TECHNICAL FIELD

The present subject matter, in general, relates to automatic processing of gemstones and, in particular, relates to an autonomous apparatus and method for processing gemstones.

BACKGROUND

Gemstones are naturally occurring deposits of minerals and include, for example, diamonds, quartz, opals, sapphires, rubies, emeralds, and topaz. Typically, gemstones are found in their natural state and have highly irregular geometry. Since the gemstones are rare, they are highly valued for use. The value grade, also referred to as commercial quality, of a gemstone is generally assessed in accordance with weight, cut, clarity, color, luster and finish of the gemstone. The value of a gemstone is also derived from manner in which it transmits, refracts, or reflects rays of light.

For assessing the quality of a gemstone, the amount and type of impurities in the gemstone are determined at an atomic level within the crystal lattice of carbon atoms. Based on amount and type of impurities in a gemstone, diamonds are generally graded into four basic types, namely type la, lb, Ila, and lib, and each grade is accordingly associated with a different range of commercial value.

In order to obtain the best properties of a gemstone, it undergoes a series of processes like planning, marking, cutting, bruting, faceting, conning, and polishing. The processing of the gemstone imparts certain characteristics to a gemstone. For example, the value of a processed gemstone is generally determined by the 4Cs, i.e., carat (weight), clarity (transparency), color, and cut, which are directly or indirectly affected by the processing techniques. Therefore, techniques for effective gemstone processing have been areas of active research.

A rough gemstone may include structural imperfections, which may cause damage to the gemstone while processing of the gemstone and may cause wastage of precious gemstones. Such imperfections can include, for example, cracks, cleavages, knots, small included crystals of different orientation with respect to the rest of the stone, or other internal physical defects in some regions of the body. Usually, presence of structural imperfections within the gemstone is identified during planning phase in which the processing of the gemstone is planned. The planning operation is a process in which the rough gemstone may be mapped to develop a three-dimensional (3D) model depicting deformities and cavities on gemstone's surface. The 3D model of the rough gemstone may further be used to determine the number of final gemstones, or planned gemstones, which can be produced from a rough gemstone and also the geometry of each final gemstone, thus produced. The number, size and geometry of the final gemstones determined during planning stage is determined keeping in mind quality of gemstones to be determined and at the same time ensuring least wastage of gemstone material

Based on the planning, the rough gemstone undergoes a cutting operation, in which the rough gemstone may be cut based on a determined geometry of final gemstones to be produced. Finally, the cut gemstone may be polished to obtain the processed gemstone.

Cutting of rough gemstones may depend on the structure and hardness of the rough gemstone. Laser cutting technique is usually employed for cutting and shaping gemstones. Generally, a gemstone cutting apparatus based on laser cutting technique may employ a laser as a source for cutting the gemstones. Generally, prior to cutting of the gemstone, a rough gemstone is aligned with respect to a point of reference in a gemstone cutting apparatus. Conventional gemstone processing machines, particularly gemstone cutting machines, are manually operated in which a user loads the gemstones into the machine and sets a cutting plan. The cutting machine then performs the processing operation based on the processing plan identified by the user. However, the conventional machines require manual intervention of the user at regular intervals while the machine is in operation. Further, the existing machines can process one gemstone at a time and the user operating said machines is forced to sit idle and constantly monitor operation of the machines while the processing of gemstone is in progress.

Conveyor assemblies are widely used to convey gemstone holders containing gemstones from a feed area to a discharge area. A conveyor assembly may include a conveyor belt driven by a set of pulleys to convey gemstones from the loading area to the discharge area. A conveyor belt is a continuous moving strip or surface that is used for transporting objects or material from one place to another constantly. The conveyor belt may be designed depending upon the size type and quantum of gemstones to be conveyed or transported. Generally, during operation of the conveyor assembly, the gemstones are loaded either manually or with the help of a loading machine. Thereafter, the conveyor belt transmits the gemstones from the loading area to a discharge area where the gemstones are unloaded or transferred to the cutting machine either manually, or with the help of an unloading machine. In the case of a gemstone cutting machine, the discharge area of a conveyor assembly may be considered as a location adjacent to the cutting machine. In some cases, the gemstones get unloaded from the conveyor belt by simply falling off the end of the conveyor belt. However, such a task is labor intensive, time-consuming and inefficient. Also, transfer of a gemstone from the conveyor assembly to the cutting limits the throughput of the conveyor assembly as well as the cutting machine.

Moreover, for holding and locating a rough gemstone in a gemstone cutting machine, the rough gemstone is generally mounted on a gemstone holder. This gemstone holder containing the rough gemstone is placed on a gemstone cutting machine so that the cutting operation of the gemstone can be initiated. In conventional gemstone cutting machines, once a rough gemstone mounted on the gemstone is cut to obtain one or more gemstone for further processing like cutting, bruiting, shaping polishing etc., the cut gemstones are dropped at a designated location in the gemstone cutting machine, from where the cut gemstones are either picked up manually or conveyed to another machine for further processing. Subsequently or simultaneously, the gemstone holder on which the rough gemstone was mounted before cutting is also dropped at another location. Thereafter, the cut gemstones as well as gemstone holder are collected either manually or conveyed to a desired location.

