WO2018146701A1 - Système et procédé de manipulation d'objets - Google Patents

Système et procédé de manipulation d'objets Download PDF

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Publication number
WO2018146701A1
WO2018146701A1 PCT/IN2018/050070 IN2018050070W WO2018146701A1 WO 2018146701 A1 WO2018146701 A1 WO 2018146701A1 IN 2018050070 W IN2018050070 W IN 2018050070W WO 2018146701 A1 WO2018146701 A1 WO 2018146701A1
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WO
WIPO (PCT)
Prior art keywords
objects
holding contact
trajectory
feeding
controller
Prior art date
Application number
PCT/IN2018/050070
Other languages
English (en)
Inventor
Sasisekar KRISHNAMOORTHY
Ibrahimkhan DODAMANI
Tauseef MOHAMED
Original Assignee
Nanopix Integrated Software Solutions Private Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanopix Integrated Software Solutions Private Limited filed Critical Nanopix Integrated Software Solutions Private Limited
Publication of WO2018146701A1 publication Critical patent/WO2018146701A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N5/00—Machines for hulling, husking or cracking nuts
    • A23N5/008—Machines for hulling, husking or cracking nuts for almonds
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N5/00—Machines for hulling, husking or cracking nuts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • B07C1/04—Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
    • B26D1/02—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a stationary cutting member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
    • B26D3/24—Cutting work characterised by the nature of the cut made; Apparatus therefor to obtain segments other than slices, e.g. cutting pies
    • B26D3/26—Cutting work characterised by the nature of the cut made; Apparatus therefor to obtain segments other than slices, e.g. cutting pies specially adapted for cutting fruit or vegetables, e.g. for onions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form

