FIELD

The present disclosure generally relates to an automated electro-mechanical system and method for manipulating objects.

BACKGROUND

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:

• With shells in case when the cutting of objects is missed out;

• Which are completely de-shelled and empty shells;

• Whose shells are partially cut and partially adhered to objects; and

• Which are partially cut and other like combinations. As all the above mentioned variation of processed objects are removed and collected together in a common container, manual sorting of processed objects is required. This manual sorting is time consuming and requires labor. Also, when cutting is performed by machine a lot of oil from the object falls on the cut objects (like kernels and shells) and hence deteriorates the cut objects. Further, in existing machines though cutting is performed however after cutting all types of objects, like completely de-shelled objects, partially de-shelled objects and so on are collected in one container. Thus, a need arises to manually sort different types of objects subjected to release oil which is time-consuming. Hence, there is a need for a system that enables handling/sorting of such processed objects thereby eliminating need of manual handling/sorting.

There are some prior art documents referring to handling 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. However, 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.

Hence, there is a need for a system and method for manipulating objects that alleviate aforementioned drawbacks.

SUMMARY

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. The feeding and conveying unit:

^■ 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;

^■ singulates each object during convey; and

^■ orient each singulated object during convey;

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 holding contact and the second object holding contact has a pusher plate that during inward movement of the first and second trajectories, the pusher plate facilitate pushing of each oriented object received from the feeding and conveying unit (if orient is added in it then this sentence is correct) 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. 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

^■ 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;

^■ singulating each object during convey; and

^■ orienting each singulated object during convey;

Moving a plurality of first object holding contacts sequentially positioned on at predetermined distances on a first trajectory moving in a clockwise closed loop. 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 contact has a pusher plate that during inward movement of the first and the second trajectories. 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. Providing, a plurality of grade containers 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. 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.

OBJECTS

Objects of the present disclosure are listed below:

• 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.

• It is another object of the present disclosure to provide a system in which cutting of objects is performed without the falling of oil/dirt/unwanted material on the scanning unit or mixing with the cut objects.

• It is yet another object of the present disclosure to provide a system that can be easily retrofitted in conventional object cutting machines or fitted in new machines with the cutting unit.

· It is another object of the present disclosure to provide a method which reduces human intervention and hence is fast, efficient and reliable

BRIEF DESCRIPTION OF THE DRAWINGS

These and other objects, features, and advantages of the disclosure will best be understood from the following description of various embodiments thereof, selected for the purposes of illustration, and shown in the accompanying drawings. 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 ; and

FIG. 13 is a flowchart of the method of the system for manipulating objects of FIG. 1.

DETAILED DESCRIPTION

The present disclosure will now be described in detail with reference to the accompanying drawings. Now, refer in more detail to the exemplary drawings for the purposes of illustrating non-limiting embodiments of the present disclosure.

FIG. 1 is a system (100) for manipulating objects, in accordance with one embodiment of the present disclosure. In an exemplary embodiment, considering 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. In one embodiment, 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. Also, 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. Alternatively, vibration bowls (not illustrated in Figures) can be provided for feeding and conveying. Though, the present disclosure is disclosed with the single channel (22) with uneven path (22a) and vibrations or usage of vibration bowls, however, other alternative techniques that can singulate each cashewnut with shell in accordance with the need of the present disclosure is within the scope of the present disclosure. 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). Moreover, 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). For instance, in case of existing machine which already has a cutting unit, then 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. However, in case where a machine does not have a cutting unit, then the cutting unit (25) can be used and fitted to end portion of the lower guide rail (24b) and the upper guide rail (24a). Typically, 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

cashewnuts is missed out;

o completely cut cashewnut to achieve kernels therefrom which are

completely de-shelled and empty shells;

o cut cashewnuts whose shells are partially cut and partially adhered to

kernels; and

o cut cashewnut with kernels partially cut 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). During inward movement of the first and second trajectories (30, 40), 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).

In one embodiment, 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.

In another embodiment, the 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. In yet anoterh embodiment, 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). In a preferred embodiment, 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. Typically as shown in FIG. 1, 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. In one embodiment, 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.

In accordance with the present disclosure the term 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.

In accordance with the present disclosure the term 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.

Although 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). In one embodiment, 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. 12) that pushes cut cashewnut (with or without shell) adhered to the first cashewnut holding contact (31) or the second cashewnut holding contact (41). Other type of ejecting element (80a), as shown in FIGS. 11 and 10, 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). Moreover, in 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. Also, 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. When 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). Thus, when cashewnut with shell is in between the lower guide rail (24b) and the upper guide rail (24a), 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.

Once the cashewnuts are passed through the cutting unit (25), 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

cashewnuts is missed out;

o completely cut cashewnut to achieve kernels therefrom which are

completely de-shelled and empty shells;

o cut cashewnuts whose shells are partially cut and partially adhered to

kernels; and/or

o cut cashewnut with kernels partially cut

Also, along with the configuration, 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. Herein, 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.

Though the system (100) and method of the present disclosure is described with manipulating cashewnut, however, the present disclosure is not limited to use of cashewnut and is written only for the purpose of understanding and any objects having shell, for example hazelnuts, walnut, arecanut, pecannut, Almond, Raw cashew nut (RCN), chest nut, Brazil nut, Pine nut, Hickory nuts, Macadamia nut, Pig nuts or any other agricultural shelled object and shelled sea food which are required to be de-shelled are within the scope of the present disclosure.

Although, 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. Thus, 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 system (100) in which cutting of objects is performed in which oil released during cutting is prevented from falling on the scanning unit (50) or mixing with the cut objects and hence prevent deterioration of objects. 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.

As will be readily apparent to those skilled in the art, the present disclosure may easily be produced in other specific forms without departing from its essential characteristics. The present embodiments is, therefore, to be considered as merely illustrative and not restrictive, the scope of the disclosure being indicated by the claims rather than the foregoing description, and all changes which come within therefore intended to be embraced therein.