However, sometimes it becomes difficult to track and correlate the final cut gemstones with the rough gemstone from which these gemstones were derived. Further, conventional conveying and transfer techniques for transfer of rough gemstones to a cutting machine are ineffective and inefficient as those are largely dependent on human intervention. Further, the techniques for placing a rough gemstone from the conveyor assembly at a desired location in the cutting machine may not be accurate and require repeated adjustments. Furthermore, one or more final gemstones obtained after cutting operation may be required to be associated with the rough gemstone from which these were cut and also with the gemstone holder on which said rough gemstone was mounted before performing cutting operation. Moreover, collection of one or more final gemstones as well as the gemstone holder after performing the cutting operation in a cutting machine is inefficient and time consuming, further affecting the throughput of the gemstone. It may also be required to correlate the final gemstones cut from a gemstone holder. However, conventional gemstone cutting machines do not have this option and such correlation, if any, is possible manually. Even if conventional gemstone machines are modified or configured to track the gemstones cut from a gemstone holder, such tracking techniques would be inefficient, time consuming and prone to error as they still would require human intervention. As can be seen from above, since the steps involved in gemstone processing are manual-skill intensive and prone to errors, the entire techniques of gemstone conveying, gemstone transfer and gemstone collection after cutting are low on productivity.

In view of the above, a heretofore unaddressed need exists in the industry to address the aforementioned deficiencies and inadequacies.

SUMMARY

An object of the present subject matter to provide an efficient system and method for conveying and transferring a rough gemstone into a cutting location in a cutting machine and collecting the cut gemstones as well as the respective gemstone holder from the cutting location.

Another object of the present subject matter is to provide an autonomous gemstone cutting apparatus in which a rough gemstone is transferred into a cutting location in an efficient and time sensitive manner.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus in which collection of one or more cut gemstones from a rough gemstone as well as the gemstone holder on which the rough gemstone was attached before performing the cutting is efficiently and simultaneously done. Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus in which one or more cut gemstones from a rough gemstone as well as the gemstone holder on which the rough gemstone was attached before performing the cutting can be efficiently correlated, tracked and tagged together.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus in which cutting of a rough gemstone is efficiently performed with minimum requirements of setting and adjusting the gemstone.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus that automatically performs the steps of cutting rough gemstone, transfer of rough gemstones to the cutting location and delivery of cut gemstones as well as corresponding gemstone holders from the cutting location to the delivery station without any manual intervention.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus that is capable of cutting multiple rough gemstones automatically without any idling time required for monitoring operation of the autonomous gemstone cutting apparatus.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus having an improved conveyor assembly for automatically conveying gemstone holders containing rough gemstones to the cutting location in the autonomous gemstone cutting apparatus and conveying cut gemstones and gemstone holders from the cutting location to the delivery location.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus having high throughput.

Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus in which one or more cut gemstones as well as the gemstone holder on which the rough gemstone was mounted before cutting are automatically collected together and associated with each other. Yet another object of the present subject matter is to provide an autonomous gemstone cutting apparatus in which placement of the rough gemstone from the conveyor assembly at a cutting location in the cutting apparatus is accurate and does not require repeated adjustments. Yet another object of the present subject matter is to provide a gemstone cutting apparatus that provides an efficient and time saving process of collection of one or more final gemstones as well as the gemstone holder after performing the cutting operation.

The present subject matter relates to an autonomous gemstone processing apparatus comprising a conveyor system for continuously conveying a plurality of gemstone holders containing raw gemstones in the autonomous gemstone processing apparatus; and a transport station for sequentially transporting the plurality of gemstone holders from the conveyor system to a processing station for sequentially processing the plurality of raw gemstones mounted on the plurality of gemstone holders, and for transporting the plurality of gemstone holders back from the processing station to the conveyor system upon gemstone processing.

In an embodiment, the autonomous gemstone processing apparatus comprises a gemstone cutting apparatus.

In another embodiment, the conveyor system comprises a transport means for travelling in a pre-determined path in a closed loop.

In yet another embodiment, the conveyor system comprises a plurality of gemstone holding units for holding the plurality of gemstone holders containing raw gemstones.

In yet another embodiment, each gemstone holding unit comprises a gemstone seat portion at the upper end for supporting the gemstone holder and a collection bin at the bottom end for carrying the separated pieces of the processed gemstone.

In yet another embodiment, the autonomous gemstone processing apparatus further comprises a belt and pulley mechanism for driving the conveyor system in the closed loop.

In yet another embodiment, the transport station comprises a robotic arm configured to move in vertical direction and to rotate about its central vertical axis. In yet another embodiment, the robotic arm comprises a gemstone carrying mechanism on its either end for carrying the plurality of gemstone members from the conveyor system to the processing station and vice versa.

In yet another embodiment, the gemstone carrying mechanism comprises a one or more grippers for automatically holding and releasing the gemstone holders.

In yet another embodiment, each gemstone holder comprises a tapered or curved bottom end along its length for easy insertion of the gemstone holder in the seat portion of the gemstone holding unit as well as in the cutting fixture of the gemstone processing station, a rotary indexing member for accurate positioning of the gemstone holder during positioning of the gemstone holder in the seat portion of the gemstone holding unit, and a gemstone seat at the top for securing the raw gemstone.

In yet another embodiment, the autonomous gemstone processing apparatus further comprises a transfer member for transferring the separated pieces of the cut gemstone after performing the cutting operation from the processing station to the collection bin of the gemstone holding unit.

In yet another embodiment, the transfer member comprises a container having a low friction inner bottom surface with a slope, a vibration mechanism and a funnel.