Definitions

  • the present disclosure generally relates to an automated electro-mechanical system and method for manipulating objects.
  • Processing of objects such as cutting of shell of each object with shell is preformed on conventional cutting machines.
  • the general process performed by each conventional cutting machine is placing objects on a conveyor, cutting objects and removing and collecting processed objects:
  • US Patent No. 2424022 titled “Apparatus for the extraction of the kernel or kernels from a nut” discloses a cutting means and expelling means. The cutting means cut the nut such that kernel can be separated from the nut. However, after cutting there is no provision for separating kernel and shell which requires manual sorting.
  • US Patent No. 3626478 titled "Cashewnut decorticating machine” discloses a rotatable turret having provision for holding objects, cutting the shells, means for separating cut shells, means for ejecting kernel from shell, ejecting each shell part separated from kernel.
  • the present disclosure not does explicitly mention that the kernel and shells are separately collected in different containers.
  • US Patent No. 6125743 titled "Nut processing apparatus” discloses an apparatus for processing hard-shelled nuts and a method therefore.
  • the apparatus performs loading, gripping, conveying and cutting operations. However, after cutting the kernels and nuts/shell are collected together. Hence manual interface is required for such separation.
  • the present discloser discloses an object manipulating system for manipulating objects, in accordance with one embodiment of the present invention.
  • the system includes at least one controller, a feeding and conveying unit, a first trajectory, a second trajectory, a scanning unit, a processor, a plurality of grade containers and an ejection unit.
  • the feeding and conveying unit is used for feeding and conveying a plurality of objects.
  • ⁇ receives controlled amount of objects as controlled by the controller based on the inputs received from at least one sensor disposed in vicinity of the feeding and conveying unit;
  • the first trajectory is moving in a clockwise closed loop and configured to move sequentially a plurality of first object holding contacts positioned at predetermined distances on the first trajectory.
  • the second trajectory is moving in an anticlockwise closed loop and configured to move sequentially a plurality of second object holding contacts positioned at predetermined distances on the second trajectory, wherein, the first trajectory (30) and the second trajectory synchronously and simultaneously moves inwardly towards each other and outwardly away from each other such that during o inward movement a first object holding contact and corresponding in-line second object holding contact travel in vicinity of each other and pick to hold each conveyed object in between the first object contact and said second object contact when a pre -determined distance therebetween is achieved and convey held object at desired distance by maintaining pre-determined distance of first object holding contact and corresponding in-line second object holding contact; and o outward movement of the first object holding contact and corresponding inline second object holding contact travel away from each other and release conveyed object at desired location, wherein, at least one of correspondingly disposed the first object
  • the scanning unit includes at least one scanning device configured to scan in a three- dimensional space, during feeding, singulating and orienting of each object, holding of each object, convey of each object, and/or release of each object to observe configuration parameter, external parameter(s) and/or internal parameter(s) of each held object, each conveyed object and/or each released object.
  • the processor is configured to receive scanned parameter(s) of each scanned object and determine configuration and/or grade/category of each scanned object without reconstruction of images and communicate configuration and grade characteristics of each scanned object to the controller.
  • the plurality of grade containers is positioned in vicinity of outward movement of the first trajectory and the second trajectory such that each grade container configured to receive configuration and graded object of particular grade released by the first object holding contact and/or second object holding contact upon direction of the controller.
  • the ejection unit ejects held object by the first object holding contact and the second object holding contact upon direction of the controller such that configured and graded objects are received in desired grade container.
  • the present disclosure also discloses a method for manipulating objects.
  • the method includes providing at least one controller. Feeding and conveying a plurality of objects by a feeding and conveying unit.
  • the feeding and conveying unit is provided.
  • ⁇ receives controlled amount of objects as controlled by the controller based on the inputs received from at least one sensor disposed in vicinity of the feeding and conveying unit;
  • Moving a plurality of second object holding contacts sequentially positioned on at predetermined distances on a second trajectory moving in a anti -clockwise closed loop wherein, the first trajectory and the second trajectory synchronously and simultaneously moves inwardly towards each other and outwardly away from each other such that during o inwardly moving of a first object holding contact and corresponding in-line second object holding contact travels in vicinity of each other and pick to hold each conveyed object in between the first object holding contact and the second object holding contact when a pre-determined distance therebetween is achieved and conveying held object at desired distance by maintaining pre-determined distance of first object holding contact and corresponding in-line second object holding contact; and o outwardly moving of the first object holding contact and corresponding inline second object holding contact travel away from each other and release conveyed object at desired location, wherein, at least one of correspondingly disposed the first holding contact and the second holding
