700; mirrored
lateral rails 5766, 5767, 5768, and 5769 to which PGWU second
carriages 5800 and 5850 are movably attached; and, an automatic
gearmotor/sync belt-actuated PGWU second carriage lateral
translation drive. Electric motor-driven low-pressure water pumps
are of the centrifugal variety due to their ability to tolerate
contamination in the pumped water. Electric motor-driven
high-pressure water pumps are of the positive displacement variety
to achieve relatively high pumping efficiency. Due to close pumping
element tolerances, single-pass inlet filtration is employed.
Supply water pressure, produced by well or reservoir pumps or
elevated tanks, is suitable for low-pressure rinses described, and
for charging inlets of high-pressure pumps. PGWU second carriage
lateral drive comprises a gearmotor 5770, attached sync belt
sprocket 5771, sync belt 5772, sync belt sprocket 5773, front left
drive/sync sprocket 5774, front drive/sync belt 5775, front idler
sprocket 5776, front-back sync shaft 5777 attached to drive/sync
sprockets 5774 and 5778, rear left drive/sync sprocket 5778, rear
drive/sync belt 5779, rear idler sprocket 5780. PGWU second
carriage lateral drive provides for drive and synchronization of
front and rear ends of PGWU second carriages 5800 and 5850.
Alternately, motorized, sync belt-synchronized screws would also
work well for synchronization of PGWU second carriages 5800 and
5850.
[0424] PGWU left-hand-side second carriage 5800 incorporates: beam
5801 supporting most components; linear bearings 5802, 5803, 5804,
and 5805, movably attaching PGWU left-hand-side second carriage
5800 to lateral rails 5766 and 5767 of PGWU first carriage 5760;
clamps 5807 and 5809, coupling PGWU left-hand-side second carriage
5800 to associated drive belts 5775 and 5779; left-hand-side,
servo-driven, "on-edge" pallet conveyor; initial low-pressure rinse
water spray nozzle array 5823 and distribution manifold;
high-pressure water pump unit 5810 and associated water spray
nozzle array 5824 and distribution manifold; final low-pressure
rinse water spray nozzle array 5825 and distribution manifold; and,
drying air nozzle array 5831 and distribution manifold. Conveyor
comprises: servo positioning conveyor drive gearmotor 5811; upper
sync belt drive sprocket 5812; upper sync belt 5813, upper sync
belt idler sprocket 5818; upper-lower conveyor drive sprocket sync
shaft 5832; lower sync belt drive sprocket 5814; lower sync belt
5815; lower sync belt idler sprocket 5819; flight upper track 5816;
flight lower track 5817; and, flight 5820. Conveyor flights 5820
provide positive, constant drive of pallets (and, if incorporated,
nested grids) past spray nozzle arrays that can readily disturb
conveying workpieces.
[0425] PGWU right-hand-side second carriage 5850 incorporates: beam
5851 supporting most components; linear bearings 5852, 5853, 5854,
and 5855, movably attaching PGWU right-hand-side second carriage
5850 to lateral rails 5768 and 57697 of PGWU first carriage 5760;
clamps 5857 and 5859, coupling PGWU right-hand-side second carriage
5850 to associated drive belts 5775 and 5779; right-hand-side,
servo-driven, "on-edge" pallet conveyor; initial low-pressure rinse
water spray nozzle array 5873 and distribution manifold;
high-pressure water pump unit 5860 and associated water spray
nozzle array 5874 and distribution manifold; final low-pressure
rinse water spray nozzle array 5875 and distribution manifold; and,
drying air nozzle array 5881 and distribution manifold. Conveyor
comprises: servo positioning conveyor drive gearmotor 5861; upper
sync belt drive sprocket 5862; upper sync belt 5863, upper sync
belt idler sprocket 5868; upper-lower conveyor drive sprocket sync
shaft 5882; lower sync belt drive sprocket 5864; lower sync belt
5865; lower sync belt idler sprocket 5869; flight upper track 5866;
flight lower track 5867; and, flight 5870.
[0426] FIG. 60F illustrates the PGWU left-hand-side "on edge"
pallet conveyor, with arrays 5823, 5824, 5825, and 5831 of spray
nozzles and air drier nozzles, which are mirrored on associated
left-hand-side track fence 5782. PGWU main conveyor 5720, PGWU
left-hand-side second carriage 5800 "on edge" conveyor, and
left-hand-side track fence 5782 collectively form a PGWU
left-hand-side "on edge" pallet track 5826 (FIGS. 60A, B) which
pallets (and, if incorporated, nested grids) follow through PGWU
5700. This combination of components is mirrored about a vertical
plane centered on PGWU main conveyor 5720 and tangential to PGWU
main conveyor 5720 flow directions. Normal distance between each
"on edge" conveyor and the corresponding fence is automatically
adjusted ahead of a production run via positioning gearmotor 5770,
setting it based its position as measured by a PGWU second carriage
drive train shaft encoder or carriage-connected linear encoder or
distance transducer, and on control system database storing (among
other dimensions) pallet height, pallet-grid nesting height (if
grids are incorporated), plus a minor clearance figure, which are
summed together to define the appropriate gap for reliably
conveying the subject pallets (and, if incorporated, nested
grids).
[0427] Initial low-pressure rinse nozzle linear arrays, typical of
nozzle array 5823 shown in FIG. 60F, are downwardly sloped in PGWU
conveyor working flow direction to cause accumulation of rinse
water on portions of pallets struck by lower-elevation initial
low-pressure rinse nozzle jets as pallets are conveyed past, aiding
loose debris removal by initial low-pressure rinsing action.
High-pressure rinse nozzle linear arrays, typical of nozzle array
5824 shown in FIG. 60F, are vertical to present pallet walls having
minimal accumulation of rinse water on portions of pallets struck
by all high-pressure rinse nozzle jets as pallets are conveyed
past, best ensuring high-pressure rinse nozzle jets substantially
directly impact pallet (and, if applicable, nested grid) walls with
insignificant attenuation by pallet-laden residual rinse water,
thereby maximizing effectiveness of pallet high-pressure rinsing
operation. Vertical arrays of high-pressure rinse water nozzles
also generally correspond with vertical leading and trailing edges
of pallets (and, if incorporated, nested grids) being conveyed,
promoting the use of rinse water-saving valves and associated limit
switches or pallet position measuring devices or control
system-generated timing that provides for stopping of rinsing
action, particularly energy intensive high-pressure rinsing, in the
absence of pallets (and, if incorporated, nested grids) being
rinsed.
Pallet & Grid Stacking/Destacking Unit (PGSU) Embodiment 1
[0428] As shown in FIGS. 61A-S, PGSU 4500 in a first embodiment of
the invention, operates in concert with associated PC's to stack
and destack pallets 302, 402, or 502 and, as required, grids 600 or
800 (402, 502, and 600 shown) as dictated by PAS operating
mode.
[0429] PGSU 4500 comprises framework 4510 supporting a PGSU first
carriage 4550 and nested second 4600 and third 4700 carriages above
PGSU positioning PC 4512. Frame 4510 incorporates a linear,
horizontal first track 4514--perpendicular to PGSU PC 4512 flow
directions--for movable attachment of PGSU first carriage 4550.
Also mounted on frame 4510 is: a servo gearmotor 4515; with mounted
sync belt sprocket 4516; thereon mounted sync belt 4517; sync/drive
shaft drive sprocket 4518; drive/sync shaft 4525 with drive/sync
sprockets 4519 and 4520 proximal to its ends and mounted to frame
4510 on bearings not shown; PGSU first drive/sync belt 4521 mounted
to drive/sync sprocket 4519 and frame 4510--mounted idler sprocket
4523; PGSU second drive/sync belt 4522 mounted to drive/sync
sprocket 4520 and frame 4510--mounted idler sprocket 4524.
Described arrangement, drives first carriage 4550 reciprocally
along first track 4514. First carriage 4550 provides for accurate
positioning in shuttling of second 4600 and third 4700 carriages
laterally across PGSU PC 4512 so that pallets and, if applicable,
grids may be picked up from or deposited to both sides of PGSU PC
4514.
[0430] Mounted to first carriage 4550 is a first set of linear (or
cam follower) bearings 4560, which provide for movable attachment
of first carriage 4550 to first track 4551 of frame 4510. Also
mounted to first carriage 4550 are two vertical linear bearing
arrangements 4560 and 4570, each for movable attachment of second
4600 and third 4700 carriages via linear tracks 4601 and 4701
mounted to second 4600 and third 4700 carriages, respectively.
Mounted to first carriage 4550 is a servo gearmotor 4561 with
thereon mounted sync belt sprocket 4562, flanked by two idler
rollers 4563 that provide for requisite belt-sprocket contact angle
between sprocket 4562 and open-ended, vertical drive sync belt
driving 4605 PGSU second carriage 4600. Also mounted to first
carriage 4550 is a servo gearmotor 4571 with thereon mounted sync
belt sprocket 4572, flanked by two idler rollers 4573 that provide
for requisite belt-sprocket contact angle between sprocket 4572 and
open-ended, vertical drive sync belt 4705 driving PGSU second
carriage 4700. Also mounted between first carriage 4550 and each of
second 4600 and third 4700 carriages is a failsafe brake for
emergency and idle fixing of respective carriage relative to first
carriage 4550, and a "counterbalance" pneumatic cylinder as
described above.
[0431] Vertical drive arrangement for each of second 4600 and third
4700 carriages alternately could comprise a closed sync belt
mounted to a drive sprocket and idler sprocket at opposing ends of
respective carriage riser member, having a point on one belt run
clamped to first carriage, wherein driving servo gearmotor is
mounted to subject second or third carriage and is coupled to
subject drive sprocket, thereby eliminating reverse flexing of
drive belt, improving its longevity. Vertical drives could
alternately also by hydraulic or pneumatic servo-based, or an
electric servo with cable/drum-based motion transmission.
[0432] As detailed in FIGS. 61B and C, each of second 4600 and
third 4700 carriages are substantially identical, with the
potential exception of pallet adapter attachments. Each of second
4600 and third 4700 carriages comprises a slender vertical member
4602 along which respective track 4601 is attached. At bottom of
vertical member 4602 is attached a generally horizontal, planar
pallet gripper head upper base plate 4620 having vertically
downwardly extending pilot pins 4621 and 4622, the free edges of
which are tapered to facilitate engagement with corresponding holes
4661 and 4662 through a pallet gripper head lower base plate 4660
and two pallet gripper adapter plates 3110 and 3140. A positioning
servo gearmotor 4623, which is rigidly attached to pallet gripper
head upper base plate 4620 upper surface along one edge drives a
sync shaft 4624, the two ends of which are coupled to two mirrored
bell cranks 4627 and 4628. Bell cranks 4627 and 4628 are, in turn,
pivotally pinned in an axis parallel to and spaced generally
horizontally from sync shaft 4624 to the upper ends of vertical
links 4633 and 4634 (not shown). Bell cranks 4627 and 4628 are
further pinned in an axis parallel to sync shaft 4624 and spaced
generally vertically from sync shaft 4624 axis and to first ends of
horizontal links 4629 and 4630. Second ends of horizontal links
4629 and 4630 are pinned at identical locations on two additional
identical mirrored bell cranks 4631 and 4632, respectively, that
rotate about fixed axis pinned joints that are spaced horizontally
from sync shaft 4624 substantially orthogonally across upper base
plate 4620. Identically to arrangement of first set of bell cranks
4627 and 4628, bell cranks 4631 and 4632 are also pinned to the
upper ends of two additional generally vertical links 4635 and
4636, respectively. Lower ends of vertical links 4633, 4634, 4635,
and 4636 are pinned to corresponding pivot points on lower base
plate 4660. Spacing between vertical link lower pivotal joints
matches spacing between vertical link upper pivotal joints,
resulting in parallelism between vertical links and between upper
4620 and lower 4660 base plates. This arrangement provides for
minor vertical normal reciprocal programmable stroking of pallet
gripper head lower base plate 4660 relative to upper base plate
4620, while maintaining parallelism between upper 4620 and lower
4660 base plates at four support joints.