In yet another embodiment, the vibration mechanism is configured to vibrate the transfer member for automatically shifting the separated pieces of the cut gemstone towards the funnel due to slope of the bottom surface, and the funnel is configured to guide the separated pieces of the gemstone into the respective collection bin of the gemstone holding unit.

In yet another embodiment, the autonomous gemstone processing apparatus further comprises a processing means comprising one or more processors for operating the components, assemblies, and sub-assemblies of the conveyor system, the transport station and the gemstone processing station.

The invention also provides an autonomous gemstone processing method comprising the steps of conveying, by a conveyor system, a plurality of gemstone holders containing raw gemstones continuously in an autonomous gemstone processing apparatus; transporting, by a transport station, the plurality of gemstone holders sequentially from the conveyor system to a processing station for sequentially processing the plurality of raw gemstones mounted on the plurality of gemstone holders; processing, by the processing station, the raw gemstones mounted on the gemstone holders by cutting each raw gemstone into one or more pieces; transporting, by the transport station, the plurality of gemstone holders back from the processing station to the conveyor system upon completion of the step of gemstone processing; and transferring the separated pieces of the cut gemstone from the processing station to the conveyor system.

In an embodiment, the step of transporting the plurality of gemstone holders sequentially from the conveyor system to the processing station comprises transporting the plurality of gemstone holders sequentially from the gemstone seat portions of holding units

In another embodiment, the step of transporting the plurality of gemstone holders back from the processing station to the conveyor system upon completion of the gemstone processing comprises transporting the plurality of gemstone holders back from the processing station to the respective collection bins of the holding units from which the respective gemstone holders were picked up before gemstone processing.

In yet another embodiment, the step of transferring the separated pieces of the cut gemstone from the processing station to the conveyor system comprises vibrating a transfer member to automatically shift the separated pieces of the cut gemstone towards a funnel due to slope of the bottom inner surface of the processing station and guiding the separated pieces of the cut gemstone through the funnel to the collection bin of the gemstone holding unit.

BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS

The present invention, both as to its organization and manner of operation, together with further objects and advantages, may best be understood by reference to the following description, taken in connection with the accompanying drawings. These and other details of the present invention will be described in connection with the accompanying drawings, which are furnished only by way of illustration and not in limitation of the invention, and in which drawings: Figure 1 illustrates a front view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figure 2 illustrates a left isometric view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figure 2A illustrates a magnified view of the drive assemblies for rotational and vertical movements of the robotic arm in accordance with one embodiment of the present subject matter.

Figure 3 illustrates a right isometric view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figure 4 illustrates a left-side view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figure 5 illustrates a right-side view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figure 6 illustrates a top view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figure 7 illustrates a rear isometric view of an autonomous gemstone processing apparatus in accordance with one embodiment of the present subject matter.

Figures 8a to 8f depict rear view, side view, top view, bottom view, top isometric view and bottom isometric view of the die carrying a raw gemstone in accordance with one embodiment of the present subject matter.

Figure 9 illustrates an isometric view of a transfer station with funnel in accordance with one embodiment of the present subject matter.

DETAILED DESCRIPTION

The following presents a detailed description of various embodiments of the present subject matter with reference to the accompanying drawings. The embodiments of the present subject matter are described in detail with reference to the accompanying drawings. However, the present subject matter is not limited to these embodiments which are only provided to explain more clearly the present subject matter to a person skilled in the art of the present disclosure. In the accompanying drawings, like reference numerals are used to indicate like components.

The specification may refer to "an", "one", "different" or "some" embodiment(s) in several locations. This does not necessarily imply that each such reference is to the same embodiment(s), or that the feature only applies to a single embodiment. Single features of different embodiments may also be combined to provide other embodiments.

As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless expressly stated otherwise. It will be further understood that the terms "includes", "comprises", "including" and/or "comprising" when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "attached" or "connected" or "coupled" or "mounted" to another element, it can be directly attached or connected or coupled to the other element or intervening elements may be present. As used herein, the term "and/or" includes any and all combinations and arrangements of one or more of the associated listed items.

The figures depict a simplified structure only showing some elements and functional entities, all being logical units whose implementation may differ from what is shown.

The present invention relates to an autonomous gemstone processing apparatus that is configured to process rough / raw gemstones with a minimum input of an operator. According to a preferred embodiment, the autonomous gemstone processing apparatus comprises an autonomous gemstone cutting apparatus. However, in another embodiment, the autonomous gemstone processing apparatus may comprise an apparatus configured to perform one or more other processes, including but not limited to bruting, shaping etc. A raw gemstone in its natural state may be divided into two or more gemstones depending upon the geometry of each final gemstone identified during planning process. A gemstone may be understood as a piece of mineral, which, in cut and polished form, is used to make jewelry or other adornments. A raw gemstone is a rough gemstone that is available in nature and may include but is not limited to diamonds, quartz, opals, sapphires, rubies, emeralds, and topaz.

The autonomous gemstone cutting apparatus according to the present subject matter is configured to cut a raw gemstone into multiple pieces for producing multiple gemstones from said raw gemstone. The present autonomous gemstone cutting apparatus is also configured to remove undesired material from a raw gemstone when a single gemstone is desired from the raw gemstone.