  • the pusher plate facilitates pushing of each oriented object received from the feeding and conveying unit inward for easy holding of the first object holding contact and corresponding the second object holding contact and during outwards movement of the first and second trajectories. Scanning by a scanning unit having at least one scanning device in a three-dimensional space, objects during feeding, singulating and orienting of each object, holding of each object, convey of each object, and/or release of each object to observe configuration parameter, external parameter(s) and/or internal parameter(s) of each held object, each conveyed object and/or each released object.
  • Processing by a processor scanned parameter(s) of each scanned object and determine configuration and/or grade/category of each scanned object without reconstruction of images and communicate configuration and grade characteristics of each scanned object to the controller.
  • An ejection unit ejecting each held object by the first object holding contact and the second object holding contact upon direction of controller such that configured and graded objects are received in desired grade container.
  • the main object of the present disclosure is to provide an automatic system and method for manipulating objects like holding, conveying, optionally cutting and grading.
  • FIG. 1 is a schematic perspective view of a system for manipulating objects, according to one embodiment of the present disclosure
  • FIG. 2 is a schematic enlarged perspective view of a portion of the system of FIG. 1;
  • FIG. 3 is an another perspective view of the system of FIG. 1 ;
  • FIG. 4 is a schematic enlarged perspective view of a single channel of the system of FIG. 1;
  • FIG. 5 is a perspective view of an assembly of an orienting and conveying unit, lower guide rail, the upper guide rail and a cutting unit of the system of FIG. 1, wherein the orienting and conveying unit has a pair of helical conveyors;
  • FIG. 6 is a perspective view of an assembly of an orienting and conveying unit, a lower guide rail, an upper guide rail and a cutting unit of the system of FIG. 1 wherein the orienting and conveying unit has a single helical conveyors;
  • FIG. 7 is an enlarged perspective view of the cutting unit of FIG. 6;
  • FIG. 8 is an enlarged perspective view of the cutting unit attached to the lower guide rail and the upper guide rail of FIG. 6;
  • FIG. 9 is an enlarged perspective view of a first object holding contact and a second object holding contact of the system of FIG. 1;
  • FIG. 10 is a perspective view of an ejection unit (in one embodiment) of the system of FIG. 1;
  • FIG. 11 is a perspective view of an ejection unit (in another embodiment) of the system of FIG. 1;
  • FIG. 12 is an enlarged perspective view of the ejection unit of the system of FIG. 11 ;
  • FIG. 13 is a flowchart of the method of the system for manipulating objects of FIG. 1.
  • FIG. 1 is a system (100) for manipulating objects, in accordance with one embodiment of the present disclosure.
  • the system (100) is manipulating cashewnuts with their shells.
  • Manipulating herein, is referred to handling of each cashewnut with its shell to cut the shell, grade each cashewnut with their shell and collect like grade cashewnuts with or without shells.
  • the system (100) includes at least one controller (10), a feeding and conveying unit (20), a first trajectory (30), a second trajectory (40), a scanning unit (50), at least one processor (60), a plurality of grade containers (70) and an ejection unit (80).
  • the feeding and conveying unit (20) feeds and conveys a plurality of cashewnuts with shells.
  • the feeding and conveying unit (20) includes a feeding hopper (21), a single channel (22), an orienting and conveying unit (23), an assembly of a lower guide rail (24b) and an upper guide rail (24a) and a cutting unit (25).
  • the feeding hopper (21) introduces in a controlled amount a number of cashewnuts with their shells in a clutter.
  • Controlling of introducing the number of cashewnuts with their shells is determined by the controller (10) based on the inputs received from at least one sensor (not illustrated in Figures) disposed in vicinity of the feeding and conveying unit (20) feeding cashewnuts upon input received from the controller (10).
  • the feeding hopper (21) directs objects to the single channel (22).
  • the single channel (22) is illustrated in FIG. 4.
  • the single channel (22) is of a size that continuously receives cashewnuts with shells such that each cashewnut with shell is separated from the clutter and is linearly aligned in the single channel (22).
  • the single channel (22) is provided with at least one uneven path (22a) through which each cashewnut with shell are passed.
  • single channel (22) can be subjected to vibration for singulating each cashewnut with shell such that a space is created between adjacently disposed cahewnuts with shells.
  • vibration bowls (not illustrated in Figures) can be provided for feeding and conveying.
  • the orienting and conveying unit (23) orients each singulated cashewnut with shell in desired orientation and convey forward the oriented cashewnut with shell in the assembly of the lower guide rail (24b) and the upper guide rail (24a).
