Battery cell module and tray grabbing device

Abstract

The invention provides a battery cell module and tray grabbing device which is characterized in that a fixed gripper assembly is mounted at one end of the lower side of a mounting base plate of a main body assembly, a linear sliding rail is mounted on the lower side of the mounting base plate, a movable clamping jaw assembly is slidably mounted on the linear sliding rail, and a pneumatic assembly top plate of a pneumatic assembly is slidably mounted on the linear sliding rail; a driving mechanism is mounted on the mounting base plate in the main body assembly and connected with a pneumatic assembly top plate, and a cylinder is mounted on the pneumatic assembly top plate and connected with a movable gripper assembly; a visual assembly is installed on the main body assembly. The device has the functions of grabbing the battery cell module and the tray at the same time; the camera is used for identifying a mark point for photographing and positioning, so that the grabbing and placing accuracy is improved, and errors are reduced; the whole operation process is smoother due to the optimized action process, and the working efficiency is improved; and due to the design of the transverse moving avoiding fixed end, interference with other parts in the operation process is avoided, and the accuracy and stability of the grabbing and placing process are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of handling of battery cell modules. Background Art

[0002] During the battery production and logistics processes, it is often necessary to handle and place battery cell modules 3 and the pallets 2 carrying them. Traditional operation methods often require using different devices to process the battery cell modules 3 and the pallets 2 separately, which not only increases the equipment cost but also reduces the work efficiency. Moreover, during the handling process, how to accurately position and grasp the battery cell modules 3 and the pallets 2 to avoid damaging them is also an urgent problem to be solved. Summary of the Invention

[0003] To solve the above problems existing in the existing handling methods of battery modules and pallets, the present invention provides a battery cell module and pallet grasping device that can handle battery cell modules and pallets simultaneously.

[0004] The technical solution adopted by the present invention to achieve the above object is: a battery cell module and pallet grasping device, including a main body assembly 71, a fixed gripper assembly 72, a movable gripper assembly 73, a pneumatic assembly 74, and a vision assembly 75. A fixed gripper assembly 72 is installed at one end of the lower side of the mounting substrate 7103 of the main body assembly 71. A linear slide rail 7104 is installed on the lower side of the mounting substrate 7103. The movable jaw assembly 73 is slidably installed on the linear slide rail 7104. The pneumatic assembly top plate 7406 of the pneumatic assembly 74 is slidably installed on the linear guide rail 7104. A driving mechanism 7102 is installed inside the main body assembly 71 on the mounting substrate 7103. The driving mechanism 7102 is connected to the pneumatic assembly top plate 7406. A cylinder 7405 is installed on the pneumatic assembly top plate 7406. The piston rod of the cylinder 7405 is connected to the movable gripper connecting plate 7301 of the movable gripper assembly 73. A vision assembly 75 is installed on the main body assembly 71.

[0005] The upper part of the main body top plate 7102 of the main body assembly 71 is installed with a robot connection flange 7101 through a flange transition connecting plate 7108. The main body top plate 7102, the end plates 7106 at both ends, the front and rear side plates, and the lower mounting substrate 7103 form a box-shaped structure. A flange detection bracket 7107 is installed on the upper part of the main body top plate 7102. A main body proximity switch 7109 is installed on the flange detection bracket 7107. A photoelectric switch sensor 7114 is installed on the lower side of the mounting substrate 7103. A calibration needle substrate 7115 is installed on the lower side of the mounting substrate 7103 between the linear guide rails. A slider 7105 is installed on the linear guide rail 7014. A lower limit block 7113 is installed on the lower side of the mounting substrate 7103 at the end of the linear slide rail 7104. Main body limit blocks 7110 are installed at both ends of the mounting substrate 7103.

[0006] The fixed gripper assembly 72 is mounted on the mounting substrate 7103 through the fixed gripper upper mounting plate 7202. The fixed gripper connecting plate 7201 is mounted on the lower side of the fixed gripper upper mounting plate 7202. The lower part of the inner side of the fixed gripper connecting plate 7201 is mounted with the fixed gripper clamping block 7209. The fixed gripper proximity switch 7208 and the fixed gripper photoelectric switch sensor 7207 are mounted on the fixed gripper upper mounting plate 7202 below the fixed gripper clamping block 7209. The fixed gripper upper mounting plate 7202 is connected to the fixed gripper clamping plate 7204 through the fixed gripper side plates 7203 on both sides. The fixed gripper hooks 7206 are mounted at both ends of the lower part of the fixed gripper clamping plate 7204. The fixed gripper limit block 7205 is mounted on the fixed gripper clamping plate 7204 below the fixed gripper connecting plate 7201.