The autonomous gemstone processing apparatus according to the present subject matter eliminates the need for constant monitoring of gemstone processing by an operator and allows one operator to operate multiple apparatuses simultaneously. In an embodiment, an average operator can operate up to four such autonomous gemstone processing apparatuses simultaneously without any interruption. In another embodiment, an operator may be able to operate more than or less than four autonomous gemstone processing apparatuses.

While the present embodiment is described with reference to a gemstone cutting apparatus as the autonomous gemstone processing apparatus, it would be understood that the autonomous gemstone processing apparatus can be configured as an apparatus used in other processing steps of a gemstone, such as a gemstone bruting apparatus, a gemstone faceting apparatus, a gemstone polishing apparatus etc., without deviating from the scope of the present subject matter.

The autonomous gemstone cutting apparatus according to the present subject matter comprises a conveyor assembly for conveying gemstone holders containing raw gemstones. The conveyor assembly of the present subject matter is configured in a manner that it allows for a continuous, undisrupted, and efficient feed of the gemstone holders without any interruption or damage to the gemstones or gemstone holders. The autonomous gemstone cutting apparatus according to the present subject matter is configured to automatically feed gemstones affixed to respective gemstone holders to the cutting location. The autonomous gemstone cutting apparatus overcomes the challenges associated with conventional gemstone cutting machines and ensures that raw gemstones are continuously fed and processed while the cut gemstones are continuously transferred out safely with any interruptions.

In an embodiment, the raw gemstones are affixed to their respective holders and said gemstone holders are mounted on gemstone holding units of a continuously moving conveyor system. A transport station comprising a robotic arm is provided for transferring the gemstone holders containing respective raw gemstone affixed thereto from the conveyor assembly to a gemstone processing station of the autonomous gemstone cutting apparatus. The gemstone processing station, upon receiving a gemstone holder containing raw gemstone, performs cutting operation with the help of a cutting laser to cut the raw gemstone into one or more pieces and detach all pieces of the gemstone from the gemstone holder. These pieces of the gemstone get dropped in a container located below the gemstone processing station. Meanwhile, the robotic arm of the transport station picks up the gemstone holder without the raw gemstone from the gemstone processing station to place it at the same gemstone holding unit of the conveyor system from where it was picked before processing. Simultaneously, a new gemstone holder containing the gemstone is placed in the gemstone processing station for cutting. Simultaneously or subsequently, the cut pieces of the gemstone are transferred from the container to a bin in the same gemstone holding unit where the gemstone holder is placed after processing gemstones. In an embodiment, the gemstone holding unit comprises a gemstone seat portion on which the gemstone holder is placed and the bin is located under the gemstone seat portion in the gemstone holding unit.

In an embodiment, an operator feeds a plurality of rough gemstones affixed to their respective holders to the gemstone holding unit of the conveyor system. The feeding by the operator is a one-time process and there is no further human intervention in the process of gemstone cutting. After receiving the plurality of the rough gemstones affixed to holders, the autonomous gemstone processing apparatus ensures uninterrupted supply and processing of rough gemstones and delivery of cut gemstones. Thus, intervention by the operator is eliminated during the gemstone processing and human dependency is substantially reduced. Figures 1 to 7 illustrate different views of an autonomous gemstone cutting apparatus 100 in accordance with one embodiment of the present subject matter. The autonomous gemstone cutting apparatus 100 of the present subject matter comprises a plurality of components. For example, and by no way limiting the scope of the present subject matter, the autonomous gemstone cutting apparatus 100 comprises a conveyor system 102 for continuously conveying a plurality of raw gemstones attached to respective gemstone holders in the autonomous gemstone cutting apparatus 100. In a preferred embodiment, the conveyor system 102 comprises a transport means that travels in a pre-determined path in a closed loop. In different embodiments, the transport means may comprise a conveyor belt mechanism or a chain drive mechanism. In a preferred embodiment, the transport means comprises a chain drive mechanism comprising a chain member 102a that is configured to travel in a pre-determined path in a closed loop.

In a preferred embodiment as depicted in Figures 1 to 7, the conveyor system 102 of the present subject matter comprises a belt and pulley mechanism 103 to drive the conveyor system 102 by rotating the transport means or chain member 102a in the closed loop. As shown in Figures 2 to 7, the belt and pulley mechanism 103 comprises a drive pulley 103a mounted on and rotated by a pulley drive 103b, a driven pulley 103c and a belt 103d that surrounds the drive pulley 103a and the driven pulley 103b. In an embodiment, the pulley drive 103b may comprise a stepper motor that provides high accuracy positioning over a short distance and provides high torque even at low speeds. The pulley drive 103b rotates the drive pulley 103a and the belt 103d transfers the rotational motion from the drive pulley 103a to the driven pulley 103c. In a preferred embodiment, as shown in Figures 2 to 7, the drive pulley 103a is smaller in size than the driven pulley 103c. In other words, the diameter of the driven pulley 103c is greater than that that the drive pulley 103a, which ensures that the driven pulley 103c is rotated at a desired speed. Further, in an embodiment, the driven pulley 103c is mounted on a rotatable shaft 103e provided at one end of the conveyor system 102 such that driven pulley 103c is elevated and is in the same plane as that of the drive pulley 103a. In a preferred embodiment, the driven pulley 103c is attached to the conveyor system 102 by suitable means for rotating the conveyor system 102 in the closed loop.