  • the orientation and conveying unit (23) includes two helical conveyor (23a) for manipulating each cashewnut with shell (as shown in FIG. 5) or can have one helical conveyor (23a) (as shown in FIG. 6) to achieve desired orientation and simultaneous forward movement. Further, at least one cashewnut with shell support (23b) is provided that support cashewnut with shell from bottom to prevent each cashewnut with shell from falling from the one or more helical conveyor (23a) and and/or side portions for orienting each cashewnut with shell. At the end of the helical conveyor (23a), the first trajectory (30) and the second trajectory (40) receives each cashewnut with shell.
  • the assembly of the lower guide rail (24b) and the upper guide rail (24a) is illustrated in FIGS. 5 to 8.
  • the assembly of the lower guide rail (24b) and the upper guide rail (24a) is positioned to guide therebetween each held cashewnut with shell when conveyed by the first trajectory (30) and the second trajectory (40).
  • the lower guide rail (24b) and the upper guide rail (24a) have a space in between to receive each cashewnut with shell therebetween.
  • the space between the lower guide rail (24b) and the upper guide rail (24a) is controllably adjusted by an adjustment mechanism (24c) that is actuated by the controller (10) based on the input received from the sensors provided in the feeding and conveying unit.
  • the sensor provides information of size of each cashewnut with shell and accordingly informs the controller (10).
  • the controller (10) signals the adjustment mechanism (24c) to create more space, less space or maintain the space.
  • the space is such that each cashewnut with shell is secured and prevented from moving and hence each oriented cashewnut with shell are guided at desired orientation with pressure.
  • the cutting unit (25) is illustrated in FIG. 6 to 8.
  • the cutting unit (25) is an optional feature that can be attached the lower guide rail (24b) and the upper guide rail (24a) and configured to controllably cut at least a portion of guided cashewnut with shell upon direction of the controller (10).
  • the cutting unit (25) of the present disclosure need not be provided or the cutting unit (25) can be replaced and retrofitted in the existing machine.
  • the cutting unit (25) can be used and fitted to end portion of the lower guide rail (24b) and the upper guide rail (24a).
  • the cutting unit (25) has a Y-shaped cutter or V-shaped cutter or any other shaped cutter that is attached to the lower guide rail (24b) and the upper guide rail (24a) so that guided cashewnut with shell passing through the lower guide rail (24b) and the upper guide rail (24a) is subjected to cut to achieve a configuration.
  • the configuration can be any of the following: o un-cut cahsewnuts with shells in case when the cutting of picked
  • the first trajectory (30) controllably moves in a clockwise closed loop.
  • the first trajectory (30) is provided with a plurality of first cashewnut (object) holding contacts (31) is positioned at predetermined distances from each other such that each first cashewnut (object) holding contacts (31) move sequentially with respect to one another.
  • the second trajectory (40) controllably moves in a clockwise closed loop.
  • the second trajectory (40) is provided with a plurality of second cashewnut (object) holding contacts (41) is positioned at predetermined distances from each other such that each second cashewnut (object) holding contacts (41) move sequentially with respect to one another.
  • the first trajectory (30) and the second trajectory (40) are rotated by at least one driver unit (not illustrated in FIGS.).
  • the driver unit can be same for both the first trajectory (30) and the second trajectory (40) or can be separate for both of the first trajectory (30) and the second trajectory (40).
  • the first trajectory (30) and the second trajectory (40) synchronously and simultaneously moves inwardly towards each other and outwardly away from each other such that during inward movement a first cashewnut holding contact (31) and corresponding in-line second cashewnut holding contact (41) travel in vicinity of each other and pick to hold each conveyed and guided cashewnut in between the first cahsewnut holding contact (31) and the second cashewnut (holding contact (41) when a pre-determined distance therebetween is achieved and convey held cashewnut at desired distance by maintaining pre-determined distance of first cashewnut holding contact (31) and corresponding in-line second cashewnut holding contact (41).
  • During outward movement of the first cashewnut holding contact (31) and corresponding in-line second cashewnut holding contact (41) travel away from each other and release conveyed cashewnut at desired location
  • At least one of correspondingly disposed the first cashewnut holding contact (31) and the second cashewnut holding contact (41) has a pusher plate (32 and/or 42).
  • FIG. 3 shows that the pusher plates (32 and 42) are provided in both of the correspondingly disposed first cashewnut holding contact (31) and the second cashewnut holding contact (41).
  • FIGS. 1 and 2 show that the pusher plate (32 or 42) is alternatively provided on any one of the correspondingly disposed first cashewnut holding contact (31) and the second cashewnut holding contact (41).
  • the pusher plate (32 and/or 42) facilitate pushing of each oriented cashewnut with shell received from the feeding and conveying unit (20) inward for easy holding of the first cashewnut holding contact (31) and corresponding the second cashewnut holding contact (41) and during outwards movement of the first and second trajectories (30, 40), the pusher plate (32 and/or 42) facilitate pushing/supporting of each held cut cashewnut from the first cashewnut holding contact (31) and corresponding the second cashewnut holding contact (41).
  • the first cashewnut holding contact (31) and the second cashewnut holding contact (41) are thin projections (31a and 41a) that can penetrate in the shell of the cashewnut. For instance, oriented cahsewnuts after being conveyed at pre-determined distance is pushed by the pusher plate (32 and/or 42) such that inwardly moving the thin projections (31a) of the first cashewnut holding contact (31) and the thin projections (41a) of the second cashewnut holding contact (41) hold and carry oriented object therebetween.