[0433] Hanging over the edge proximal to each of four corners of
upper surface of upper base plate 4620 is a spring-applied,
pneumatically released hook 4637. Hook 4637 incorporates a
horizontal slide portion 4638, a riser portion extending downwardly
from slide portion, a flange portion 4639 extending inward at the
lower end of riser portion, and a lip 4640 protruding upwardly and
outwardly from upper, inner edge of flange portion 4639. Hanging
over the edge proximal to each of four corners of upper surface of
lower base plate 4660 is a spring-applied, pneumatically released
hook 4663. Hook 4663 incorporates a horizontal slide portion 4664,
a riser portion extending downwardly from slide portion, a flange
portion 4665 extending inward at the lower end of riser portion,
and a lip 4666 protruding upwardly and outwardly from upper, inner
edge of flange portion 4665.
[0434] Pallet gripper upper adapter plate 3110 rests on flanges
4639 of respective hooks 4637 mounted to upper base plate 4620,
with respective spring-retracted hook drive pneumatic cylinders
4641 disengaged. Hook flange lips 4640 and complementary adapter
plate 3110 support surfaces are shaped to prevent inadvertent
actuation, i.e., release, of hooks 4637 and adapter plate 3110
while weight of adapter plate 3110 is still borne by hooks 4637.
Similarly, pallet gripper lower adapter plate 3140 rests on flanges
4665 of respective hooks 4663 mounted to lower base plate 4660,
with respective spring-retracted hook drive pneumatic cylinders
4667 disengaged. Hook flange lips 4666 and complementary adapter
plate 3140 support surfaces are shaped to prevent inadvertent
actuation, i.e., release, of hooks 4663 and adapter plate 3140
while weight of adapter plate 3140 is still borne by hooks
4663.
[0435] Pallet gripper upper 4620 and lower 4660 base plates further
each incorporates a mechanism for actuating pallet hooking finger
3122 and 3132 array mounting/drive plates 3120 and 3130,
respectively. Mounted to upper base plate is a vertical pivotal
shaft 4643 that extends downward from an input crank 4644 above the
upper base plate 4620 through a bearing 4645, to a lower end having
a pair of opposing cams 4647 straddling shaft 4643. Pneumatic
cylinder 4646, pinned at one end to a bracket fastened to upper
base plate 4620 reciprocally drives crank 4644, thereby
reciprocally rotating shaft 4643. Opposing cams 4647 on the lower
end of shaft 4643 engage drive slots 3121 and 3131 of two pallet
hooking finger mounting/drive plates 3120 and 3130, respectively.
Pallet hooking finger mounting/drive plates 3121 and 3131 are
supported by pallet gripper upper adapter plate 3110 and guided to
slide horizontally parallel to each other. Minor rotation of shaft
4643 causes cams 4647 to push on walls of slots 3121 and 3131 of
pallet hooking finger mounting/drive plates 3120 and 3130,
respectively, in opposing directions. Mounted to and extending
downward from pallet hooking finger mounting/drive plates 3120 and
3130 are pallet hooking fingers 3122 and 3132, respectively, which,
assembled together, form a two-dimensional array of pallet hooking
finger pairs that in plan match the arrangement of pallet container
receptacles of an associated pallet configuration.
[0436] Lower ends of pallet hooking fingers 3122 and 3132
incorporate flanges 3154 and 3155 that face away from like flanges
on opposing pallet-hooking fingers. Opposing fingers 3122 and 3132,
on being lowered so as to protrude down through container lifting
access/pallet lifting holes 545/603/815, move apart to engage
pallet/grid walls adjoining container lifting access/pallet lifting
holes 545/603/815 on deactivation of pneumatic cylinder 4646--a
failsafe condition. Opposing fingers 3122 and 3132, move toward one
another to disengage pallet/grid walls adjoining container lifting
access/pallet lifting holes 545/603/815 on activation of pneumatic
cylinder 4646.
[0437] Pallet hooking finger drive/mounting plates 3150 and 3160
and thereto mounted pallet hooking fingers 3152 and 3162,
respectively, which are associated with pallet gripper lower base
4660 and adapter 3140 plates, operate similarly to their
counterparts associated with pallet gripper upper base 4260 and
adapter 3110 plates. However, directions of movement and locations
of pallet hooking finger mounting plates 3150 and 3160 and
corresponding fingers 3152 and 3162, respectively, align with
different pairs of container lifting access holes 545/603/815
through pallets and grids.
[0438] Vertically movably attached to and normally hanging below
pallet gripper lower adapter plate 3140 is a pallet/grid guide
plate 3180 having downwardly tapering features that complement
those of the pallet or grid to be gripped. Pallet/grid guide plate
3180 facilitates alignment between pallet gripper head and pallet
or grid, as applicable. Pallet/grid guide plate 3180 further
incorporates a sensors that, together with carriage vertical
position measurement derivable from the second 4600 or third 4700
carriage vertical drive servo system, signal the PGSU 4500 controls
that the pallet/grid guide plate 3180 is being supported by a stack
and no longer by the pallet gripper lower adapter plate 3140,
indicating the top of a stack (or, if at a predefined elevation, an
absent stack) has been located.
[0439] Arrangement of two groupings of pallet gripper fingers, the
vertical separation between which servo positioning drive 4623
automatically adjusts, provides for forced separation of one pallet
(or grid, as applicable) from the top of a stack of same, such
stack sitting on PC 4512 below PGSU 4500, or from the bottom of a
stack accumulated on the pallet gripper adapter assembly 4600 or
4700, as applicable.
[0440] Pallet gripper adapter assembly 3100 of a given
configuration has geometry that complements the geometry of key
features of a pallet or grid to be gripped and, thus adapt PGSU
4500 for handling a given configuration of pallet and/or grid.
Shown in FIGS. 61B and C is a pallet gripper assembly 4600 or 4700
with a pallet gripper adapter assembly 3100 for gripping a pallet
having four rows (staggered) of four spaced hexagonal segments.
[0441] Operation of pallet gripper fingers in de-stacking process
is depicted in sections FIGS. 61D-K, showing relationships between
fingers 3122, 3132, 3152 and 3162 and respective pallet container
lifting access/pallet lifting holes 545A, 545B, 545C, and 545D.
Figures further depict a partial pallet stack held by pallet
fingers. During de-stacking, pallet holding fingers 3122 and 3132
remain fixed vertically relative to pallet drive fingers 3152 and
3162, the vertical motion of which is servo actuated by pallet
gripper assembly moving base plate 4660 (FIGS. 61B, C). In a "home"
position, shown in FIG. 61D, flanges 3154 and 3164 of respective
pallet drive fingers 3152 and 3162 engage walls 559(1C) and 559(1D)
of bottommost pallet 502(1), and flanges 3124 and 3134 of
respective pallet holding fingers 3122 and 3132 engaged walls
559(1A) and 559(1B) of second bottommost pallet 502(2). As shown in
FIG. 61E, pallet drive fingers 3152 and 3162 then stroke downward
while engaging bottommost pallet 502(1), forcing bottommost pallet
502(1), if necessary, apart from second bottommost pallet 502(2)
(and, thus, remainder of partial stack) still held in original
position by engaged pallet holding fingers 3122 and 3132. As shown
in FIG. 61F, pallet drive fingers 3152 and 3162 then horizontally
retract into respective container lifting access/pallet lifting
holes 545(C) and 545(D), disengaging walls 559(C) and 559(D),
releasing bottommost pallet 502(1). As shown in FIG. 61G, pallet
drive fingers 3152 and 3162 then stroke upward until elevation of
their respective flanges 3154 and 3164 substantially matches (or is
slightly lower than) elevation of flanges 3124 and 3134 of
respective pallet holding fingers 3122 and 3132, thereby rendering
them properly situated for engagement of pallet drive hooks 3152
and 3162 with walls 559(C) and 559(D) of pallet 502(2). As shown in
FIG. 61H, pallet drive fingers 3152 and 3162 then horizontally
advance, engaging walls 559(2C) and 559(2D), gripping new
bottommost pallet 502(2). As shown in FIG. 61I, pallet holding
fingers 3122 and 3132 then horizontally retract into respective
container lifting access/pallet lifting holes 545(A) and 545(B),
disengaging walls 559(A) and 559(B), enabling pallet drive fingers
3152 and 3162 to control vertical positioning of new bottommost
pallet 502(2). As shown in FIG. 61J, pallet drive fingers 3152 and
3162 then stroke downward to "home" position while engaging new
bottommost pallet 502(2), lowering remainder of partial stack
formerly held in original position by engaged pallet holding
fingers 3122 and 3132. As shown in FIG. 61K, pallet holding fingers
3122 and 3132 then horizontally advance, engaging walls 559(3A) and
559(3B), gripping new second bottommost pallet 502(3). This
completes one pallet singulation cycle, forming a portion of a
complete pallet (and, if applicable, grid) de-stacking cycle. This
portion of a pallet (and, if applicable, grid) de-stacking process
is also reversible, yielding a complementary portion of a pallet
stacking process.
[0442] As can be seen in FIGS. 61L-S, during stacking, partial
stacks of pallets and, if applicable, grids, accumulate on
respective pallet/grid gripper assemblies 4600/4700. This is
accomplished by repeated sequence of: infeed 4513 and PGSU 4512 PC
indexing of a pair of laterally closely spaced pallets and, if
applicable, grids nested thereon to below respective pallet/grid
gripper assemblies 4600/4700 (FIG. 61L); pallet gripper assembly
4700 picking up of a pallet and, if applicable, pallet gripper
assembly 4600 picking up of a grid, from a first side of conveyor
4512 (FIG. 61M, N); shuttling of pallet/grid gripper assemblies
4600/4700 to above second side of conveyor 4512 (FIG. 61P); pallet
gripper assembly 4700 picking up of a pallet and, if applicable,
pallet gripper assembly 4600 picking up of a grid, from second side
of conveyor 4512 (FIG. 61Q, R); infeed 4513 and PGSU 4512 PC
indexing of another pair of laterally closely spaced pallets 502
and, if applicable, grids 600 to below respective pallet/grid
gripper assemblies 4600/4700 (FIG. 61S); pallet gripper assembly
4700 picking up of a pallet and, if applicable, pallet gripper
assembly 4600 picking up of a grid, from a second side of conveyor
4512; shuttling of pallet/grid gripper assemblies 4600/4700 to
above first side of conveyor 4512; and, pallet gripper assembly
4700 picking up of a pallet and, if applicable, pallet gripper
assembly 4600 picking up of a grid, from first side of conveyor
4512 (similar to FIGS. 61M, N). This portion of the pallet (and, if
applicable, grid) stacking process is also reversible, yielding a
complementary portion of a pallet de-stacking process.
[0443] Integration of controls of PGWU 4500 and associated PC's
4511, 4512 and 4513 provide for iterative pallet 502, and, if
applicable, grid 600, stacking and de-stacking. In stacking mode,
on control system anticipation of pallet/grid gripper assemblies
4600/4700 reaching capacity of held partial stacks of pallets 502
and, if applicable, grids 600, infeed PC 4513 temporarily
discontinues feeding pallets 502 and, if applicable, grids 600, in
order for pallet/grid gripper assemblies 4600/4700 to remove
remaining pallets 502 and, if applicable, grids 600 from PGSU PC
4512. Once PGSU PC 4512 is deplete, PC 4511, which adjoins PGSU PC
4512, and which participates in stacking and de-stacking of pallets
502 and, if applicable, grids 600, along with PGSU PC 4512, indexes
its partial stacks (if present) to beneath pallet/grid gripper
assemblies 4600/4700, which, in turn, deposit PGSU-held partial
stacks onto PC 4511--supplied partial stacks (if present) below.