In a preferred embodiment, the driven pulley 103c may be connected to the conveyor system 102 through the transport means. In this embodiment, the chain member 102a of the chain drive mechanism is attached to the inner side of the conveyor system 102 that engages with external spokes of a driving wheel (not shown) mounted on the rotatable shaft 103e for transferring rotational motion from the driven pulley 103c to the conveyor system 102. A supporting spoked wheel 103f is provided on the other end of the conveyor system 102 that also engages with the chain member 102a of the chain drive mechanism for providing motion and tension to the conveyor system 102. In another embodiment, the driven pulley 103c may be connected to the conveyor system 102 through a geared mechanism in which a gear member (not shown) comprising external gears may be mounted on the rotatable shaft 103e that engages with internal teeth (not shown) mounted on the inner side of the conveyor system 102. In this embodiment, the chain member 102a of the chain drive mechanism may be replaced with internal teeth. In other embodiments, any other mechanism may be provided for transferring the rotational motion from the driven pulley 103c or the rotatable shaft 103e on which the driven pulley 103c is mounted to the conveyor system 102. According to a preferred embodiment, the conveyor system 102 further comprises a plurality of gemstone holding units 104 mounted on the transport means 102a and travel in a predetermined path with the transport means 102a. In a preferred embodiment, each gemstone holding unit 104 comprises a gemstone seat portion 106 for supporting a gemstone holder 108 carrying a raw gemstone and a collection bin 110 for carrying the sawed gemstone. In an embodiment, the gemstone holding unit 104 comprises an elongated C-shaped member with the gemstone seat portion 106 provided at the upper end and the collection bin 110 provided at the bottom end. In an embodiment, the gemstone holder 108 for carrying a raw gemstone is an elongated member that is removably mounted vertically in an opening provided in the seat portion 106 of the gemstone holding unit 104.

In an embodiment, the gemstone holder 108 may also be referred to as an elongated die that holds the rough gemstone. A preferred embodiment of the gemstone holder 108 according to the present invention is shown in Figures 8a to 8f. As shown herein, each elongated die 108 comprises a tapered or curved bottom end 108a along its length for its easy insertion in the opening provided in the seat portion 106 in an embodiment. In other words, each elongated die 108 is tapered along its length or has a curve at its bottom, as shown in Figures 8a, 8b, 8e and 8f for the ease of placement of said elongated die 108 in the holder. In another embodiment, the elongated die 108 may comprise other configuration or a combination of multiple configurations for easy placement / insertion of the elongated die 108 in the opening of the seat portion 106. In yet another embodiment, rotary indexing member 108b is provided on each elongated die 108 for accurate positioning of the elongated die 108 during transfer of the elongated die 108 in the seat portion 106. In a preferred embodiment, gemstone holder 108 further comprises a gemstone seat 108c on which the raw gemstone is secured, preferably stuck. In a preferred embodiment, the gemstone seat 108c is provided at the upper end of the elongated die 108 and the raw gemstone may be by glue at the top of the gemstone seat 108c in an orientation that enables optimum cutting of the raw gemstone during cutting operation.

In a preferred embodiment, the gemstone holding units 104 are located adjacent to each other so that the elongated die 108 containing the raw gemstone are sequentially brought to a desired location in the autonomous gemstone cutting apparatus 100 for performing cutting operation. The autonomous gemstone cutting apparatus 100 according to the present subject matter further comprises a gemstone processing station 112 for processing the raw gemstones. According to the present embodiment, the gemstone processing station 112 comprises a gemstone cutting station in which a raw gemstone is cut by means of a laser beam. In a preferred embodiment, the gemstone processing station 112 comprises a fixture 114 that has a provision to hold the elongated die 108 carrying a raw gemstone in vertical position when the gemstone is being cut such that the raw gemstone mounted on the gemstone seat 108c is exposed to the laser beam.

According to a preferred embodiment, the autonomous gemstone cutting apparatus 100 further comprises a transport station 124 for sequentially transporting the elongated dies 108 carrying raw gemstones from the holding unit 104 of the conveyor system 102 to the processing station 112. In a preferred embodiment, the transport station 124 comprises a robotic arm 126 that is configured to rotate about its central vertical axis X by means of a first drive mechanism 128 and is configured to move in vertical direction by means of a second drive mechanism 129, as shown in Figures 2 and 2A. As shown herein, the first drive mechanism 128 comprises but is not limited to a first belt and pulley arrangement 128B operated by a first motor 128A. In an embodiment, the first belt drive mechanism 128B comprises a first drive pulley (not shown) attached to the first motor 128A, a first driven pulley (not shown) and a first belt B connecting the first drive pulley and the first driven pulley. The first driven pulley of the first belt and pulley arrangement 128B is attached to a vertical single shaft 128C in an embodiment and the vertical single shaft 128C in turn is attached to the robotic arm 126. Therefore, once the first motor 128A is triggered, the rotational motion is transferred to the vertical single shaft 128C through the first belt and pulley arrangement 128B, which in turn rotates the robotic arm 126. The first drive mechanism 128 further comprises an encoder 128D that ensures correction in an error, if any, in belt movement of the belt drive mechanism 128B with respect to the signal given by the motor 128A.