[0007] The movable gripper upper mounting plate 7302 of the movable gripper assembly 73 is connected to the slider 7105 of the linear guide 7104 through the jaw guide pressing block 7303. The movable gripper connecting plate 7301 is mounted on the lower side of the movable gripper upper mounting plate 7302. The lower part of the inner side of the movable gripper connecting plate 7301 is mounted with the movable gripper clamping block 7306. The movable gripper proximity switch 7309 and the movable gripper photoelectric switch sensor 7308 are mounted on the movable gripper upper mounting plate 7302 below the movable gripper clamping block 7306. The movable gripper upper mounting plate 7302 is connected to the movable gripper clamping plate 7311 through the fixed gripper side plates 7312 on both sides. The movable gripper hooks 7307 are mounted at both ends of the lower part of the movable gripper clamping plate 7311. The movable gripper limit block 7310 is mounted on the movable gripper clamping plate 7311 below the movable gripper connecting plate 7301. The photoresistive sheet 7305 is mounted on the movable gripper connecting plate 7301.

[0008] The pneumatic component top plate 7406 is connected to the linear guide 7104 through the guide pressing block 7408. The piston rod end of the cylinder 7405 of the pneumatic component 74 is connected to the movable gripper connecting plate 7301 of the movable jaw assembly 73 through two lumps 7407 and a floating joint. The cylinder 7405 is mounted on the pneumatic component top plate 7406 through the cylinder fixing plate 7401. The chute 7404 is mounted on the pneumatic component top plate 7406 on one side of the cylinder 7405. The grooved photoelectric switch 7404 is slidably mounted in the chute 7404.

[0009] The vision component 75 is mounted on the front side plate of the main body component 71 through the vision component connecting plate 7501. The industrial camera 7503 is mounted on the vision component connecting plate 7501. The industrial lens 7506 is mounted on the industrial camera 7503. The light source connecting plate 7505 is mounted on the vision component connecting plate 7501. The light source 7504 is mounted on the light source connecting plate 7505. The camera protection cover 7502 is mounted on the vision component connecting plate 7501.

[0010] The cell module and tray gripping device of the present invention simultaneously have the functions of gripping the cell module and the tray, reducing the number of devices and the cost; by identifying the mark points with a camera for photo positioning, the accuracy of gripping and placing is improved, and the error is reduced; the optimized action process makes the whole operation process smoother and improves the work efficiency; the design of lateral movement to avoid the fixed end prevents interference with other components during the operation, ensuring the accuracy and stability of the gripping and placing process. Description of the Drawings

[0011] Figure 1 It is a schematic diagram of the application state of the cell module and tray gripping device of the present invention.

[0012] Figure 2 It is a structural diagram of the cell module and tray gripping device of the present invention.

[0013] Figure 3 It is a front view of the main component of the cell module and tray gripping device of the present invention.

[0014] Figure 4 It is a right view of the main component of the cell module and tray gripping device of the present invention.

[0015] Figure 5 It is a top view of the main component of the cell module and tray gripping device of the present invention.

[0016] Figure 6 It is an isometric view of the main component of the cell module and tray gripping device of the present invention.

[0017] Figure 7 It is an isometric view of the main component of the cell module and tray gripping device of the present invention.

[0018] Figure 8 It is a front view structural diagram of the fixed gripper component of the cell module and tray gripping device of the present invention.

[0019] Figure 9 It is a right view structural diagram of the fixed gripper component of the cell module and tray gripping device of the present invention.

[0020] Figure 10 It is a top view structural diagram of the fixed gripper component of the cell module and tray gripping device of the present invention.

[0021] Figure 11 It is an isometric view of the fixed gripper component of the cell module and tray gripping device of the present invention.

[0022] Figure 12 It is an isometric view of the fixed gripper component of the cell module and tray gripping device of the present invention.

[0023] Figure 13It is the front view structure diagram of the movable jaw assembly of the battery cell module and tray gripping device of the present invention.