  • first cashewnut holding contact (31) and the second cashewnut holding contact (41) are suction cups that can hold shell of cashewnut during suction during cutting of the cashewnut with shell and are released to fall when the suction is released after the cutting operation.
  • any other holding devices are within the scope of the present disclosure.
  • the scanning unit (50) includes at least one scanning device (not illustrated in Figures) configured to scan, in a three-dimensional space, cashewnut with or without cutting. Moreover, scanning unit (50) can be provided to scan each cashewnut with shell during feeding, singulating and orienting in the feeding and orienting, holding of each cashewnut by the first cashewnut holding contact (31) and the second cashewnut holding contact (41), convey of each cashewnut by the first trajectory (30) and the second trajectory (40), before, during and after cutting of the cashewnut at the cutting unit (25) and during ejection by the ejection unit (80).
  • scanning unit (50) can be provided to scan each cashewnut with shell during feeding, singulating and orienting in the feeding and orienting, holding of each cashewnut by the first cashewnut holding contact (31) and the second cashewnut holding contact (41), convey of each cashewnut by the first trajectory (30) and the second trajectory (40), before, during and after cutting of
  • the scanning unit (50) is configured to scan cut cashewnut to indentify the configuration parameter, external parameter(s) and/or internal parameter(s) of each cut cashewnut.
  • the scanning unit (50) is positioned, but not limited to, in vicinity of the first trajectory (30) and the second trajectory (40) outwardly moving such that the oil released during cutting of cashewnut is prevented from falling on the scanning unit (50).
  • the scanning unit (50) completely scans each cut cashewnut so that configuration, internal and external parameters can be scanned.
  • the scanning unit (50) is a high speed scanning unit like cameras.
  • the high speed scanning unit (50) includes an advanced programmable cameras which can be “synchronous”, “asynchronous”, “regular”, “color” or “multi-spectral” cameras, advanced X-ray cameras, advanced spectrometer. Also, multiple spectral light sources, multiple adjustable mirrors/ prisms, an advanced backlighting system or any other type of supporting system for efficient scanning can be provided. Each of the above mentioned analysis and measurement system is high-end, high speed and super efficient.
  • external parameter shall refer to any possible extrinsic/physical characteristics/features of each cashewnut/object of interest which may include but not limited to volumetric size, shape, color, surface properties, or any other characteristics.
  • internal parameter shall refer to any possible intrinsic/biochemical characteristics/features of cashewnut/objects which may include depth/thickness of shell, size, shape of kernel inside shell or light scattering, emitting, refracting or deviating properties of cashewnut/object or related to any possible internal properties of each object of interest.
  • the present disclosure is described by mentioning the scanning unit (50) as one or more cameras, however, the present disclosure is not limited to usage of cameras as the scanning unit (50) and other scanning device that can irradiate various radiations like X-rays or laser or combination of various technologies are within the scope of the present disclosure.
  • the processor (60) receives scanned parameter(s) of each scanned cashewnut (cut or un-cut) and determine configuration and/or grade/category of each scanned cashewnut (cut or un-cut) without re-construction of images and communicate configuration and grade characteristics of each scanned object to the controller (10).
  • the processor can be in-built with the scanning unit (50) or with the controller (10) or can be a separate component.
  • the grade containers (70) is positioned in vicinity of outward movement of the first trajectory (30) and the second trajectory (40) such that each grade container (70) receives configuration and graded object of particular grade released by the first object holding contact (31) and/or second object holding contact (41) upon direction of the controller (10).
  • the plurality of grade containers (70) is positioned in vicinity of outward movement of the first trajectory (30) and the second trajectory (40) such that each grade container (70) receives configuration and graded cashewnut (cut cashewnut) of particular grade released by the first cashewnut holding contact (31) and/or the second cashewnut holding contact (41) upon direction of the controller (10).
  • the grade container (70) can be one single grade container with or without number of compartments as shown in FIG. 10 or can be number of grade containers as shown in FIG. 1.
  • the ejection unit (80) ejects held cashewnut by the first cashewnut holding contact (31) and the second cashewnut holding contact (41) upon direction of controller (10) such that configured and graded objects are received in desired grade container (70).
  • the ejection unit (80) is an ejecting element (80a) and an actuating device (80b).
  • the actuating device (80b) is actuated upon signal received from the controller (10) to move the ejecting element (80a) for ejecting cut cashewnut.
  • the actuating device (80b) is a solenoid or a battery operated.
  • the ejecting element (80a) can be various shape like a plunger (as shown in FIG.
  • ejecting element (80a) is one that can pass through the first cashewnut holding contact (31) or the second cashewnut holding contact (41) to throw out the cut cahsewnut (with or without shell).