As shown in Figures 2 and 2A, the second drive mechanism 129 comprises but is not limited to a second belt and pulley arrangement operated by a second motor 129A. In an embodiment, the second belt and pulley arrangement comprises a second drive pulley 129B attached to the second motor 129A, a second driven pulley 129C and a second belt (not shown) connecting the second drive pulley 129B and the second driven pulley 129C. The second driven pulley 129C of the second drive mechanism 129 is attached to a lead screw 129D in an embodiment and the lead screw 129D in turn is operatively connected to a platform 129E on which the first drive mechanism 128 is mounted. Once the second motor 129A is triggered, the rotational motion is transferred to the lead screw 129D through the second belt and pulley arrangement, which in turn moves the platform 129E linearly in the vertical direction, thereby providing linear vertical motion to the robotic arm 126 during operation.

Upon actuation, the drive mechanism 128 operates the robotic arm 126 to rotate said robotic arm 126 about its central vertical axis X. In an embodiment, the robotic arm 126 comprises a gemstone carrying mechanism 130 on either end for carrying the elongated die 108 from the holding unit 104 of the conveyor system 102 to the fixture 114 of the processing station 112 and vice versa. The autonomous gemstone cutting apparatus 100 is configured such that the robotic arm 126 is adjusted in the vertical position while carrying the elongated die 108 with gemstone from the holding unit 104 and placing the said elongated die 108 in the fixture 114 of the processing station 112 for performing the cutting operation, and also while carrying the elongated die 108 without the gemstone from the fixture 114 of the processing station 112 back to the seat portion 106 of the gemstone holding unit 104 after the cutting operation has been performed. In other words, the robotic arm 126 is configured such that it first rotates about its central vertical axis X so that the desired gemstone carrying mechanism 130 is positioned adjacent to the gemstone holding unit 104. In an embodiment, the gemstone carrying mechanism 130 comprises a gripping assembly for gripping the elongated die 108. Once the elongated die 108 is gripped, the robotic arm 126 comprising the gemstone carrying mechanism 130 is moved upwards so that the elongated die 108 gripped by the gemstone carrying mechanism 130 is drawn out of the seat portion 106 of the gemstone holding unit 104. Once the elongated die 108 is drawn out of the seat portion 106, the robotic arm 126 rotates about the central vertical axis X to transfer the elongated die 108 picked up from the seat portion 106 of the gemstone holding unit 104 towards the fixture 114 of the gemstone processing station 112. At the same time, the fixture 114 shifts in the horizontal direction towards the robotic arm 126 such that the elongated die 108 gripped by the robotic arm 126 is positioned above the fixture 114. In a preferred embodiment, the fixture 114 is mounted on an XY linear stage and is capable of moving in X-direction, i.e., horizontal direction, and Y- direction, i.e., vertical direction. In a preferred embodiment, the fixture 114 is configured to move in XY plane independently from the conveyor system. The robotic arm 126 is then moved downwards to locate the elongated die 108 on the fixture 114 of the gemstone processing station 112. Thereafter, the robotic arm 126 moves upwards while the fixture 114 with the elongated die 108 comes back to its original position by moving in the horizontal direction so that cutting operation can be performed in the processing station 112. In an embodiment, the fixture 114 of the gemstone processing station 112 also comprises a fixture seat (not shown) in which the elongated die 108 can be seated in the vertical position. The vertical position of the elongated die 108 is the position of the elongated die 108 as shown in Figures 8a to 8f. The tapered or curved bottom end 108a of elongated die 108 enables easy insertion of the elongated die 108 in the fixture seat of the fixture 114 of the gemstone processing station 112. For placement of the elongated die 108 in to the fixture 114 of the gemstone processing station 112, the robotic arm 126 is lowered towards the fixture 114 such that the elongated die 108 is automatically inserted in the fixture seat.

In an embodiment, each gemstone carrying mechanism 130 comprises a plurality of grippers for gripping the elongated die 108. In an embodiment, the grippers of the gemstone carrying mechanism 130 are configured to automatically hold or grip the elongated die 108 for picking the elongated die 108 containing raw gemstone from the gemstone seat portion 106 and automatically releasing the elongated die 108 containing raw gemstone while placing the elongated die 108 containing raw gemstone in the fixture seat for performing the cutting operation. In an embodiment, the grippers of the gemstone carrying mechanism 130 are configured to automatically hold or grip the elongated die 108 for picking the elongated die 108 without raw gemstone from the fixture seat after the cutting operation has been performed and releasing the elongated die 108 without raw gemstone while placing the elongated die 108 without raw gemstone back into the same gemstone seat portion 106 from which it was picked before cutting.

According to a preferred embodiment, the autonomous gemstone cutting apparatus 100 is configured to pick the elongated die 108 carrying the raw gemstone from the holding unit 104 of the conveyor system 102 by means of a first gripper 130 of the robotic arm 126, place said elongated die 108 containing the raw gemstone in the fixture 114 of the processing station 112, identify one or more cutting planes for cutting the raw gemstone, execute laser cutting operation, and then place one or more pieces of the cut gemstone in the collection bin 110 of the same holding unit 104 from which the elongated die 108 carrying the raw gemstone was picked up. In an embodiment, while performing the cutting operation, all the pieces of the gemstone are cut and dropped in a transfer member 200 shown in figure 9, also referred to as a transfer member. Simultaneously or subsequently, a second gripper 130 of the robotic arm 126 picks up another elongated die 108 carrying another raw gemstone from the adjacent gemstone holding unit 104 in the conveyor system 102. Once the cutting of the first raw gemstone located in the fixture 114 of the processing station 112 is completed, the fixture 114 again moves towards the robotic arm 126 in the horizontal direction such that the first gripper 130 of the robotic arm 126 is positioned above the fixture 114. The robotic arm 126 then moves downwards in the vertical direction to pick the first elongated die 108 with one piece of the raw gemstone still attached to it from the fixture 114 of the processing station 112. Thereafter, the robotic arm 126 is rotated by about 180 degrees to place the second elongated die 108 containing the second raw gemstone from the second gripper 130 into the fixture seat. Simultaneously or subsequently, the first elongated die 108 carrying a piece of the cut gemstone that is still stuck to the first elongated die 108 is picked up by the gripper 130 from the fixture 114 of the processing station 112 and placed at the same gemstone seat portion 106 of the gemstone holding unit 104 from which it was picked up before gemstone cutting. In a preferred embodiment, the robotic arm 126 of the present subject matter comprises two diametrically opposite grippers 130 located at about 180 degrees from each other. However, more than two grippers may be provided in the robotic arm without deviating from the scope of the present subject matter. Similarly, the robotic arm may contain only one gripper in an embodiment.