[0024] Figure 14 It is the right view structure diagram of the movable jaw assembly of the battery cell module and tray gripping device of the present invention.

[0025] Figure 15 It is the top view structure diagram of the movable jaw assembly of the battery cell module and tray gripping device of the present invention.

[0026] Figure 16 It is the axonometric view of the movable jaw assembly of the battery cell module and tray gripping device of the present invention.

[0027] Figure 17 It is the axonometric view of the movable jaw assembly of the battery cell module and tray gripping device of the present invention.

[0028] Figure 18 It is the front view structure diagram of the pneumatic component of the battery cell module and tray gripping device of the present invention.

[0029] Figure 19 It is the right view structure diagram of the pneumatic component of the battery cell module and tray gripping device of the present invention.

[0030] Figure 20 It is the top view structure diagram of the pneumatic component of the battery cell module and tray gripping device of the present invention.

[0031] Figure 21 It is the axonometric view of the pneumatic component of the battery cell module and tray gripping device of the present invention.

[0032] Figure 22 It is the axonometric view of the pneumatic component of the battery cell module and tray gripping device of the present invention.

[0033] Figure 23 It is the front view structure diagram of the vision component of the battery cell module and tray gripping device of the present invention.

[0034] Figure 24 It is the right view structure diagram of the vision component of the battery cell module and tray gripping device of the present invention.

[0035] Figure 25 It is the top view structure diagram of the vision component of the battery cell module and tray gripping device of the present invention.

[0036] Figure 26 It is the axonometric view of the vision component of the battery cell module and tray gripping device of the present invention.

[0037] Figure 27 It is the axonometric view of the vision component of the battery cell module and tray gripping device of the present invention.

[0038] In the figure: 1. Double-layer circulating conveyor line; 2. Pallet; 3. Battery cell module; 4. Pallet quantity detection mechanism; 5. Pallet fixing position; 6. Six-axis robot; 7. Gripping component; 8. Robot base; 9. Module placement position; 10. Safety protection fence; 71. Main body component, 7101. Robot connection flange, 7102. Main body bottom plate, 7103. Installation substrate, 7104. Linear slide rail, 7105. Slide block, 7106. End plate, 7107. Flange detection bracket, 7108. Flange transition connection plate, 7109. Main body proximity switch, 7110. Main body limit block, 7111. Drag chain, 7112. Driving mechanism, 7113. Lower limit block, 7114. Photoelectric switch sensor, 7115. Calibration needle substrate;

[0039] 72. Fixed gripper component, 7201. Fixed gripper connection plate, 7202. Fixed gripper upper mounting plate, 7203. Fixed gripper side plate, 7204. Fixed gripper clamping plate, 7205. Fixed gripper limit block, 7206. Fixed gripper hook, 7207. Fixed gripper photoelectric switch sensor, 7208. Fixed gripper proximity switch, 7209. Fixed gripper clamping block;

[0040] 73. Movable gripper component, 7301. Movable gripper connection plate, 7302. Upper mounting plate of movable jaw component, 7303. Claw guide rail pressing block, 7304. Upper connection plate, 7305. Photoresistive chip, 7306. Movable gripper clamping block, 7307. Movable gripper hook, 7308. Movable gripper photoelectric switch sensor, 7309. Movable gripper proximity switch, 7310. Movable gripper limit block, 7311. Movable gripper clamping plate, 7312. Movable gripper side plate;

[0041] 74. Pneumatic component, 7401. Connection block, 7402. Reinforcing rib, 7403. Groove-type photoelectric switch, 7404. Slide groove, 7405. Cylinder, 7406. Top plate of pneumatic component, 7407. Connection block, 7408. Pneumatic component guide rail pressing block;

[0042] 75. Vision component, 7501. Vision component connection plate, 7502. Camera protection cover, 7503. Industrial camera, 7504. Light source, 7505. Light source connection plate, 7506. Industrial lens. Detailed implementation method