PC's 4511 and 4512 then index accumulated stacks back onto PC 4511
if not complete, or beyond PC 4511 to storage, if complete, and
stacking sequence resumes with pallet/grid input from PC 4513. This
portion of pallet (and, if applicable, grid) stacking is also
reversible, yielding a complementary portion of a pallet
de-stacking process.
Pallet & Grid Stack Accumulator (PGSA)
[0444] PGSA 3500 in a first embodiment comprises a pallet &
grid storage conveyor array 3550 comprising several (four shown)
equal-length horizontal servo-driven positioning PC's 3552, 3553,
3554, and 3555 spaced normally, vertically relative to one another
and supported by a common frame. At each end of the PGSA storage
conveyor array 3550 is a pallet & grid stack elevator (PGSE)
3510(1) and 3510(2) with an integral servo-driven positioning PC
3540(1) and 3540(2), respectively. PGSA 3500 temporarily stores
stacks of pallets and grids of a first configuration produced on a
substantially ongoing basis by a disassembly process. PGSA 3500
also dispenses stored stacks of pallets and grids of a different
configuration required for a substantially ongoing assembly
process. Having two PGSE's 3510(1) and 3510(2), PGSA 3500 can
substantially simultaneously store and dispense pallets and grids
to accommodate one PAU1 2100(1) in disassembly mode and a second
PAU2 2100(2) in assembly mode.
[0445] PGSA 3500 stores pallet & grid adapters tools not in
production at a given time. Further, PGSA 3500 receives, stages and
dispenses such items as dictated by production schedule and tool
handling algorithms maintained by control system, thereby
facilitating automatic system configuration changes. Incorporation
of at least two levels in PC array 3550 and two PGSE's 3510(1)
and/or 3510(2) yields a carousel arrangement that provides stored
item manipulation resulting in unrestrained access to any adapter
tool.
[0446] Control system maintains geometry of pallets, grids, tools,
PGSA 3500, as well as real-time operating status and can, therefore
anticipate PGSA 3500 depletion and filling to capacity. On
anticipated PGSA 3500 depletion of a pallet/grid stack supply,
control system calls for transferal of a PATT 1200 `load` of pallet
and grid stacks drawn from a `permanent` designated field storage
area to the PGSA 3500. PACTU 5000, transfers stacks of pallets and
grids from PATT 1200 to PAS 2000 PC's for conveying to PGSA 3500
via PGSE's 3510(1) and/or 3510(2).
[0447] On anticipated PGSA 3500 filling to capacity of a
pallet/grid stack supply, control system calls for transferal of a
PATT 1200 `load` of pallet and grid stacks drawn from the PGSA 3500
to a `permanent` designated field storage area. PAS 2000 PC's
convey pallet and grid stacks from PGSA 3500 via PGSE's 3510(1)
and/or 3510(2) to PACTU 5000, which transfers pallet and grid
stacks from PAS 2000 PC's to PATT 1200 for transport to
field-designated storage area.
[0448] PGSE's 3510(1) and 3510(2) service PGSA 3500 by transferring
pallet and grid stacks between various PGSA PC 3552, 3553, 3554,
and 3555 elevations and elevation of PC's with which PGSA 3500
interfaces.
Pallet Crossover Conveyor (PXC)
[0449] The first embodiment of PAS 2000 incorporates primarily two
parallel lines of PC's, designated (A) and (B) where necessary in
FIGS. 49-54, having interspersed equipment and having three
interconnecting pallet crossover conveyors (PXC's). A first PXC,
extends between the stack-handling side of first PGSU 4500(1) and
PGSA 3500 comprises two lateral switch conveyors 2004(A1) and
2004(B1) and one lateral flow conveyor 2005(1) between switch
conveyors 2004(A1) and 2004(B1). A second PXC, extends from between
PAU 2100(1) and first PGRU 5500(1) to between PAU 2100(2) and
second end of PGSA 3500, and comprises two lateral switch conveyors
2004(A2) and 2004(B2) and one lateral flow conveyor 2005(2) between
switch conveyors 2004(A2) and 2004(B2). A third PXC, extends from
PACTU 5000 PAU 2100(2), and comprises two lateral switch conveyors
2004(A3) and 2004(B3) and three lateral flow conveyors 2005(A3),
2005(C3) and 2005(B3) (in stated order) between switch conveyors
2004(A2) and 2004(B2).
[0450] Each switch conveyor, comprises an electric motor-driven
cam, pneumatically, or comparably actuated lift table on which is
mounted a roller conveyor having conveyor rollers interleaved with
sync belt loops of a laterally flowing composite sync belt conveyor
that is mounted to the frame forming the base of lift table.
[0451] In its lowered position, lift table supports rollers of the
switch conveyor with the uppermost surface of each roller slightly
below upper surface of the upper run of each sync belt forming
switch conveyor. In its raised position, lift table supports
rollers of the switch conveyor with the uppermost surface of each
roller slightly above upper surface of the upper run of each sync
belt forming the switch conveyor.
[0452] Conveyor loops, formed through incorporation of PXC's,
enable PAS to retrieve PA's from a PATT, perform multiple functions
on the plant material in those PA's, and return subject plant
material, potentially in differently configured PA's, to
potentially the same PATT from which it was retrieved, in a
continuous manner.
[0453] First PXC 2004(A1)-2005(1)-2004(B1) provides a PC link as
stated, though, through programmable controls of system, provides
for lateral shifting of items on line (A) or (B). Either switch PC
2004(A1) or 2004(B1) can also be used for PAS loading and unloading
of a PAS adapter tool having been serviced or about to be services,
respectively.
[0454] Second PXC 2004(A2)-2005(2)-2004(B2) primarily provides for
feeding of PGWU 5700 from both PAU's 2100(1,2) operating in
disassembly mode, as in the case of plant material shipping. Second
PXC 2004(A2)-2005(2)-2004(B2) can also provide for feeding from
PGSA of both PAU's 2100(1,2) operating in assembly mode, as in the
case of plant material receiving or potting, particularly while
PGWU 5700 is being serviced. Also, second PXC
2004(A2)-2005(2)-2004(B2) forms part of a PC loop for the
processing of PA's as whole units (i.e., involving no disassembly).
In this case, PACTU 5000 retrieves PA's from PATT 1200 and places
them on PC 5001, from which PA's flow through first PAU 2100(1)
untouched, then across second PXC 2004(A2)-2005(2)-2004(B2) then
through second PAU 2100(2) untouched, then along PC 2003(B3), then
across third PXC 2004(B3)-2005(B3)-2005(C3)-2005(A3)-2004(A3) (or
an alternate parallel path), then along PC 2003(A3) to PC 5002,
from which PACTU 5000 retrieves it and returns it to PATT 1200.
[0455] Third PXC 2004(B3)-2005(B3)-2005(C3)-2005(A3)-2004(A3),
together with additional, like-constructed parallel PXC's
2004(B4)-2005(B4)-2005(C4)-2005(A4)-2004(A4), etc., with respective
connecting PC's 2003(B4), 2003(A4), etc., form a semi-automatic
weeding area. PC's 2005(C3), 2005(C4), etc., are each slow-,
constant-speed PC's along the two sides of which are stationed
weeding workers who hand weed plant material in PXC-borne PA's.
Lateral conveyor portions of switch PC's 2004(B3), 2004(B4), etc,
as well as lateral PC's 2005(B3), 2005(B4), etc. are servo
positioning. With more than one weeding area PXC operating, PC
2003(B3) accumulates the number of PA's matching the number of
weeding area PXC's operating, up to the maximum number of weeding
area PXC's incorporated into PAS (4 shown). Number of PXC's
operating in weeding area is extrapolated from the average amount
of time necessary for one weeding worker to weed one containerized
plant palletized and flowing along a given PXC as described, and
the required production throughput established by nursery
management, up to the PAS operational limit.
[0456] Once switch PC's 2004(B3), 2004(B4), etc. are clear of
prior-conveyed PA's, PC's 2003(B3)-2004(B3)-2003(B4)-2004(B4),
etc., quickly distribute to the active switch PC's 2004(B3),
2004(B4), etc. pairs of PC 2003(B3)-accumulated PA's. Once trailing
edges of preceding PA pairs have crossed respective transitions
between lateral PC's 2005(B3) and 2005(C3), 2005(B4) and 2005(C4),
etc., switch PC's 2004(B3), 2004(B4), etc., simultaneously switch
directions and PA's on respective switch PC's 2004(B3), 2004(B4),
etc., are quickly conveyed along respective PXC's to close gaps
between their respective leading edges and the preceding PA's
trailing edges. Upon closure of subject gaps, speed of lateral PC
portion of each switch PC 2004(B3), 2004(B4), etc. and of
respective lateral PC 2005(B3), 2005(B4), etc. matches that of
lateral PC 2005(C3), 2005(C4), etc. Thus, a continuous slow-speed
flow of palletized plant material is conveyed past weeding
workers.
[0457] Once trailing edges of preceding PA pairs have crossed
respective transitions between lateral PC's 2005(C3) and 2005(A3),
2005(C4) and 2005(A4), etc., preceding PA pairs are quickly
conveyed along respective PXC's, onto switch PC's 2004(A3),
2004(A4), etc., opening gaps between their respective trailing
edges and the succeeding PA's leading edges. This provides time for
switch PC's 2004(A3), 2004(A4), etc. to simultaneously switch
directions and quickly convey switch PC-borne PA pairs to PC's
2003(A3) and 5002, where they accumulate in staging for transfer to
PATT 1200 by PACTU 5000.
[0458] Below weeding area PXC's are conventional belt conveyors
2012 and 2014 for collecting pulled weeds from PXC weeding stations
and conveying them to a weed collection container 2011 or
equivalent.
[0459] Weeding area 2010 PXC's may incorporate side walls extending
a short distance above sides of PC's to prevent inadvertent
movement of PA's by weeding workers. Weeding workers reach stations
by overhead walkways (not shown) and may be provided with stools
for comfort. PAS semi-automatic weeding area 2010 presents a
comfortable weeding environment, presenting a tremendous
improvement over conventional field hand weeding--an operation
performed by workers who typically must bend over to reach and pull
weeds. Conventional hand weeding has contributed to worker back
injuries and has actually been banned in the State of California.
PAS 2000, including weeding area 2010, is under roof, enabling
production during inclement weather and shading workers from direct
sunlight, furthering comfort factor and associated worker
productivity. Finally, artificial lighting of PAS weeding area 2010
provides for production at night as well as day.
PAS Embodiment 1 Operation
[0460] PAS 2000 can operate in following modes: open loop,
container closed-loop, and pallet assembly (PA) closed-loop. These
modes are achieved through recipe-driven, microprocessor-based
control, substantial integration of controls and process and the
ability of most PAS 2000 components to operate reversibly.
[0461] Open-loop mode is characterized by generally
single-direction movement of containerized plants through PAS 2000,
and can have following variations: `serial-in`, `serial-out`,
`serial-in/out`, `parallel-in`, and `parallel-out`.
[0462] `Serial-in` mode comprises: conveying of individual
containerized plants or trays/flats of plants from a location
outside the nursery internal growing areas--typically the nursery's
shipping/receiving area--to one PAU 2100(2), along with conveying
of pallets, and, if applicable, grids, from PGSU 4500(2) which
singulated pallets from stacks drawn from PGSA 3500, through PGSE
4510(2); installation by PAU 2100(2) of associated containerized
plants or trays/flats of plants into pallets; conveying of
completed PA's from PAU 2100(2), along PC path
2003(B3)-2004(B3)-2005(B3)-2005(C3)-2005(A3)-2004(A3)-2003(A3), to
PC's 5002 and 5001 interfacing with PACTU 5000; and transfer by
PACTU 5000 of PA's from PACTU interface PC's 5002 and 5001 to a
PATT 1200 for transport to a nursery internal growing area.