In an embodiment, the autonomous gemstone cutting apparatus 100 comprises a processing means comprising one or more processors for operating the components, assemblies, and sub-assemblies of the conveyor system 102, the transport station 124 and the gemstone processing station 112. According to a preferred embodiment, the processing means of the autonomous gemstone cutting apparatus 100 is configured to operate the conveyor system 102 to bring the holding units 104 containing elongated dies 108 at a location from where the transport station 124 can pick the elongated dies 108. In a preferred embodiment, the processing means is also configured to operate the transport station 124 to pick the elongated dies 108 carrying raw gemstones from the holding units 104 of the conveyor system 102 by means of one of the grippers 130, place said elongated die 108 containing the raw gemstone in the fixture 114 of the processing station 112, identify the cutting plane, execute laser cutting operation, shift one or more pieces of the cut gemstone in the collection bin 110 of the same holding unit 104 from which the die 108 carrying the raw gemstone was picked up, and place the elongated dies 108 with a piece of the gemstone attached to said elongated die after operation back to the same holding unit 104 of the conveyor system 102. In a preferred embodiment, the processing means is also configured to operate the gemstone processing station 112 for performing the cutting operation on the raw gemstone.

In an embodiment, the processor can be a single processing unit or a number of units, all of which could also include multiple computing units. The processor may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuitries, and/or any devices that manipulate signals based on operational instructions. Among other capabilities, the processor is configured to fetch and execute computer-readable instructions and data stored in a memory. The functions of the processors may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. In an embodiment, the processing means may further include one or more modules. The module(s) may include routines, programs, objects, components, data structures, etc., which perform particular tasks or implement particular abstract data types. In an embodiment, the processing means may include one or more interfaces having a variety of machine-readable instructions-based interfaces and hardware interfaces that allow the processing means to interact with different entities. The memory may be coupled to the processor and may, among other capabilities, provide data and instructions for generating different requests. In an embodiment, the memory can include any computer-readable medium known in the art including, for example, volatile memory, such as static random-access memory (SRAM) and dynamic random-access memory (DRAM), and/or non-volatile memory, such as read only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes. The data serves, amongst other things, as a repository for storing data that may be fetched, processed, received, or generated by one or more of the module(s).

According to a preferred embodiment, the processing means of the autonomous gemstone cutting apparatus 100 is configured to operate timing of the conveyor system 102 such that once a holding unit 104 carrying a gemstone holder approaches the gemstone picking location, the movement of the conveyor system 102 is halted so that the robotic arm 126 is able to grip and carry the elongated die 108 from the gemstone seat portion 106 of the holding unit 104. The processing means is also configured to operate the robotic arm 126 such that the robotic arm 126 carry the elongated die 108 from the gemstone seat portion 106 of the holding unit 104 to the fixture 114 of the processing station 112 and vice versa. Further, once the elongated die 108 containing the gemstone holder is placed in the fixture 114 of the processing station 112, the processing means is configured to operate the processing station 112 for performing the cutting operation. In a preferred embodiment, the processing means is also configured to dispense the cut gemstones from the processing station to the collection bin 110 of the holding unit 104.

In an embodiment, one or more of the method(s) described herein may be implemented at least in part as instructions embodied in a non-transitory computer-readable medium and executable by one or more computing devices. In general, a processor (for example a microprocessor) receives instructions, from a non-transitory computer-readable medium, for example, a memory, and executes those instructions, thereby performing one or more method(s), including one or more of the method(s) described herein. Such instructions may be stored or transmitted using any of a variety of known computer-readable media.

Before the operation of the autonomous gemstone cutting apparatus 100, a batch of a plurality of gemstones mounted on their respective gemstone holders or elongated dies 108 is first loaded into a conveyor system of the autonomous gemstone cutting apparatus 100 and a cutting plan generated. The processing means automatically selects the cutting plane in sequential order as perthe gemstones loaded in gemstone holding dies. In an embodiment, the autonomous gemstone cutting apparatus 100 is configured to load up to fifty gemstone- sticked elongated dies 108 into the conveyor system. However, the number of elongated dies loaded in the autonomous gemstone cutting apparatus may vary without deviating from the scope of the present subject matter. In another embodiment, the cutting plan may be generated separately and fed into the autonomous gemstone cutting apparatus. Once the gemstones mounted on individual dies are loaded in the conveyor system of the autonomous gemstone cutting apparatus, the autonomous gemstone cutting apparatus automatically processes the loaded raw gemstones in respective elongated dies as per plan without any human intervention.