[0043] The battery cell module and pallet gripping device of the present invention are as Figure 2As shown in the figure, it includes a main body component 71, a fixed gripper component 72, a movable gripper component 73, a pneumatic component 74 and a vision component 75. At one end of the lower side of the mounting substrate 7103 of the main body component 71, the fixed gripper component 72 is installed. A linear slide rail 7104 is installed on the lower side of the mounting substrate 7103. The movable jaw component 73 is slidably installed on the linear slide rail 7104. The pneumatic component top plate 7406 of the pneumatic component 74 is slidably installed on the linear guide rail 7104. A driving mechanism 7102 is installed inside the main body component 71 on the mounting substrate 7103. The driving mechanism 7102 is connected to the pneumatic component top plate 7406. The driving mechanism is driven by a motor and gears. A cylinder 7405 is installed on the pneumatic component top plate 7406. The piston rod of the cylinder 7405 is connected to the movable gripper connecting plate 7301 of the movable gripper component 73. The vision component 75 is installed on the main body component 71. The movable jaw component 73 drives the pneumatic component 74 to move horizontally on the linear guide rail 7104 through the driving mechanism, and then drives the horizontal movement of the movable jaw component 73. In addition, the pneumatic component 74 realizes the horizontal movement of the movable gripper component 73 through the cylinder 7405. The main body component 71 is driven by the robot 6 to move it.

[0044] As Figures 3 - 7 shown, a robot connection flange 7101 is installed on the upper part of the main body top plate 7102 of the main body component 71 through a flange transition connecting plate 7108. The main body top plate 7102, the end plates 7106 at both ends, the front and rear side plates and the lower mounting substrate 7103 form a box-like structure. A flange detection bracket 7107 is installed on the upper part of the main body top plate 7102. A main body proximity switch 7109 is installed on the flange detection bracket 7107. A photoelectric switch sensor 7114 is installed on the lower side of the mounting substrate 7103. A calibration needle substrate 7115 is installed between the linear guide rails on the lower side of the mounting substrate 7103. A slider 7105 is installed on the linear guide rail 7014. A lower limit block 7113 is installed at the end of the linear guide rail 7104 on the lower side of the mounting substrate 7103. Main body limit blocks 7110 are installed at both ends of the mounting substrate 7103.

[0045] As Figures 8 - 12As shown, the fixed gripper assembly 72 is mounted on the mounting substrate 7103 through the fixed gripper upper mounting plate 7202. The fixed gripper connecting plate 7201 is mounted on the lower side of the fixed gripper upper mounting plate 7202. The fixed gripper clamping block 7209 is mounted on the lower inner side of the fixed gripper connecting plate 7201. The fixed gripper proximity switch 7208 and the fixed gripper photoelectric switch sensor 7207 are mounted on the fixed gripper upper mounting plate 7202 below the fixed gripper clamping block 7209 to ensure accurate detection direction and position. The fixed gripper upper mounting plate 7202 is connected to the fixed gripper clamping plate 7204 through the fixed gripper side plates 7203 on both sides. The fixed gripper hooks 7206 are mounted at both ends of the lower part of the fixed gripper clamping plate 7204. The fixed gripper limit block 7205 is mounted on the fixed gripper clamping plate 7204 below the fixed gripper connecting plate 7201. The fixed gripper assembly 72 realizes the grasping and limiting of one side of the tray 2 or the battery cell module 3.

[0046] As Figures 13 - 17 shown, the movable gripper upper mounting plate 7302 of the movable gripper assembly 73 is connected to the slider 7105 of the linear guide 7104 through the jaw guide pressure block 7303. The movable gripper connecting plate 7301 is mounted on the lower side of the movable gripper upper mounting plate 7302. The movable gripper clamping block 7306 is mounted on the lower inner side of the movable gripper connecting plate 7301. The movable gripper proximity switch 7309 and the movable gripper photoelectric switch sensor 7308 are mounted on the movable gripper upper mounting plate 7302 below the movable gripper clamping block 7306. The movable gripper upper mounting plate 7302 is connected to the movable gripper clamping plate 7311 through the fixed gripper side plates 7312 on both sides. The movable gripper hooks 7307 are mounted at both ends of the lower part of the movable gripper clamping plate 7311. The movable gripper limit block 7310 is mounted on the movable gripper clamping plate 7311 below the movable gripper connecting plate 7301. The photoresistive sheet 7305 is mounted on the movable gripper connecting plate 7301. The movable gripper assembly 73 grasps the other side of the tray 2 or the battery cell module 3.