`Serial-out` mode is effectively the reverse of `serial-in`, though
incorporates rinsing of pallets, and, if applicable, grids, by PGWU
5700. This mode comprises: transfer by PACTU 5000 of PA's from a
PATT 1200--received from a nursery internal growing area--to PACTU
interface PC's 5001 and 5002; conveying of PA's from PACTU
interface PC's 5001 and 5002 to a second PAU 2100(1); removal by
associated PAU 2100(1) of containerized plants or trays/flats of
plants from pallets and placement of containerized plants or
trays/flats of plants on CAIDOC 2107(1); conveying of pallets and,
if applicable, nested grids, to and rinsing by PGWU 5700, conveying
to and subsequent stacking by second PGSU 4500(1), and conveying of
resulting stacks to PGSA 3500--through PGSE 4510(1)--for temporary
storage; and, conveying of containerized plants from associated PAU
2100(1) to a location outside the nursery internal growing
areas--typically the nursery's shipping area.
[0463] `Serial-in/out`, `parallel-in` and `parallel-out` modes are
possible due to incorporation of two properly arranged PAU's
2100(1) and 2100(2) and associated PC's and CPC's in the PAS 2000.
`Serial-in/out` is characterized by PAS 2000 split operation
wherein a first part of the PAS 2000 operates in the `serial-in`
mode, like that described above while a second part operates in
`serial-out` mode, also like that described above. Different plant
material types and pallet configurations would typically be
processed by each part as the PAS 2000 operates in `serial-in/out`
mode. Parallel-in' and `parallel-out` modes are characterized by
both parts of the PAS 2000 operating in `serial-in` and
`serial-out` modes, respectively. `Parallel` PAS 2000 operation
provides for substantially increased system throughput relative to
single, `serial` operation, accommodating seasonal peaks, e.g.,
order filling/shipping.
[0464] Container closed-loop mode is characterized by: transfer by
PACTU 5000 of PA's of containerized plants or PA's of trays/flats
of plants from a PATT 1200--received from a nursery internal
growing area--to PACTU interface PC 5001; conveying of PA's from
PACTU interface PC 5001 to PAU 2100(1); removal of containerized
plants or trays/flats of plants, as applicable, from the associated
PA's by PAU 2100(1); conveying of associated containerized plants
or trays/flats of plants, as applicable, from PAU 2100(1) to a
central processing area (e.g., potting, individual plant weeding,
pruning, inspection/grading/sorting, etc.); conveying of emptied
pallets and, if applicable, grids from PAU 2100(1) to PGWU 5700;
washing of emptied pallets and, if applicable, grids by PGWU 5700;
conveying of washed pallets and, if applicable, grids to PGSU
4500(1) and resulting stacks to PGSA 3500 for temporary storage;
conveying of stacks of pallets and, if applicable,
grids,--potentially different from those stored immediately
prior--from PGSA 3500 to PAU 2100(2); conveying of containerized
plants from central processing area to PAU 2100(2); installation of
(potentially newly potted) containerized plants into PA's by PAU1
2100(2); conveying of reassembled PA's from PAU 2100(2) to PACTU
interface PC 5002; and transfer of reassembled PA's from PACTU
interface PC 5002 to PATT 1200--potentially the same as that on
which PA's were received--by PACTU 5000, for return to a nursery
internal growing area. PAS 1500 may also simply remove
containerized plants from contiguous container PA's 400, convey
them through an idle or unmanned processing area, and install them
into spaced container PA's 500. Further, if operation is limited to
a pallet change from contiguous to spaced or vice versa, i.e., such
that associated containers are not altered and no manipulation or
alteration of the plant itself is involved, PAU 2100(1) can simply
reach across CAIDOC 2107(1) and retrieve individual containerized
plants exiting PAU 2100(2) on container conveyor 1700, with proper
indexing control of container conveyor 1700.
[0465] PA closed-loop mode is characterized by: transfer by PACTU
5000 of PA's of containerized plants or PA's of trays/flats of
plants, as applicable, from a PATT 1200--received from a nursery
internal growing area--to a PACTU interface PC 5001; conveying of
PA's as units from PACTU interface PC 5001 to a central plant
material processing area 2010 (e.g., weeding, pruning,
inspection/grading/sorting, etc.) (FIGS. 49, 50, 51, and 54);
conveying of PA's from central plant material processing area 2010
to PACTU interface PC 5002; and transfer by PACTU 5000 of PA's from
PACTU interface PC 5002 to PATT 1200--potentially the same as that
on which PA's were received--, for return to nursery internal
growing area--potentially substantially the same as that from which
plant material originated.
Pallet Assembly Greenhouse Transfer Unit (PAGTU) Embodiment 1
[0466] An autonomously guided pallet assembly greenhouse transfer
unit (PAGTU) 4000, in accordance with a first embodiment of the
invention, is illustrated in FIGS. 62A-T. PAGTU 4000 provides for
autonomous transfer of PA's between PATT 1200 and potentially
confined bed space 125, as well as autonomous transfer of pallet
and grid stacks between PATT 1200 and potentially confined storage
space--typically unused bed space. PAGTU 4000 requires a relatively
narrow operating path and low vertical clearance in order to
perform these functions, and utilizes primarily RTK GPS for
resolution of its position and attitude, rendering PAGTU 4000 ideal
for operating inside a greenhouse, as well as out in a field.
[0467] First embodiment of PAGTU 4000 comprises a specialized
forklift-type unit having a tricycle traction wheel arrangement,
where all wheels are servo position-driven. PAGTU main carriage
4020 comprises framework for mounting two fixed-direction pneumatic
tired traction wheels 4060(L) and 4060(R), respectively mounting
sync belt sprockets 4057(L) (not shown) and 4057(R), coupled sync
belts 4056(L) (not shown) and 4056(R), coupled drive motor sync
belt sprockets 4055(L) and 4055(R), and servo positioning
gearmotors 4054(L) and 4054(R), in protective shrouds 4058(L) (not
shown) and 4058(R). Main carriage 4020 also mounts via a rotary
joint 4083 having a vertical centerline a second carriage 4080,
which, in turn, mounts two closely laterally spaced additional
traction wheels 4081(L) and 4081(R) driven by a common servo
positioning gearmotor 4040 through differential 4084. This
arrangement provides for minimal skidding of tires in tight turns.
Main carriage 4020 also houses a battery or, alternately, a prime
mover, e.g., a gasoline or diesel engine, and a fuel tank. Each
alternative satisfies the need for counterweight enabling PAGTU
4000 to maintain its stability during lifting of heaviest PA's
anticipated in operation. Finally, main carriage 4020 houses PAGTU
control system, including RTK GPS-related components.
[0468] Second carriage 4080, best seen in FIGS. 62C and D, mounts
to main carriage 4020 through a rotary joint 4083 that swivels
about a vertical axis, driven by a servo positioning gearmotor
4036, through sync belt sprocket 4037, sync belt 4038, and sync
belt sprocket 4039. This arrangement in part provides for active
steering of PAGTU 4000. Mounted to PAGTU second carriage 4080 is a
differential 4084, which, in turn, mounts on its two output shafts
tired fraction wheels 4081(L) and 4081(R). Differential input shaft
centerline is common to vertical centerline of PATU second carriage
4080 rotary joint. Differential is driven by servo positioning
gearmotor 4040, through sync belt sprocket 4041, sync belt 4042,
and sync belt sprocket 4043--mounted to differential input shaft.
This arrangement provides traction drive of PAGTU 4000 swivel
wheel. Programmable nature of control system enables positioning
steering and traction drive outputs to be mixed during PAGTU
turning, averting slippage between traction wheels and the ground,
thereby preserving high machine drive efficiency and minimal bed
impact.
[0469] Third carriage 4100, best seen in FIGS. 62E and F, mounts to
main carriage 4020 through rotary joints 4064(L) and 4064(R) (not
shown) that provide for pitching of third carriage 4100--and those
mounted thereon--about a horizontal axis parallel to centerline
common to main traction wheels 4060(L) and 4060(R), relative to
main carriage 4020. Pitch of PAGTU third carriage 4100 is driven by
a servo positioning hydraulic or equivalent actuator pair 4062(L)
and 4062(R), each actuator of which is pinned to PAGTU main
carriage 4020 at one end and to PAGTU third carriage 4100 at the
other end, allowing for inherent angular changes between PAGTU main
carriage 4020, actuators 4062(L) and 4062(R), and PAGTU third
carriage 4100.
[0470] PAGTU third carriage 4100 also incorporates a pivoting joint
4121 and an arcuate track 4108 providing for pivotal mounting of
fourth carriage 4120--a lift mast--about an axis falling in a
vertical plane centered between traction wheels 4060(L) and 4060(R)
and perpendicular to track of lift mast 4120, i.e., roll. A servo
gearmotor 4102, mounted to PAGTU third carriage 4100, in turn,
mounts a sync belt sprocket 4103. A first end of a pair of
laterally spaced open-ended sync belts 4105, attaches to a first
end of an arcuate pulley 4107 that is part of PAGTU lift mast 4120.
Sync belt 4105 pair engages and is returned by gearmotor-driven
sync belt sprocket 4103 and terminates at its second end at clip
4109. Clip 4109 couples second end of sync belt 4105 pair to first
end of an opposing open-ended sync belt 4106, which engages and is
returned by idler sprocket 4106, passes between spaced sync belts
4105, and ultimately terminates at second end of arcuate pulley
4107.
[0471] Combination of PAGTU third 4100 and fourth 4120 carriages
provide for active programmable pitching and rolling, respectively
of PAGTU fork 4300, as necessary for PAGTU 4000 engagement of PA's
in undulating bed space that contains PA's that PAGTU 4000 must
retrieve or that is to receive PA's that PAGTU 4000 must place. It
also enables a PAGTU 4000 situated on a first ground surface plane
to drive the plane of its fork tines to be parallel with that of
any deck of a PATT 1200 situated on a second ground surface plane,
which is not parallel to first ground surface plane.
[0472] Fork lift mast 4120 incorporates linear bearings 4125,
which, together with linear bearings 4163 at the base of fork lift
first stage 4160 guide fork lift first stage 4160 along length of
fork lift mast 4120. Fork lift mast 4120 also mounts a pair of
laterally spaced hydraulic cylinders 4122(L) and 4122(R) or
equivalent for driving fork lift first stage 4160 longitudinally
along fork lift mast 4120. Upper end of fork lift first stage 4160
incorporates pulleys 4164 and 4165. Fork lift mast 4120 also mounts
another hydraulic cylinder 4123 or equivalent, which drives
downward, parallel to fork lift first stage motion, and has a
pulley block 4142 incorporated into its lower, downwardly extending
end. An open-ended belt 4127 is fastened at a first end 4126 to
fork lift mast 4120, then extends downward, parallel to fork lift
first stage 4160 motion, to and wraps half way around cylinder
4123--actuated pulley 4142. Belt 4127 then extends upward, parallel
to fork lift first stage 4160 motion, to fork lift first stage
pulleys 4164. Belt 4127 wraps over collective tops of fork lift
first stage pulleys 4164 and 4165, and finally extends downward,
parallel to fork lift first stage 4160 motion, to a clamp 4187 on
fork lift second stage 4180, where belt 4127 terminates.