  • the present disclosure also discloses a method for continuously manipulating objects like cashewnuts by using the cashewnut (object) manipulating system (100), in accordance with one embodiment of the present disclosure.
  • the method includes providing the controller (10), feeding and conveying a plurality of cashewnut by the feeding and conveying unit (20).
  • the feeding and conveying unit (20) having a feeding hopper (21) in which cashewnuts with shells.
  • the feeding hopper (21) introduces in a controlled amount of cashewnuts with their shells in a clutter. Controlling of introducing the number of cashewnuts with their shells is determined by the controller (10) based on the inputs received from the sensor (not illustrated in Figures) disposed in vicinity of the feeding and conveying unit (20).
  • the single channel (22) continuously and controllably receives cashewnuts with shells from the feeding hopper (21) such that each cashewnut with shell is separated from the clutter and is linearly aligned in the single channel (22).
  • the single channel (22) is provided with at least one uneven path (22a) through which each cashewnut with shell are passed.
  • single channel (22) can be subjected to vibration for singulating each cashewnut with shell such that a space is created between adjacently disposed cahewnuts with shells. Further, each cashewnut with shell are received on the orientation and conveying unit (23) on which they are oriented and simultaneously moved forward.
  • each oriented cashewnut with shell is forwarded at the end of the orientation and conveying unit (23), the cashewnut with shell are pushed by one or more pusher plate (32 and/or 42) which helps the first cashewnut (object) holding contacts (31) and the second cashewnut (object) holding contacts (41) to pick the cashewnut with shell.
  • the first cashewnut (object) holding contacts (31) and the second cashewnut (object) holding contacts (41) either is penetrated in the shell or uses suction to hold the shell such that the first cashewnut (object) holding contacts (31) and the second cashewnut (object) holding contacts (41) move held cashewnut with shell between the lower guide rail (24b) and the upper guide rail (24a) where they are guided because of continuous rotation of the first trajectory (30) and the second trajectory (40).
  • the lower guide rail (24b) and the upper guide rail (24a) guides and pressurizes the cashewnut from top and bottom, and from sides cashewnut is held by the first cashewnut holding contact (31) and the second cashewnut holding contact (41) and from back is pushed by the pusher plate (32 and/or 42).
  • the cashewnut with shell are moved towards the cutting unit (25).
  • the cutting unit (25) cuts the cashewnut with shell.
  • the scanning unit (50) scans in a three-dimensional space, such that various configurations of the cashewnut with shells are achieved such that the various configurations can be: o un-cut cahsewnuts with shells in case when the cutting of picked
  • the scanning unit (50) completely scans each cut cashewnut for determining at least one of internal and external parameters.
  • the scanning unit (50) is positioned such that the oil released during cutting of cashewnut is prevented from falling on the scanning unit (50).
  • the processor (60) receives scanned parameter(s) of each scanned cashewnut (cut or un-cut) and determine configuration and/or grade/category of each scanned cashewnut (cut or un-cut), without the re-construction of images and communicate configuration and grade characteristics of each scanned cashewnut to the controller (10). Once the grade is determined, the controller (10) directs the ejection unit (80) to eject graded cashewnut in respective grade container (70).
  • the ejection unit (80) has an ejecting element (80a) and an actuating device (80b).
  • the actuating device (80b) is actuated by the controller (10) to move the ejecting element (80a) for ejecting cashewnut.
  • the scanned cashewnut, graded cashewnut and ejected cashewnut can be any of completely de-shelled kernel and separated shell, partially cut kernel in fitted in partial shell, uncut cashewnut from shell broken kernel or any other types of possibilities and probabilities.
  • the system (100) and method of the present disclosure is described by utilizing the cutting unit (25) for performing cutting operation on cashewnut (or objects), however, this using the cutting unit (25) is optional for the existing machines which have its cutting unit.
  • the system (100) in existing machine can be used for conveying cashewnuts and/or cut opened cashewnuts (objects), grading cashewnuts (or objects) and ejecting in determined grade containers (70).
  • the system (100) and the method for handling irregular shaped objects is completely automatic by using the controller (10), the sensors, and the scanning unit (50) and the processor (60).
  • the system (100) handles regular as well as irregular shaped objects which can efficiently convey, hold, processes, grade and release objects.
  • the system (100) is easily retrofitted in conventional machines or fitted in new machines.
  • the system (100) enables complete grading of processed objects by using cameras that capture images from multiple angles of each object in three dimensional (3D) space without reconstructing images for enabling quick analysis.
  • the system (100) can be horizontally positioned or vertically positioned on conventional horizontal or vertical conveyor respectively. Further, the system can be stacked vertically and horizontally.
  • the method for grading objects into multiple grades in a single passes and enables rapid grading and ejection.
  • the first trajectory (30) and the second trajectory (40) can be horizontally positioned and vertically positioned such that the system (100) can be fitted in horizontal machines and vertical machines.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Sorting Of Articles (AREA)

