| 摘要 |
Univeral conveying apparatus and method for automated inspection and classification of a variety of natural or man made product classes, having various geometrical configurations, e.g. spheroidal, spherical, cylindrical, parallelepiped, disc and plate shaped objects, or massive and hollow amophous objects. Incorporating a plurality of sensors interfaced to a plurality of microcomputers, measuring different product features, while predetermined combinations thereof are used for separating the objects or products, into a plurality of categories. Part of the sensors are stationary, while another part thereof are located and rotating on revolving inverter wheels. The stationary and rotating sensor groups are interfaced respectively to one or more stationary or rotating microcomputers, attached to the inverter wheels. The revolving and stationary microcomputers are electrically interconnected via slip rings, on the shafts on the inverter wheels. Conveing system incorporates product inversion, providing means for computer vision of both sides of rapidly moving objects or products, on two synchronized bottomless cup or tray conveyors, stacked one on top of the other, while the inverter wheels with reciprocating product grippers, transfer and invert inspected objects, from one conveyor to the other. Combines computer vision by reflected and/or transmitted radiation, with self radiation if any, in concert with other sensors. Some sensors in the grippers, intermittently contact or engage objects in cups or trays, by a controlled force or pressure. The grippers may be rigid, flexible or semiflexible. They may incorporate actuators and sensors for measuring mechanical properties of products and probe connectors for electrical functionality analysis.
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