[0473] Fork lift first stage 4160 further incorporates a
longitudinal track traversed by fork lift second stage, running on
bearings 4182. Lightning rods 4167 and associated conductors and
grounding electrodes are also provided to protect PAGTU 4000
operating in a inclement weather
[0474] Extension of cylinder 4123 and related motion of pulley
block 4142, while maintaining cylinders 4122(L) and 4122(R)
retracted, drives fork lift second stage 4180 longitudinally along
fork lift first stage 4160 as fork lift first stage 4160 remains
retracted, fully nested in fork lift mast 4120. Incorporation of
pulley 4142 further causes distance traveled by fork lift second
stage 4180 to be double the stroke of cylinder 4123. Operation of
cylinder 4123 keeps fork lift height to a minimum to allow PAGTU
4000 to work inside a greenhouse, where ceiling height is often
limited, as depicted in FIGS. 62G-N. It also promotes PAGTU 4000
stability by keeping PAGTU 4000 center of gravity low relative to
that resulting from a strict telescoping mast. Depicted
arrangement, where cylinder 4123 is mounted in upper half of fork
lift mast 4120 may be altered to further reduce PAGTU 4000 center
of gravity by relocating cylinder 4123' in lower half of fork lift
mast 4120 and adding one more pulley immediately below it, such
that belt 4127' extends from pulley 4165, downward to below pulley
below relocated cylinder 4123', and up, over top of cylinder
4123--mounted pulley block 4142', and back down to terminating
clip, yielding the same effect on PAGTU fork lift second stage 4180
as depicted arrangement.
[0475] Extension of cylinders 4122(L) and 4122(R) and related
motion of fork lift first stage 4160, while maintaining cylinder
4123 retracted, drives fork lift second stage 4180 longitudinally
along fork lift first stage 4160 as fork lift first stage 4160
upwardly extends relative to fork lift mast 4120. Incorporation of
pulleys 4164 and 4165 further causes distance traveled by fork lift
second stage 4180 to be double the stroke of cylinders 4122(L) and
4122(R). Operation of cylinders 4122(L) and 4122(R) causes
telescoping of fork lift mast 4120, first stage 4160 and second
stage 4180, enabling PAGTU fork 4300 to engage uppermost decks of
PATT 1200 for transferring PA's between PAGTU 4000 and PATT 1200,
as shown in FIGS. 62P-S.
[0476] Mounted to fork lift second stage 4180 is an articulated
fork 4300, joined to fork lift second stage 4180 by slender,
pivoting, tandem-connected members 4200 and 4220. Members 4200 and
4220 and fork 4300 swivel in a plane parallel to the one containing
fork 4300 tines. Members 4200 and 4220 and fork 4300 also present a
sufficiently vertically compact assembly to operate between two
adjoining decks of a PATT 1200. Fork articulation first drive servo
gearmotor 4186 is mounted to fork lift second stage 4180. First end
of fork first articulating member 4200 is mounted to and
reciprocally driven by output shaft of servo gearmotor 4186. Second
end of fork first articulating member 4200 mounts fork articulation
second drive servo gearmotor 4204. First end of fork second
articulating member 4220 is mounted to and reciprocally driven by
output shaft of servo gearmotor 4204. Second end of fork second
articulating member 4220 mounts fork articulation third drive servo
gearmotor 4224. Base of fork 4300 is mounted to and reciprocally
driven by output shaft of servo gearmotor 4224.
[0477] Two spaced GPS antennas 4022 and 4024 (along with other
requisite PAGTU-borne GPS equipment) enable PAGTU position and
attitude to be determined. Incorporation of position-measuring
control system devices typically associated with servo positioning
system provide for accuracy of PAGTU RTK GPS-based attitude
calculations to be increased with articulated fork 4300
extended.
[0478] Coordination between fork articulation members to achieve
straight-line motion in substantially an infinite number of
directions within operating plane of articulating members is
readily achievable with PAGTU 4000 programmable motion controls and
stated servo devices. FIGS. 62G-N illustrate a process whereby
PAGTU fork 4300 engages and retrieves a PA laterally adjoining a
narrow lane earlier cleared of PA's by PAGTU 4000. FIG. 62G shows
PAGTU 4000 entering area, with its fork 4300 horizontally retracted
and at an elevation in which tines readily pass over the tops of
canopies of plant material adjoining lane cleared earlier by PAGTU
4000. Strictly fork lift second stage 4180 is elevated while fork
lift first stage 4160 remains retracted, keeping fork lift height
to a minimum. FIG. 62H shows PAGTU 4000 having realigned its fork
4300 to match direction of planned engagement with target PA, while
maintaining previous elevation, thereby clearing the tops of
canopies of adjoining plant material as stated. At this stage,
swivel traction wheel is turned in anticipation of turning PAGTU to
follow up fork 4300 to ensure a stable state for lifting PA. FIG.
62I shows PAGTU 4000 having lowered its fork 4300 to match the
elevation of the target PA, completing pre-engagement alignment
with PA. Articulated fork members can finely position fork 4300
upon coarse positioning of more massive PAGTU main carriage. FIG.
62J shows PAGTU 4000 having linearly and laterally advanced its
fork 4300 into engagement with target PA. FIG. 62K shows PAGTU 4000
in the process of turning to align its track with fork 4300 for
stability as needed for handling a PA of relatively greater weight.
FIG. 62L shows PAGTU 4000 having lifted target PA above tops of
canopies of adjoining plant material as necessary for further PAGTU
maneuvering. FIG. 62M shows PAGTU 4000 with fork 4300 holding
lifted target PA drawn horizontally into alignment with PAGTU 4000
track, minimizing lateral protrusions and maximizing stability for
PAGTU 4000 travel to PA drop-off point.
[0479] FIGS. 62P-S illustrate a PAGTU 4000 placing or retrieving a
PA on an uppermost deck of a PATT 1200, on the side distal to the
subject PAGTU 4000. Telescoped configuration of subject PAGTU 4000
as necessary to reach PATT 1200 uppermost deck, is shown. Mast 4120
is pitched and rolled as necessary for fork 4300 to achieve
parallelism with PATT 1200 decks. Fork articulation members 4200
and 4220 enable fork 4300 to reach far side of PATT, as well as
provide for fine lateral adjustment of fork 4300 relative to target
position on PATT 1200.
[0480] As can be seen in FIGS. 62P-S, auxiliary fork support wheels
4362(L) and 4362(R), mounted to base of fork 4300, are
automatically lowered by respective pneumatic cylinders 4361(L) and
4361(R) to provide supplemental stabilization of fork 4300 as PAGTU
4000 reaches across the deck of a PATT 1200 to place or retrieve a
PA.
[0481] Details of a fork 4300 having tines 4350, the lateral
spacing of which can be adjusted, are shown in FIGS. 62T and U. As
shown in FIG. 62T, an optional pantograph arrangement, comprising
links 4353 and 4354, force linked tines 4351 and 4352 to be
parallel to one another, thereby stiffening central tines against
lateral bowing. Such bowing tendency is induced by pallet-centering
gussets (discussed earlier), which tend to drive apart tines
adjoining pallet support columns, where gussets are incorporated.
Because alignment between of one row of pallet segments results in
alignment of all rows of pallet segments, incorporation of a
stiffening arrangement on outermost tines 4350 yields no
substantial benefit. Distances between tines are set to equal the
diameters or equivalent at which the gussets meet the bottoms of
the pallet container receptacles or the projected bottoms of the
grids, as applicable.
[0482] Details of quick-adjusting/release fork tines 4350/4351/4352
are shown in the section view of FIG. 62U. Fork base 4301, with
swivel motor shaft attachment 4302, incorporates a downward opening
channel section, having flanges with lips producing laterally
tapered grooves 4303 and 4304 opening toward one another on
opposing sides of section, near bottom. A suitable number of fork
tine mounts 4321 having fingers 4322 and 4323, which engage
respective grooves, are slid into engagement with fork base 4301
from one end or the other of fork bas 4301. Each tine
4350/4351/4352 is locked in place by squeezing of tine cam lock
drive rod arm 4337 against backup arm 4336. Cam lock drive rod
4329, in turn, pushes against spring 4327, which, in turn, pushes
against cam lock actuation arm 4326, which rotates fork tine
locking cam 4324 about pivot pin 4325 and against fork base groove
4304 wall. Pushing tine cam lock drive rod arm 4337 sufficiently
causes pawl 4334 of spring-loaded latch 4332 to engage groove 4331
of cam lock drive rod 4329, holding cam lock drive rod 4329 in
place. A wedging action results in a tight friction fit between
tine mount 4321 and fork base 4301. Releasing fork tines
4350/4351/4352 is achieved by squeezing of tine cam lock drive rod
arm 4337 against tine cam lock drive rod release arm 4335, then
releasing. Squeezing action causes latch pawl 4334 to disengage
groove 4331, thereby releasing tine cam lock drive rod 4329, etc.
Pin 4339 maintains engagement between tine cam lock drive rod 4329
and tine mount 4321. Recesses 4328 and 4330 provide space for
spring 4327 of proper force and rate to achieve desired grip.
[0483] As is familiar to those skilled in the art, PAGTU 4000,
regardless of embodiment, incorporates safety sensors comprising
radar, infrared, or equivalent, to safeguard personnel and
equipment against potential harm by PAGTU 4000.
[0484] PAGTU 4000 preferably operates in automatic mode, wherein it
maintains an operational map, and automatically picks from a field
or greenhouse and places on a PATT 1200, vice versa, or some
combination thereof in an order dictated by queues it maintains
with updates radioed it by master control system. PAGTU 4000 also
operates in a semi-automatic mode, wherein, an operator utilizes an
RTK GPS-based probe (e.g. 180, FIG. 64A) to pinpoint PA's and radio
such information directly or indirectly (i.e., through master
control system) to PAGTU for retrieval. PAGTU also operates in
manual mode, wherein PAGTU takes "direct" instruction from an
operator with a radio HMI. Manual mode may still entail PAGTU
control system-based coordination of fork articulation members to
enable fork to respond to stroking of a joystick with linear
motion.
Pallet Assembly Field Transfer Unit (PAFTU) Embodiment 1
[0485] A first embodiment of a PAFTU 1100, shown in FIGS. 1, and
63A-I, comprises an autonomously guided mobile bridge 1102 with a
longitudinal track 1103, which a servo-driven pallet assembly
handling first carriage 1114 traverses. Bridge 1102 operates above
and provides for servicing of one or more nursery beds 125. Bridge
1102 is at sufficient height to pass over irrigation sprinkler
heads 129, which are normally elevated via vertical risers 130
above anticipated tops of plant material canopies 223. Position of
bridge 1102 is detected at two GPS antennas 1104 and 1105--one
located at each end of bridge 1102--, providing for derivation of
attitude (including heading) and velocity of bridge 1102. GPS
antennas 1104 and 1106 feed a GPS receiver 1111 operating in RTK
GPS mode. GPS receiver 1111 also receives GPS error correction
radio signal 120 from GPS base station 112, needed for RTK GPS
mode. PAFTU control system 1129 also via a radio link 122
communicates with master control system at base station 112 to
obtain operating instructions and provide feedback. Water-resistant
design and lightning rods 1160, located at machine high points,
facilitate machine operation in inclement weather. Heavy copper
electrical conductors carry lightning borne electrical current to
grounding electrodes 1161 on extreme ends of machine, along paths
reasonably distal to sensitive machine control system
electronics.
[0486] As shown in FIG. 63A, Bridge 1102 is supported by two bridge
supports 1116 and 1119 which are each, in turn, supported by two
servo-steered, servo-driven traction wheel assemblies 1124.
Traction wheel assemblies 1124 are each attached to each bridge
support 1116 and 1119 through a joint that provides for swiveling
of each traction wheel 1125, about a vertical axis centered on the
traction wheel 1124. Steering of traction wheels 1124 is
accomplished via servo drive of each swivel joint 1126. Steering of
each traction wheel 1124 provides for preferred working movement of
pallet assembly field transfer machine 1100 lateral to bridge 1102
longitudinal axis, as well as travel movement of machine 1100
parallel to bridge 1102 longitudinal axis, thus enabling machine
1100 travel on typical nursery vehicular driveways 127. Further,
PAFTU 1100 may turn about any radius of curvature, including zero,
i.e., about the center of machine 1100, for maneuvering in tight
areas.