In an embodiment, the autonomous gemstone cutting apparatus further comprises a transfer member 200, as shown in figure 9, located below the fixture 114 of the gemstone processing station 112 for transferring the separated pieces of the gemstone from the gemstone processing station 112 to the respective collection bins 110 of the gemstone holding unit 104. In a preferred embodiment, the transfer member 200 is configured as a bin or a container, as shown in Figure 9. In a preferred embodiment, the bin or a container has a low friction bottom surface 202 having a slope, a vibration mechanism and a funnel 204. The vibration mechanism is configured to vibrate the transfer member 200 such that once the separated pieces of the gemstone from the gemstone processing station 112 fall on the bottom surface of the transfer member 200, said separated pieces automatically shift towards the funnel 204 due to the slope of the bottom surface. The funnel 204 then guides the separated pieces of the gemstone into the respective bin 110 of the gemstone holding unit 104. In particular, after completion of cutting process of all planes or a completion of each cutting plane of the same stone, a U- axis of the cutting fixture is rotated by the pre-determined degree. In an embodiment, the U- axis of the cutting fixture is rotated by approximately 120 degree. However, this angle may change in other embodiments. This leads to dropping of pieces of the cut gemstone on the bottom surface 202 of the transfer member 200. In a preferred embodiment, the bottom surface of transfer member 200 is covered with glass, to keep minimum possible friction when the pieces of the cut gemstone are dropped on it. After rotation of the U-axis to approximately 120 degree, the vibration mechanism is triggered, thereby resulting in sliding of the pieces of the cut gemstone into the funnel. In a preferred embodiment, vibration mechanism comprises a vibration motor mounted on the transfer member 200 for vibrating the transfer member 200.

The present subject matter also provides a method for processing raw gemstones in which a plurality of elongated dies 108 with raw gemstones attached to them is loaded into a conveyor system of an autonomous gemstone cutting apparatus 100 in a sequential order. Simultaneously or subsequently, the cutting plan of raw gemstones generated in the planner machine is fed into the autonomous gemstone cutting apparatus. The automatic operation of the autonomous gemstone cutting apparatus 100 then starts in which the gemstone-stuck elongated dies 108 move along a conveyor system 102. Once a first gemstone holding unit 104 containing a first gemstone-stuck die 108 arrives at the pickup station or location in the conveyor system 102, a first gemstone carrying mechanism 130 comprising one or more grippers of a robotic arm 126 of the autonomous gemstone cutting apparatus picks the first elongated die 108 containing the first raw gemstone from the first gemstone holding unit 104 and places first elongated die 108 into a cutting fixture 114 of the gemstone processing station 112. Once the first raw gemstone is cut into one or more pieces, the pieces of said first raw gemstone separated from the elongated die 108 fall into a transfer member 200 located underneath the cutting fixture 114. In a preferred embodiment, the transfer member 200 comprises a low friction inner bottom surface 202 having a slope, a vibration mechanism and a funnel 204 for transferring the separated pieces into the first collection bin 110 of the first gemstone holding unit 104. While doing so, the conveyor system 102 is moved by a distance so that the first gemstone holding unit 104 of the conveyor system 102 is aligned with the outlet of the funnel 204 and the separated pieces of the first raw gemstone fall directly into the first collection bin 110 of the first gemstone holding unit 104. Therefore, the gemstone holding unit 104 from where the first elongated die 108 containing the first raw gemstone was picked up by the robotic arm 126 moves to a location adjacent to the funnel outlet so that the corresponding bin is located at the outlet of the funnel and the separated pieces of the gemstone fall directly into the corresponding bin 110. In a preferred embodiment, a unique bin is provided for each diamond to be cut.

Meanwhile, the second gemstone carrying mechanism 130 comprising one or more grippers of the robotic arm 126 picks the second elongated die 108 containing the second raw gemstone from the second gemstone holding unit 104 and places the second elongated die 108 into the cutting fixture 114 of the gemstone processing station 112. In the preferred embodiment, the first gemstone holding unit and the second gemstone holding unit are adjacent to each other in the conveyor system 102. In other words, the robotic arm 126 picks the elongated dies 108 containing raw gemstone one by one from all adjacent gemstone holding units.

Simultaneously or subsequently, the first processed die, i.e., the first elongated die carrying one piece of the cut gemstone that is still stuck to it and remaining in the cutting fixture, is picked up by the robotic arm 126 and placed at its initial location, i.e., in the gemstone seat portion 106 of the first gemstone holding unit 104.

According to the present invention, in case the cutting plan fed into the autonomous gemstone cutting apparatus does not match with the gemstone placed in the cutting fixture, said gemstone-stuck die is designated as a rejected die by the processing means. Once an elongated die is designated as a rejected die, the robotic arm 126 picks up the rejected die from the cutting fixture and places it at its initial location in the conveyor system, i.e., the gemstone seat portion 106 of the gemstone holding unit 104 from where it was picked up initially before moving on to the next die.

While the preferred embodiments of the present invention have been described hereinabove, it should be understood that various changes, adaptations, and modifications may be made therein without departing from the spirit of the invention and the scope of the appended claims. It will be obvious to a person skilled in the art that the present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The described embodiments are to be considered in all respects only as illustrative and not restrictive.