[0047] As Figures 18 - 22 shown, the pneumatic component top plate 7406 is connected to the linear guide 7104 through the guide pressure block 7408. The piston rod end of the cylinder 7405 of the pneumatic component 74 is connected to the movable gripper connecting plate 7301 of the movable jaw assembly 73 through the two lumps 7407 and the floating joint. The cylinder 7405 is mounted on the pneumatic component top plate 7406 through the cylinder fixing plate 7401. The chute 7404 is mounted on the pneumatic component top plate 7406 on one side of the cylinder 7405. The groove type photoelectric switch 7404 is slidably mounted in the chute 7404 to ensure that the detection optical path is aligned with the target position.

[0048] As Figures 23 - 27As shown in the figure, the vision component 75 is installed on the front side plate of the main body component 71 through the vision component connection plate 7501. An industrial camera 7503 is installed on the vision component connection plate 7501, and an industrial lens 7506 is installed on the industrial camera 7503. A light source connection plate 7505 is installed on the vision component connection plate 7501, and a light source 7504 is installed on the light source connection plate 7505. A camera protection cover 7502 is installed on the vision component connection plate 7501, which plays a role in protecting against dust and collision.

[0049] The gripper of the present invention is equipped with a camera for identification and positioning, and a fixed end that can be horizontally moved. This fixed end can move to the side gripping surface of the tray and the module to achieve stable gripping of the tray and the battery cell module. The gripper is installed on the robot and debugged to ensure that the camera of the gripper can accurately identify the mark point and the gripper can move horizontally flexibly. At the same time, the motion trajectory of the robot is programmed and calibrated so that it can accurately execute each action.

[0050] As Figure 1 As shown in the figure, the double-layer circulating conveyor 1 conveys the tray 2 and the battery cell module 3 on the tray. The robot 6 moves the gripping device above the module and grabs the tray together with the module to the tray fixing position 5 through the gripping device, and then grabs and moves the module to the module placing position 9 through the gripping device to complete the gripping and placing of the tray and the module.

[0051] Action process:

[0052] 1. Tray gripping and placing:

[0053] The robot extends from the origin to above the tray gripping position;

[0054] The camera on the gripper identifies the mark point (take the diagonal) and takes a photo for positioning to ensure accurate gripping;

[0055] The gripper descends to the gripping height of the tray 2;

[0056] The fixed gripper component 72 is horizontally moved to the side gripping surface of the tray driven by the robot, and the movable gripper component 73 moves horizontally to the other gripping surface;

[0057] The gripper completes the action of gripping the tray 2;

[0058] The gripper ascends;

[0059] The gripper grabs the tray 2 to the tray fixing position;

[0060] The gripper descends;

[0061] The gripper places the tray (the gripper opens);

[0062] The fixed end is horizontally moved to avoid interference with other components;

[0063] The gripper rises;

[0064] The robot returns to the origin;

[0065] 2. Module grasping and placement:

[0066] The robot extends from the origin to the grasping position of Module 3;

[0067] The gripper descends;

[0068] The fixed gripper assembly 72 is horizontally moved to the side grasping surface of the module driven by the robot, and the movable gripper assembly 73 is horizontally moved to another grasping surface;

[0069] The gripper grasps Module 3;

[0070] The gripper rises;

[0071] The gripper is transported to the position of the module placement tray;

[0072] Identify whether there is a module on the tray to prevent repeated placement;

[0073] The gripper descends;

[0074] Place the module (the gripper opens);

[0075] Horizontally move to avoid the fixed end;

[0076] The gripper rises;

[0077] The robot returns to the origin.

[0078] The present invention is described by way of examples. Those skilled in the art will know that various changes or equivalent substitutions can be made to these features and examples without departing from the spirit and scope of the present invention. Additionally, under the teaching of the present invention, these features and examples can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific examples disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. A battery cell module and a tray grasping device, characterized in that: It includes a main body component (71), a fixed gripper component (72), a movable gripper component (73), a pneumatic component (74) and a vision component (75). At one end of the lower side of the mounting substrate (7103) of the main body component (71), the fixed gripper component (72) is installed. A linear slide rail (7104) is installed on the lower side of the mounting substrate (7103). The movable jaw component (73) is slidably installed on the linear slide rail (7104). The pneumatic component top plate (7406) of the pneumatic component (74) is slidably installed on the linear guide rail (7104). A driving mechanism (7102) is installed inside the main body component (71) on the mounting substrate (7103). The driving mechanism (7102) is connected to the pneumatic component top plate (7406). A cylinder (7405) is installed on the pneumatic component top plate (7406). The piston rod of the cylinder (7405) is connected to the movable gripper connecting plate (7301) of the movable gripper component (73). The vision component (75) is installed on the main body component (71).