[0487] PAFTU bridge supports 1116 and 1119 engage bridge 1102 via a
second track 1115 on bridge 1102, providing for adjustment of
longitudinal positions of bridge supports 1116 and 1119 on bridge
1102. Adjustability of positions of bridge supports 1116 and 1119
provides for operation of traction wheels 1125 in aisles 126
between relatively narrow beds 125 while simultaneously having one
end of bridge 1102 positioned proximal to one side of a driveway
127, on either end of bridge 1102, where a PATT 1200 operates,
thereby facilitating pallet assembly transfer between PAFTU 1100
and PATT 1200. Adjustability of positions bridge supports 1116 and
1119 also enables bridge supports 1116 and 1119 to operate on paths
that are clear of irrigation sprinkler heads 129 and related
exposed plumbing 130. Failsafe brakes 1117 and 1122, which provide
for fixing positions of both bridge supports 1116 and 1119 along
bridge 1102, are interlocked to fix at least one bridge support
1116 or 1119 at all times for safety.
[0488] Adjustment of positions of bridge supports 1116 and 1119
along bridge 1102 may be accomplished one at a time automatically
by a programmed sequence comprising: release of strictly brake 1117
or 1122 which frees the position on bridge 1102 of one bridge
support 1116 or 1119; swiveling of both traction wheels 1125 on one
bridge support 1116 or 1119 to drive parallel to one another and
generally along longitudinal axis of bridge 1102; activating
associated traction wheels 1125 to drive swiveled bridge support
1116 or 1119 to achieve the desired position of the "free" bridge
support 1116 or 1119 on bridge 1102; then reapplying the released
brake 1117 or 1122. Such an adjustment can be accomplished `on the
fly`--either traveling or working--through a similar sequence.
Encoders or equivalent position measuring devices, or even an RTK
GPS antenna mounted on each bridge support 1116 and 1119 can
provide suitable bridge support position information. Physical
travel stops 1118 and 1123 limit movement of bridge supports 1116
and 1119 along bridge 1102 to ensure stability of bridge 1102.
[0489] PAFTU prime mover 1127, comprising an internal combustion
engine driving an electrical alternator with a DC rectifier
package, is preferably situated with its fuel tank 1128 at a
relatively low elevation on one of the bridge supports 1116 or
1119, to aid in lowering the machine's center of gravity, thus,
promoting machine stability. The internal combustion engine further
has an in-line cylinder arrangement to minimize prime mover 1127
width, in keeping with the desirability of locating bridge supports
1116 and 1119 in space above relatively narrow aisles 126 between
nursery beds 125.
[0490] Pallet handler first carriage 1114 houses the machine's
master control system 1129 and operates semi-autonomously on bridge
1102. Pallet handler first carriage 1114 obtains electrical power
through electrical brush-type contacts that run against a bus bar
1132 extending the length of bridge 1102. Similar arrangements
provide for electrical power transmission between bridge supports
1116 and 1119 and bridge 1102. Low-level control signal
communication between bridge 1102, bridge supports 1116 and 1119
and pallet handler first carriage 1114 are preferably accomplished
via radio or infrared links between those components. Near
real-time control/status communication among all communicating
machine components and between PAFTU 1100 and master control system
at base station 112 assures overall system integrity required for
safe autonomous operation.
[0491] As shown in FIG. 63B, pallet handler first carriage 1114
incorporates a first linear bearing assembly 1121 movably attached
to bridge track 1103, as well as a second linear bearing assembly
1133 movably attached to vertical linear track 1134 of a slender
second, elevator, carriage 1135 of pallet handler. Pallet handler
first carriage 1114 further provides servo drive for movement of
attached pallet handler elevator carriage 1135 along track 1134.
Lower end of pallet handler elevator carriage 1135 connects to one
end of a linear, slender pallet handler third carriage 1138 through
a rotary joint 1137 having a servo-driven angular positioner which
swivels pallet handler third carriage 1138 in yaw substantially
about longitudinal vertical centerline axis 1136 of pallet handler
elevator carriage 1135. Opposite end of pallet handler third
carriage 1138 also has a swivel joint 1141 with a servo-driven
angular positioner for swiveling, also in yaw, a fourth carriage
1143, which acts as a wrist for the remaining carriages making up a
fork assembly. Fourth carriage 1143 connects through horizontal
swivel joint 1144 to a fifth carriage 1145. Swivel joint 1144
provides for minor rolling motion of assembly of succeeding
carriages, accommodating machine operation on ground that undulates
in direction lateral to fork tines. Fifth carriage 1145 is
elongated perpendicular to swivel joint 1144, generally
horizontally. Protruding from the longitudinal ends of fifth
carriage 1145, and aligned with one another are swivel joints 1146,
which provide for minor pitching motion of assembly of succeeding
carriages, accommodating machine operation on ground that undulates
in direction parallel to fork. Succeeding carriages are effectively
a fork assembly, having a base 1147.
[0492] Fork 1147 is movably attached to fork pitch rotation joint
1146 and is shown having size suitable for handling of one PA 300,
400 or 500, though could be potentially sized to handle more than
one PA's 300, 400 or 500 simultaneously. Fork tines 1153 are shaped
and spaced to provide for lifting of PA's 300, 400 or 500 from
beneath bottoms of mounted containerized plants 200 as discussed
above. Preferably, spacing and number of fork tines 1153 are
adjustable to correspond to the number of container receptacle rows
in handled PA's 300, 400 or 500.
[0493] As shown in FIGS. 63C-G, PAFTU 1100 provides for automatic
lifting and transferring PA's 300, 400 or 500, either from a
nursery bed 125 to an available space on a proximal autonomously
guided pallet assembly transport train 1200, or vice versa, while
maintaining traction wheels outside of nursery bed 125 space. For
high positioning accuracy, RTK GPS antennas 1104 and 1106 are
mounted at the longitudinal ends of bridge 1102 and high-resolution
position encoders or equivalent, along with strategically situated
discrete proximity or equivalent sensors/switches and numerous
programmed position, velocity, and acceleration calculations in the
PAFTU control software, locate PAFTU elements relative to RTK GPS
antennas 1104 and 1106. One or more GPS antennas, while not shown,
may as well be incorporated into fork for position sensing.
Coordinated movement of pallet handler first carriage 1114 along
bridge 1102 and rotation of pallet handler third carriage (link)
1138 about yaw swivel axes 1136 and 1139 at two ends of pallet
handler third carriage (link) 1138 accomplishable through circular
numerical controls (CNC), enables fork 1147 to move linearly,
generally perpendicular to bridge 1102 to engage PA's 300, 400 or
500 without movement of bridge 1102, itself. Dual yaw swivel joints
of pallet handler third carriage 1138 and coordinated movement by
same elements also allows for compensation in placement of PA's
300, 400 or 500 on or retrieval of PA's 300, 400 or 500 from
coarsely positioned PATT 1200, wherein linear movement of fork 1147
in a direction typically generally parallel to bridge 1102
longitudinal axis is necessary.
[0494] FIGS. 63H and I depict two different nursery bed
configurations, 125(A) and 125(B), respectively, which can be
serviced by PAFTU 1100 and an associated PATT 1200, and
configurations of PAFTU 1100 necessary for such servicing. FIG. 63H
depicts beds 125(A) having narrow aisles 126(A) in which PAFTU 1100
traction wheels operate upon proper alignment of bridge supports
1116 and 1119 with such aisles 126(A). These aisles 126(A) are
automatically selected over similar aisles having irrigation
sprinkler heads 129(A). Parallel to narrow aisles 126(A) are
driveways 127(A) interspersed at key locations for operation of
PATT 1200, suitable for interacting with PAFTU 1100.
[0495] FIG. 63I depicts beds having narrow aisles 126(B) that run
perpendicular to and between driveways 127(B) on which PAFTU 1100
traction wheels operate with proper alignment of bridge supports
1116 and 1119. In this case, bridge support 1116 is placed across a
first driveway 127(B1) from PAFTU 1100--engaged bed 125(B) to
enable PAFTU 1100 to engage PA's in a direction parallel to bridge
1102. Bridge support 1119 is placed in a second driveway 127(B2),
adjoining PAFTU 1100--engaged bed 125(B). Next to bridge support
1119 in driveway 127(B2) is PATT 1100, situated to interact with
PAFTU 1100.
Nursery Automation System Mapping Tools
[0496] Automation in accordance with invention necessitates
digitally mapping the nursery automation system operating area 111
(FIG. 1) utilizing RTK GPS-based mapping tools. Given that RTK GPS
requires establishment of a base station for receiving GPS
satellite signals and providing a fixed GPS satellite signal
receiving point to which base station GPS receiver refers in the
generation of an error correction signal, such base station 112 and
associated reference point must be established prior to utilization
of RTK GPS-based mapping tools. Upon establishment of such fixed
reference point and GPS base station 112, physical features of
autonomous machinery operating area 111 of nursery are then mapped
by personnel 133 roving the area with one or more hand-held mapping
units (FMUH's) 180 (FIGS. 64A-D) and, preferably with a
trailer-based remote mapping system (FMSRT), which comprises a pair
of specially-configured trailers 150 (FIGS. 64A, B) for towing
preferably behind utility vehicles.
Feature Mapping Unit-Hand-Held (FMUH)
[0497] FMUH 180 incorporates: a computer/human machine interface
(HMI) terminal 186; two GPS satellite signal antennas 182 and 183;
an RTK GPS error correction signal antenna 197; an inclinometer 184
providing computer 186 with accurate unit inclination information;
a non-contact distance transducer 185 providing computer 186 with
height of transducer 185 (and, thus, unit) above ground; a
component mounting plate 181 and riser/grip bar 187; riser clamp
angle transducer 199 for measuring riser diameter; a sprinkler
riser mounting seat 190, associated spring 194--loaded clamp 191,
pivot pins 188 and 196, linkage 193, and release handle 189. Dual
satellite antennas enable FMUH 180 to determine its heading as well
as position without having to be moved. (Such can alternatively be
accomplished with a flux valve/electronic compass.)
[0498] FMUH 180 arrangement provides for mounting to and mapping of
irrigation sprinkler heads, including their heights, attitudes
(tilt angle and direction) and riser diameters. Also, an attachable
probe 198 (FIG. 64C), the bottom of which is for contacting the
ground, can be incorporated to map other nursery features. These
include, but are not limited to, machine storage areas, staging
areas, serviced nursery beds 125, aisles 126 between serviced
nursery beds 125, and service roads/machine travel paths 127. Data
logger portion of FMUH 180 incorporates pre-programmed data entry
types selectable by mapping personnel 133 for facilitating mapping
expediency. Some sample data types include: nursery bed corner,
sprinkler head position, sprinkler riser base position, driveway
corner, greenhouse outer corner, greenhouse doorway outer corner,
machine storage building/shed doorway outer edge, etc. FMUH 180
incorporates sensors and programming that automatically detect and
compensate for position offset of attached probe 198. FMUH 180
further provides a real-time graphical display, depicting portion
of nursery being mapped, giving feedback to mapping personnel,
promoting proper data entry. Resulting topographical representation
of nursery service areas ensures accurate placement and retrieval
of pallet assemblies 300, 400 and 500, as well as physical
orientation stability of operating autonomous machinery.
[0499] FMUH 180 can also be used in production situations for
reestablishing positions and plan orientations (headings) of PA's
that may have been displaced by floodwaters, extremely high winds,
or inadvertent manual contact. Simple probing of two predefined
corners of pallet forming subject PA, together with FMUH control
system knowledge of associated PA geometry, establishes requisite
subject PA. Further, FMUH control system, with knowledge of pallet
geometry and production status (i.e., pallet type that should be
present) FMUH can audibly and visually alert operator to probing
errors, ensuring proper determination of position and plan
orientation of subject PA. Once position and plan orientation of
subject PA has been reestablished, FMUH 180 can transmit via radio
such information to master control system, which, in turn, provides
such information to pertinent autonomous material handling
machinery for successful retrieval/handling of subject errant
PA.