Abstract

La présente invention concerne un système et un procédé de manipulation d'objet automatique. Le système comprend un dispositif de commande, une unité d'alimentation et de transport, des première et seconde trajectoires, une unité de balayage, un processeur, une pluralité de récipients de classement et une unité d'éjection. L'unité d'alimentation et de transport alimente, sépare et oriente des objets. Les première et seconde trajectoires facilitent le déplacement des objets reçus de l'unité d'alimentation et de transport vers l'unité d'éjection. Pendant le déplacement des objets par les première et seconde trajectoires, les objets sont éventuellement coupés, les objets sont balayés, classés et éjectés dans un récipient de classement respectif. Le système peut être installé après coup dans des machines de coupe classiques ou peut subir une coupe tout en étant maintenu et transporté par les première et seconde trajectoires.
PCT/IN2018/050070 2017-02-10 2018-02-10 Système et procédé de manipulation d'objets WO2018146701A1 (fr)

Applications Claiming Priority (2)

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IN201741004827 2017-02-10
IN201741004827 2017-02-10

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WO2018146701A1 true WO2018146701A1 (fr) 2018-08-16

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109366574A (zh) * 2018-09-29 2019-02-22 嘉善佳佳豆制品有限公司 一种豆制品的切片装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2424022A (en) * 1945-10-12 1947-07-15 Deutsch Fritz Albert Apparatus for the extraction of the kernel or kernels from a nut
US2426851A (en) * 1944-07-11 1947-09-02 Philip B Winston Clothes-washing machine
US6125743A (en) * 1997-08-15 2000-10-03 Mcintyre; John Cross Nut processing apparatus
US20050040082A1 (en) * 2003-08-08 2005-02-24 Fumihiro Ogawa Sorting apparatus, sorting method and alignment apparatus
US20160279672A1 (en) * 2014-02-27 2016-09-29 Nanopix Integrated Software Solutions Private Limi Ted An improved machine for grading small sized irregular objects and a process thereof
WO2016157215A1 (fr) * 2015-03-31 2016-10-06 Nanopix Iss (P) Ltd. Système amélioré pour le décorticage des noix de cajou et procédé associé
WO2016162882A1 (fr) * 2015-04-08 2016-10-13 Nanopix Iss (P) Ltd. Ensemble d'alimentation intelligent pour amener des objets à coque dure par singulation, et procédé associé

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2426851A (en) * 1944-07-11 1947-09-02 Philip B Winston Clothes-washing machine
US2424022A (en) * 1945-10-12 1947-07-15 Deutsch Fritz Albert Apparatus for the extraction of the kernel or kernels from a nut
US6125743A (en) * 1997-08-15 2000-10-03 Mcintyre; John Cross Nut processing apparatus
US20050040082A1 (en) * 2003-08-08 2005-02-24 Fumihiro Ogawa Sorting apparatus, sorting method and alignment apparatus
US20160279672A1 (en) * 2014-02-27 2016-09-29 Nanopix Integrated Software Solutions Private Limi Ted An improved machine for grading small sized irregular objects and a process thereof
WO2016157215A1 (fr) * 2015-03-31 2016-10-06 Nanopix Iss (P) Ltd. Système amélioré pour le décorticage des noix de cajou et procédé associé
WO2016162882A1 (fr) * 2015-04-08 2016-10-13 Nanopix Iss (P) Ltd. Ensemble d'alimentation intelligent pour amener des objets à coque dure par singulation, et procédé associé

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109366574A (zh) * 2018-09-29 2019-02-22 嘉善佳佳豆制品有限公司 一种豆制品的切片装置

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