2. The cell module and tray gripping device according to claim 1, characterized in that: On the upper part of the main body top plate (7102) of the main body component (71), a robot connecting flange (7101) is installed through a flange transition connecting plate (7108). The main body top plate (7102), the end plates (7106) at both ends, the front and rear side plates and the lower mounting substrate (7103) form a box-shaped structure. A flange detection bracket (7107) is installed on the upper part of the main body top plate (7102). A main body proximity switch (7109) is installed on the flange detection bracket (7107). A photoelectric switch sensor (7114) is installed on the lower side of the mounting substrate (7103). A calibration needle substrate (7115) is installed between the linear guide rails on the lower side of the mounting substrate (7103). A slider (7105) is installed on the linear guide rail (7014). A lower limit block (7113) is installed at the end of the linear slide rail (7104) on the lower side of the mounting substrate (7103). Main body limit blocks (7110) are installed at both ends of the mounting substrate (7103).

3. The cell module and tray grasping device according to claim 1, wherein: The fixed gripper component (72) is installed on the mounting substrate (7103) through a fixed gripper upper mounting plate (7202). A fixed gripper connecting plate (7201) is installed on the lower side of the fixed gripper upper mounting plate (7202). A fixed gripper clamping block (7209) is installed on the inner lower part of the fixed gripper connecting plate (7201). A fixed gripper proximity switch (7208) and a fixed gripper photoelectric switch sensor (7207) are installed on the fixed gripper upper mounting plate (7202) below the fixed gripper clamping block (7209). The fixed gripper upper mounting plate (7202) is connected to the fixed gripper clamping plate (7204) through the fixed gripper side plates (7203) on both sides. Fixed gripper hooks (7206) are installed at both ends of the lower part of the fixed gripper clamping plate (7204). A fixed gripper limit block (7205) is installed on the fixed gripper clamping plate (7204) below the fixed gripper connecting plate (7201).

4. A battery cell module and tray gripping device according to claim 1, characterized in that: The mounting plate (7302) of the movable gripper on the movable gripper assembly (73) is connected to the slider (7105) of the linear guide (7104) through the gripper guide block (7303). The lower side of the mounting plate (7302) of the movable gripper is provided with a movable gripper connecting plate (7301). The lower inner side of the movable gripper connecting plate (7301) is provided with a movable gripper clamping block (7306). The lower part of the mounting plate (7302) of the movable gripper is provided with a movable gripper proximity switch (7309) and a movable gripper photoelectric switch sensor (7308) above the movable gripper clamping block (7306). The mounting plate (7302) of the movable gripper is connected to the movable gripper clamping plate (7311) through the fixed gripper side plates (7312) on both sides. The lower ends of both sides of the movable gripper clamping plate (7311) are provided with movable gripper hooks (7307). The movable gripper limiting block (7310) is mounted on the movable gripper clamping plate (7311) below the movable gripper connecting plate (7301). The photoresistive chip (7305) is mounted on the movable gripper connecting plate (7301).

5. A cell module and tray grasping device according to claim 1, characterized in that: The top plate (7406) of the pneumatic component is connected to the linear guide (7104) through the guide block (7408). The end of the piston rod of the cylinder (7405) of the pneumatic component (74) is connected to the movable gripper connecting plate (7301) of the movable gripper assembly (73) through two lumps (7407) and a floating joint. The cylinder (7405) is mounted on the top plate (7406) of the pneumatic component through the cylinder fixing plate (7401). A chute (7404) is mounted on the top plate (7406) of the pneumatic component on one side of the cylinder (7405). The groove-type photoelectric switch (7404) is slidably mounted in the chute (7404).

6. The cell module and tray grasping device according to claim 1, characterized in that: The vision component (75) is mounted on the front side plate of the main body component (71) through the vision component connecting plate (7501). An industrial camera (7503) is mounted on the vision component connecting plate (7501). An industrial lens (7506) is mounted on the industrial camera (7503). A light source connecting plate (7505) is mounted on the vision component connecting plate (7501). A light source (7504) is mounted on the light source connecting plate (7505). A camera protection cover (7502) is mounted on the vision component connecting plate (7501).

Images