Feature Mapping System-Remote, Trailer-Mounted (FMSRT)
[0500] Many nurseries incorporate irrigation sprinkler heads that
are positioned centered in relatively wide beds, making direct
access to those heads for mapping a time-consuming effort. A
remote, trailer-mounted, feature mapping system (FMSRT) in
accordance with the invention, substantially expedites mapping of
such difficult-to-access component with sufficient accuracy to
avert collisions between autonomous pallet-handling machinery while
promoting placement of PA's relatively closely to such features,
thereby maximizing use of bed space.
[0501] FMSRT, illustrated in FIG. 65A, comprises two substantially
identical trailer-based units that complement one another, working
together to visually map relatively distant, difficult-to-access
nursery features, e.g., sprinkler heads, while each trailer
operates on a nearby driveway.
[0502] Each trailer comprises a metal frame on two wheels, having a
tow bar/hitch for towing behind a small utility vehicle. One of the
two wheels incorporates a rotary incremental encoder 157 or
equivalent rotary position-measuring device for interpolating
associated trailer position between GPS position updates, as
needed. Also mounted to frame is a first carriage 174 that swivels
about a vertical axis and is clamped a fixed position for a given
mapping operation. Also mounted to frame is an electrical enclosure
in which control system is found.
[0503] First carriage 174, with the exception of the swivel joint,
comprises a framework that is of triangular shape falling in a
vertical plane, which is centered between two trailer wheels with
swivel centered. One upper edge of triangular frame of first
carriage 174 is sloped preferably 45 degrees to typically
horizontal trailer deck. First carriage 174, in turn, mounts a
light source 170, a light source vertical position transducer 173,
two GPS satellite antennas 153 and 154 spaced apart to enable
trailer attitude/heading to be measured; an RTK GPS error
correction signal antenna 155, and second carriage 175 that
provides for reversal of the aperture of a thereon-mounted linear
photoelectric receiver array.
[0504] Second carriage 175 comprises primarily a photoelectric
sensor array 172--a linear array of photoelectric sensors spaced a
short distance (e.g., 1/2-inch or less) apart in a slender housing
pinned at its ends, allowing for swiveling of sensor array 172
about its longitudinal axis. Sensors have separate electrical
output circuits that enable sensor array 172 to iteratively roughly
measure lengths of objects that pass between a point light source
and sensor array 172. Height of sensor array 172 is sufficient to
ensure all target features can be reliably measured. Second
carriage 175 is arranged for periodic rotation about its slender
body, effectively "flipping" over to view source light from the
opposing side. Orientation of sensor array 172 is maintained by
spring-applied latch 176. Light source and photoelectric receivers
are preferably modulated to negate error-producing effects of
ambient light on the photoelectric receivers. Photoelectric sensor
array 172 is sloped to enable light from source to be received on
both sides of a slender target feature, e.g., a sprinkler riser,
providing for redundancy in measurement of such feature.
[0505] Frame-mounted electrical enclosure holds a
microprocessor-based programmable control system 151, including GPS
receiver 152. A human-machine interface (HMI) terminal 160,
separate from FMSRT control 151 enclosure, mounts on handle bar or
dashboard of utility vehicle and is connected through a cable 161
to control system enclosure at connector 162. FMSRT preferably
draws electrical power from utility vehicle electrical supply
(e.g., alternator or battery), though alternately could have its
own battery. Control system incorporates electrical circuitry and
real-time programming suitable for relatively high rate data
logging. Discrete inputs comprise primarily photoelectric receiver
signals (light/dark) and operator HMI terminal 160 inputs. Digital
inputs comprise GPS satellite and base station signals, encoder 157
signal, light source height transducer 173, HMI terminal 160
signals, and current time. System output comprises time-stamped
position and photoelectric sensor array status data sent to
permanent storage and operator audiovisual travel speed command
information via the HMI terminal 160.
[0506] Prior to a mapping operation, each of two FMSRT trailers
150(1) and 150(2) are arranged in an initial configuration. In
initial configuration, each trailer has its first carriage 174 set
counterclockwise 45 degrees in plan from vertical plane centered
between trailer wheels. The second carriage 175 of first trailer
150(1) is set to receive light input from its right-hand side,
while the second carriage 175 of second trailer 150(2) is set to
receive light input from its left-hand side. Light source 170 on
each trailer is set to an elevation a minor distance above the tops
of the canopies of the plant material in the bed container the
target sprinkler head(s).
[0507] As shown in FIG. 65B, first utility vehicle with trailer
150(1) is staged on a driveway adjoining a bed containing features
(e.g., sprinkler heads) to be mapped, wherein subject bed is to
right of trailer 150(1). Second utility vehicle with trailer 150(2)
is staged on a driveway adjoining a bed containing same features
(e.g., sprinkler heads) to be mapped by utility vehicle/trailer
150(1), wherein subject bed is to left of trailer 150(2). Utility
vehicle/trailer 150(1) leads utility vehicle/trailer 150(2) so as
to cause light source 170 on one trailer to be normal to the
photoelectric receiver array 172 on the complementary trailer.
I.e., utility vehicle/trailer 150(1) leads utility vehicle/trailer
150(2) by the width of the bed between them.
[0508] First 150(1) and second 150(2) utility vehicle/trailers are
established as master and slave, respectively, in a master/slave
data collection arrangement. Master (first) utility vehicle/trailer
150(1) travels independently to a pre-defined speed limit, while
slave (second) utility vehicle/trailer 150(2) speed--generally the
same as that of the master--is set and adjusted as necessary to
maintain a fixed lead distance from master (first) utility
vehicle/trailer 150(1) so that photoelectric array 172 on a given
trailer is maintained normal to the light source 170 on the
complementary trailer. Real-time GPS position of FMSRT master
(first) trailer 150(1) is radio communicated to slave (second)
FMSRT trailer 150(2) control system, which compares the received
position information to proper offset information it maintains,
generating an error value, which drives an audible indication
(i.e., tone) produced by HMI, prompting slave (second) utility
vehicle operator to increase or decrease his speed to reduce the
error value--effectively yielding a position servo loop. Speed
control tones, based on a pre-defined working speed, can also be
incorporated into master utility vehicle/trailer controls.
Incorporation of pair of headphones, connectable to HMI,
facilitates operator concentration on speed control tones.
[0509] Alternately, an auto-throttle system could be incorporated
into each utility vehicle, wherein master would travel at a
constant speed and slave would maintain the discussed offset
distance. Safety would dictate incorporation of a `dead man` switch
on each vehicle to disengage the auto-throttle system in the event
of a problem.
[0510] Data acquisition initiates and vehicles/trailers travel
length of bed at a rate limited by the lesser of the data
acquisition update rate or safety limits. While traveling, target
features (e.g., sprinkler heads) are passed, which break the light
beams emitted by the trailer light sources 170(1) and 170(2) and
received by parts of the corresponding photoelectric receiver
arrays 172(2) and 172(1), giving rise to height measurements and a
first of two attitude measurements of features observed.
[0511] Upon completing initial pass(es), first carriage 174 of each
trailer 150 is swiveled to 45 degrees clockwise in plan from
vertical plane centered between trailer wheels. The first
vehicle/trailer 150(1) now leads the second vehicle/trailer 150(2)
by the distance it trailed the second vehicle/trailer 150(2) in the
earlier configuration as data collection is resumed. This results
in triangulated views of the remote features being mapped. Data
consolidation and reduction, subsequent to collection, yields
positions of targeted remote features laterally across beds, in
addition to longitudinal positions, heights, attitudes, and
diameters (of risers). Manual counting of targeted features (e.g.,
sprinkler heads) can be employed confirm system operation. Reduced
data is in a format suitable as a digital map interpretable by
nursery automation system in directing autonomous machinery.
Pas Embodiment 2 Physical Description
[0512] Unless otherwise stated, components incorporated into PAS
second embodiment are substantially the same as those incorporated
into PAS first embodiment.
[0513] A second embodiment of PAS 1500 is shown in FIGS. 66 and 67.
This second embodiment comprises: a second embodiment of a PGSU
1560, with four pallet/grid stack conveyors (PGSC's) 1506, 1507,
1508, and 1509, and a pallet elevator (PE2) 1640 with integral PC
1641; two PAU's, 1700(1) and 1700(2), a PACTU 1820; and PC's 1860,
1870, 1870' and 1890 for interconnection of above components;
thereby forming a first PC line. PAS 1500 further comprises PC's
1900, 1910, 1920 and 1930, and a PA shuttle 1940 with integral PC
1941, forming a second PC line, for semiautomatic PA unit
processing, described below.
[0514] First PC line in PAS second embodiment is an over-and-under
configuration, reducing system footprint relative to first
embodiment though necessitating greater height to enable items
conveyed on lower PC run to pass beneath PAU's 1700. Further,
access to PATT 1200 by PACTU 1820 consequently necessitates
bottommost deck of PATT 1200 be higher than that of first
embodiment, thus necessitating a ramp on which PATT 1200 sits for
loading and unloading, or the placement of lower PC's of PAS second
embodiment in a trough.
[0515] PAS second embodiment calls for stacks of pallets and grids
to be removed from PAS by forklift for storage elsewhere. Thus, no
PGSA is incorporated in PAS second embodiment.
[0516] Also, PC's 1860 and 1890 may be elongated to provide space
for an optional PGWU with PGRU's comparable to those of PAS first
embodiment. PC 1860 operates beneath such components.
Pallet/Grid Stack Conveyor (PGSC) Physical Description
[0517] As can be seen in FIGS. 68 and 69, four closely laterally
spaced, parallel, substantially identical, pallet/grid stack
conveyors (PGSC's) 1506, 1507, 1508, and 1509 are located proximal
and lateral to one end of a first, linear, PC line forming a PAS
second embodiment 1500. Flow of each PGSC is bi-directional,
horizontal and perpendicular first PC line and is servo-driven with
positioning capabilities. Each PGSC is at least as wide as the
widest pallet PAS is configured to process, and at least twice as
long as the longest pallet PAS is configured to process. Belts of
PGSC's are at lowest elevation of all PAS conveyor belts, matched
only by those of PE1-PE2 and (during part of PE2 cycle) PE2
PC's.
[0518] Proximal to first end 1529 of each PGSC, which is distal to
longitudinal centerline of PE1-PE2 PC described below, is an
arrangement for centering and squaring pallet and grid stacks 1540
and 1543, respectively, placed on associated conveyor at associated
end 1529 by a manually operated forklift 1502. Arrangement consists
of a lift table 1511 and a pair of mirrored centering arms 1517 and
1518 situated on sides of PGSC opposite one another at associated
conveyor end 1529. Lift table 1511, the main structure of which is
below conveyor belt support structure proximal to conveyor end
1529, incorporates ribs 1512 that extend up between individual
conveyor belts to provide a composite planar horizontal surface for
lifting and subsequent lateral sliding of pallet and grid stacks
1540 and 1543, respectively, without disturbing conveyor belts. Cam
plate 1513, pushed horizontally by actuator 1514, and situated
between lift table 1511 and stationary base plate 1516, drives lift
table 1511 vertically upward along guides 1515, substantially
synchronously raising upper surfaces of ribs 1512 above upper
surfaces of adjoining conveyor belts, taking weight of pallet/grid
stack from associated conveyor.
[0519] Push arms 1517 and 1518 operate as pantographs driven by
cranks 1519 and 1520, which are driven by links 1521 and 1522,
respectively, which are driven and guided by actuator 1525. A
sensor at the end 1529 of each PGSC, plus control system logic
detect and establish the new presence of a pallet/grid at the end
1529 of the associated PGSC. Lift table 1511 is elevated and then
push arms 1517 and 1518 advance toward one another. One arm, 1517
or 1518, as applicable, contacts and pushes an eccentric, skewed
pallet/grid on a corner pallet/grid support column, causing pallet
to rotate until arm contacts other pallet/grid support columns
along same side of pallet. At this point, pallet is rotationally
aligned with PGSC. Arm, 1517 or 1518, as applicable, continues
pushing pallet, translating it toward PGSC center, at which point
opposing arm, 1518 or 1517, as applicable, contacts opposing side
of pallet. At this point, pallet is rotationally aligned with and
laterally centered above PGSC. If no other associated conveyor
indexing action is occurring at the time, associated lift table
1511 is then lowered, placing pallet/grid on associated conveyor
composite belt, properly oriented for conveying to PGSU for
subsequent de-stacking. Pallet detection sensors and algorithms
handle remaining pallet indexing/positioning requirements of PGSU
on pallet. Pallet alignment function works as well with custom
pallets for holding PGSU pallet adapters, providing for automatic
PGSU tooling changes.
PGSU Embodiment 2 Physical Description
[0520] As shown in FIGS. 68 and 69, PGSU 1560 in a second
embodiment of the invention, as applicable to a particular
operating mode, transfers pallets 302, 402, or 502, and grids 600
(402, 502, and 600 shown) between PC's 1890, 1631 and PGSC's 1506,
1507, 1508, and 1509. PGSU 1560 comprises framework 1562 and
mutually interconnected first through fifth manipulator carriages,
1568, 1575, 1588, 1594, and 1600, respectively.
[0521] Frame 1562 is arranged to enable PGSU 1560 manipulator
carriages to engage pallets and grids situated on proximal ends of
four PGSC's 1506, 1507, 1508, and 1509, PGSU-PAUL PC 1890, and PE1
PC 1631. Frame 1562 incorporates a linear, horizontal first track
1563--perpendicular to PE1-PE2 PC flow directions--for movable
attachment of a first carriage 1568. Also mounted between frame
1562 and first carriage 1568 is a servomotor/sprocket/gear belt
arrangement for reciprocally driving a first carriage 1568 along
first track 1563.
[0522] Mounted to first carriage 1568 is a first set of linear (or
cam follower) bearings 1569, which provide for movable attachment
of first carriage 1568 to first track 1563 of frame 1562. Also
mounted to first carriage 1568 are four vertical linear bearing
arrangements 1570, 1571, 1572, and 1573, each for movable
attachment of second through fifth carriages 1575, 1588, 1594, and
1600 via linear tracks 1576, 1589, 1595, and 1601, respectively,
mounted thereon. Mounted between first carriage 1568 and each of
the second through fifth carriages is a servo actuator as described
above for reciprocally driving same along respective tracks 1576,
1589, 1595 and 1601. Also mounted between first carriage 1686 and
each of second through fifth carriages 1575, 1588, 1594, and 1600
is a failsafe brake for emergency and idle fixing of same relative
to associated bearing arrangement, and a "counterbalance" pneumatic
cylinder as described above.
[0523] Each of second through fifth carriages, 1575, 1588, 1594,
and 1600, respectively, are substantially the same as the second
and third carriages of PGSU first embodiment.
Pas Embodiment 2 Operation
[0524] PAS second embodiment operates similarly to PAS first
embodiment. Also, pallet and grid stacks are added to and
subtracted from PAS via forklift interfacing with a PGSC's of PGSU
second embodiment.
Pas Embodiment 2 Serial/Pallet Type Change Operation
Pallet/Grid Addition to PAS
[0525] In each PAS 1500 operating mode involving assembly of PA's
combined with change of type or addition of pallets 302, 402, or
502, such process starts with placement of a stack 1543 of pallets
302, 402, or 502 and, if applicable, a stack 1540 of grids 600 onto
forklift interface ends 1529 of stationary PGSC's, 1507 and 1506,
respectively, by a manned or autonomous forklift 1502. PGSC's
provide for addition of pallet and grid stacks to PAS 1500 without
interruption of continuous operation of PGSU 1560 and, thus, PAS
1500.
[0526] Upon clearing of gripper interface end 1530 of PGSC 1507,
PGSC 1507 indexes a pallet stack 1543 from forklift interface end
1529 to gripper interface end 1530 of PGSC 1507, clearing forklift
interface end 1529 to receive an additional pallet stack 1543. PGSC
1506 operates similarly, typically handling grids in lieu of pallet
stacks. PAS 1500 then signals for additional pallet stacks (e.g.,
through illumination of a light and sounding of a horn for manual
forklift operation, or, through electrically wired signaling to
control system for autonomous forklift operation) and continues to
operate without interruption. All PGSC's are individually
controllable by conveyor-dedicated clutch/brake units 1531
positioned in the conveyor drive train between conveyor drive
rollers and one common conveyor drive motor 1532, or by separate
conveyor-dedicated drive motors, to enable independent indexing of
PGSC's 1506, 1507, 1508, and 1509. Thus, it is permissible for
pallet stacks 1544 and grid stacks 1541 to have different
quantities of pieces, without interrupting PAS 1500 operation.
Photoelectric sensors or mechanical limit switches 1535 detect
passing leading or trailing edges of pallet stacks 1544,
establishing positions of pallet stacks 1544 on PGSC 1507. A
similar sensor arrangement is incorporated on PGSC 1506. These
discrete signals are fed to the programmable servo system controls
along with conveyor position measurement information from position
measuring components--typically rotary encoders--associated with
servo system driving PGSC's, 1506, 1507, 1508, and 1509,
respectively. This arrangement provides for flexible positioning on
respective conveyors of pallet stacks 1544 and grid stacks 1541,
the geometry of each of which may change with production changes,
due to different types of pallets 300, 400 or 500 and grids 600
which system 1500 desirably handles.
[0527] Pallet stacks 1544 and grid stacks 1541 conveyed to gripper
interface ends, 1530 of PGSC's 1507 and 1506, respectively, are
roughly positioned for de-nesting due to variation in pallet stack
1543 and grid stack 1540 placement positions and orientations on
first ends 1529 of PGSC's 1507 and 1506, respectively, by forklift
1502. PGSU 1560 compensates, as described below, for such variation
in positions and orientations of pallet stacks 1544 and grid stacks
1541.
Pas Embodiment 2 Pallet/Grid Removal from Pas
[0528] Pallet/Grid Removal from PAS
[0529] In each process involving removal of pallets and, if
applicable, grids, from PAS 1500 and subsequent storage of such
items starts with the presence of first and second pallets, 1894
and 1895, respectively, (similar to 302, 402, or 502) proximal to
PGSU 1560 end 1893 of and spaced laterally on PC 1890. It may,
depending on production configuration, also start with the presence
of a first pair of grids 1896 and 1897 (similar to 600) beneath
respective pallets 1894 and 1895 and a second pair of grids 1896'
and 1897' between respective pallets 1894 and 1895 and PGSU 1560
end 1893 of PC 1890. Such process comprises sequentially: engaging
and gripping a first pallet 1894 and, if applicable, a first grid
1896', as applicable, on side of grid longitudinal center vertical
plane distal to PGSC's 1508 and 1509, transferring first pallet
1894 and grid 1896' to and nesting them on tops of second pallet
1895 and grid 1897', respectively, on side of PC longitudinal
center vertical plane proximal to PGSC's 1508 and 1509; releasing
first pallet 1894 and grid 1896'; gripping second pallet 1895 and
grid 1897', thus capturing first pallet 1894 and grid 1896',
transferring first and second pallets 1894 and 1895, respectively,
and first and second girds 1896' and 1897', respectively, to and
nesting them on tops of pallet stack 1553 and grid stack 1550 at
PGSU 1560 ends 1530 of PGSC's 1509 and 1508, respectively. Pallet
and grid stacks 1553 and 1550, respectively, on reaching designated
size, are automatically conveyed from gripper interface end 1530 to
forklift 1502 interface end 1529 for forklift 1502 retrieval and
transport to storage area.
[0530] Forklift 1502 places a stack 1507 of pallets 302, 402, or
502 and, if applicable, a stack 1542 of grids 600 onto stationary
pallet stack conveyor belt 1509 and grid stack conveyor belt 1543,
respectively, proximal to the first (free) end 1527 of a pallet
stack conveyor 1517 and grid stack conveyor 1540, respectively,
These conveyors are of lengths of at least twice the horizontal
dimension of the associated stack 1507 or 1542 in the stack
conveyor flow direction 1526 and provide for addition of pallet and
grid stacks to system without interruption of continuous operation
of PGSU. Conveyor surfaces preferably comprise multiple, laterally
spaced gear belts 1525 for positive belt surface positioning and
belt side-to-side "walking" elimination. Slide beds preferably
support conveyor belts for smooth operation and preferably have
high-friction backing to promote substantially slip-free contact
between belts and carried items.
[0531] In de-nesting mode, if grids 600 are to be incorporated into
PA's 500 (for example), PGSU 1560 picks up two grids 600
simultaneously from two grid stacks 1542 at second end 1547 of grid
stack 1540, translates grids 600 and places them on first end 1644
of PC 1640. PGSU 1560 then picks up two pallets 502 simultaneously
from two pallet stacks 1507 at second end 1528 of pallet stack
conveyor 1517, translates pallets 502 and places them on first end
1644 of PC 1640, inserting them into grids 600 if grids are to be
incorporated into PA's 500. In nesting mode, PGSU 1560
simultaneously picks up pallets 502 from first end 1644 of PC 1640,
out of grids 600 if girds 600 were incorporated in PA's 500, and
translates pallets 502 and places them on pallet stacks 1507 at
second end 1528 of pallet stack conveyor 1517. If grids 600 were
incorporated in PA's 500, PGSU 1560 then simultaneously picks up
grids 600 from first end 1644 of PC 1640, and translates grids 600
and places them on grid stacks 1542 at second end 1547 of grid
stack conveyor 1540.
PAGTU Embodiment 2
[0532] FIGS. 74A-F are perspective views of a second embodiment of
PAGTU 7800 in various PA lifting states. PAGTU second embodiment
7800 differs from PAGTU first embodiment 4000 by its PA lifting
technique, which is a three-member (including fork) arm 7811 that
articulates in a vertical plane, providing fork lift as well as
fork extension. PAGTU second embodiment 7800 travels on a pair of
recirculating tracks 7810 and turns via a turntable 7812 to avert
bed-damaging track skid steering typical of tracked vehicles. PAGTU
second embodiment 7800 incorporates swivel joints with associated
servo drives at its fork's heel and between the track and main
carriages, both providing rotation about vertical axes. Another
servomotor-driven swivel joint 7813, with its axis of rotation
parallel to and centered proximally above fork tines, provides fork
roll. Collectively these joints provide for "universal" movement of
fork, accommodating undulating beds and driveways on which PAGTU
second embodiment 7800 and PATT 1200 must operate and interact.
Hydraulic, electric, or equivalent servo devices suffice for
driving PAGTU second embodiment 7800, as in PAGTU first embodiment
4000.
PAGTU Embodiment 3
[0533] FIG. 75 is perspective underside view of a third embodiment
of PAGTU 7900 in a mid-elevation PA lifting state. PAGTU third
embodiment 7900 differs from PAGTU second embodiment 7800 simply by
its fixed rubber-tired drive in place of the tracks of PAGTU second
embodiment 7800. This allows for a larger turntable 7912, rendering
PAGTU third embodiment 7900 more stable on utilizing such device
for turning.
PAFTU Embodiment 2
[0534] FIG. 76 is perspective overhead view of a second embodiment
of PAFTU 6000. PAFTU second embodiment 6000 differs from PAFTU
first embodiment 1100 simply by its vertical plane-residing
servo-driven pantograph fork extension mechanism 6010. This
arrangement enables PAFTU second embodiment 6000 to require less
bed space for maneuvering into and out of engagement with a PA,
relative to PAFTU first embodiment 1100. Hydraulic, electric, or
equivalent servo devices suffice for driving PAFTU second
embodiment 6000, as in PAFTU first embodiment 1100.
* * * * *