Alignment degree detection equipment for small-size power battery and digital laminated battery

Abstract

The utility model discloses a device for detecting the alignment degree of a small-size power battery and a digital laminated battery. Comprising an X-ray imaging mechanism, a left detection conveying module, a right detection conveying module, a left positioning platform, a right positioning platform, a left loading and unloading robot, a right loading and unloading robot, a carrying manipulator, a left loading tray mechanism, a right loading tray mechanism and an empty tray mechanism, and the right detection conveying module controls the right detection jig to move, and the left detection jig and the right detection jig alternately convey the battery to a detection position. According to the utility model, the two detection jigs are arranged, the two detection jigs alternately carry out feeding, discharging and detection actions, and a plurality of batteries on the detection jigs can be detected in each scanning, image taking and detection. Therefore, the waiting time of feeding, discharging and detection can be shortened, and the detection efficiency is improved.

Description

Technical Field

[0001] The utility model relates to battery detection equipment, in particular to a small-size power battery and digital laminated battery alignment detection equipment. Background Art

[0002] Battery CT imaging detection equipment is mainly used to detect the stacking neatness of a group of batteries. The four corners of the battery are photographed and scanned by an X-ray imaging mechanism. The sample completes image acquisition and 3D reconstruction is performed at the same time. The 3D reconstruction file uses software to perform image segmentation (slicing) to obtain a 2D image, and the 2D image is processed to determine NG / OK. However, since the X-ray imaging mechanism needs to rotate 360 ​​degrees at a constant speed to take images of the battery, the imaging time for each corner is relatively long. If only a single group of batteries can be imaged each time, it will lead to low detection efficiency. Summary of the invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a small-sized power battery and digital laminated battery alignment detection device. The device is mainly used for square steel shell laminated batteries, and the compatible battery cell size is: width W: 5-40mm, length L: 10-45mm, thickness T: 2.5-6mm.

[0004] The purpose of the utility model is achieved through the following technical solutions: a small-size power battery, digital laminated battery alignment detection equipment, including an X-ray imaging mechanism, a left detection conveying module, a right detection conveying module, a left positioning platform, a right positioning platform, a left loading and unloading robot, a right loading and unloading robot, a handling manipulator, a left loading tray mechanism, a right loading tray mechanism and an empty tray mechanism, the left detection conveying module controls the movement of the left detection jig, the right detection conveying module controls the movement of the right detection jig, and the left detection jig and the right detection jig alternately deliver the battery to the detection position. The left detection conveying module and the right detection conveying module both include a profile beam, a servo motor and a conveying screw are provided on the profile beam, a pulley is provided at one end of the conveying screw, the conveying screw and the servo motor are connected and driven by a pulley and a belt, a screw nut is screwed on the conveying screw, and the screw nut is connected to the left detection jig or the right detection jig through a connecting block, a linear slide is provided on one side of the profile beam, and the left detection jig or the right detection jig is connected to the linear slide by a linear slider.

[0005] As an improvement of the alignment detection equipment for small-sized power batteries and digital laminated batteries of the utility model, the left detection jig and the right detection jig both include a moving plate, a turntable is provided on the moving plate, and the turntable is controlled to rotate by a motor, which can enable the two jig plates to exchange positions, and is convenient for exchanging positions when loading and unloading. The turntable is provided with two correspondingly set flip cylinders, and the two flip cylinders can control a jig plate to flip 180 degrees. At least one battery adsorption station is provided on the jig plate. After the detection of one corner of the battery is completed, the flip cylinder controls the jig plate to flip 180 degrees, so that the other diagonal corner of the battery is in the detection position, and the X-ray imaging mechanism then detects the corner.

[0006] As an improvement of the alignment detection device for small-size power batteries and digital laminated batteries of the utility model, the handling robot includes a left transverse shift servo module, a right transverse shift servo module, a left lifting servo module and a right lifting servo module. The left transverse shift servo module controls the movement of the left lifting servo module, the right transverse shift servo module controls the movement of the right lifting servo module, and the left lifting servo module and the right lifting servo module respectively control the lifting and moving of a suction head. The left transverse shift servo module and the right transverse shift servo module both include a crossbeam, on which a lead screw, a servo motor and a slide rail are arranged, the servo motor is connected to the lead screw through a coupling, the left lifting servo module or the right lifting servo module is connected to the slide rail through a sliding plate, and the lead screw is connected to the sliding plate through a lead screw nut.

[0007] As an improvement of the small-size power battery and digital stacked battery alignment detection equipment of the utility model, the left loading and unloading robot takes the battery from the left loading tray mechanism and moves the battery to the left positioning platform for positioning, the right loading and unloading robot takes the battery from the right loading tray mechanism and moves the battery to the right positioning platform for positioning, the left transverse shift servo module controls the left lifting servo module to move to the position of the left positioning platform to take the battery and move the battery to the left detection fixture, the right transverse shift servo module controls the right lifting servo module to move to the position of the right positioning platform to take the battery and move the battery to the right detection fixture, the left detection conveying module controls the left detection fixture to move to the detection position of the X-ray imaging mechanism for detection, and the right detection conveying module controls the right detection fixture to move to the detection position of the X-ray imaging mechanism for detection.

[0008] As an improvement of the alignment detection device for small-size power batteries and digital laminated batteries of the utility model, the X-ray imaging mechanism includes a mounting side plate, a circular guide rail is provided on one side of the mounting side plate, a circular mounting plate is provided on the circular guide rail, a light tube adjustment module and a flat plate adjustment module are provided on the circular mounting plate, an X-ray tube is provided on the light tube adjustment module, and the position of the X-ray tube is adjusted, a flat plate detector is provided on the flat plate adjustment module, and the position of the flat plate detector is adjusted, the light source of the X-ray tube is vertically projected on the flat plate detector, and the detected battery corner is located between the X-ray tube and the flat plate detector;

[0009] The edge of the annular mounting plate is provided with transmission teeth, the bottom of the mounting side plate is provided with a driving motor, the output shaft of the driving motor is provided with a gear, the gear is meshed with the transmission teeth, and the driving motor controls the rotation of the annular mounting plate.

[0010] Working principle of X-ray imaging mechanism: When the X-ray tube emits a beam and stabilizes, the circular guide drives the imaging system to rotate at a constant speed, and the flat-panel detector collects images at the same time. The circular guide drives the X-ray imaging system to rotate at a set angle of 0-360°, and the sample completes image acquisition, and 3D reconstruction is performed at the same time. The 3D reconstruction file uses software to perform image segmentation (slicing) to obtain a 2D image, and the 2D image is processed to determine NG / OK, and the robot performs sorting to complete the sample inspection.

[0011] As an improvement of the alignment detection equipment for small-size power batteries and digital stacked batteries of the utility model, it also includes an empty tray handling robot. The empty tray mechanism is arranged between the left loading tray mechanism and the right loading tray mechanism. The empty tray handling robot takes empty trays from the left loading tray mechanism and the right loading tray mechanism and places them on the empty tray mechanism for stacking. The empty tray handling robot includes a transverse movement module and a lifting tray taking module. The transverse movement module controls the movement of the lifting tray taking module. The lifting tray taking module is provided with a suction cup, which can suck the tray. The transverse movement module includes a servo motor and a transmission screw. The servo motor is connected to the transmission screw through a coupling, and the transmission screw is connected to the lifting tray taking module through a screw nut. The lifting tray taking module includes a servo motor and a transmission screw. The servo motor is connected to the transmission screw through a coupling, and the transmission screw is connected to the lifting plate through a screw nut. The bottom of the lifting plate is connected to the suction cup.

[0012] As an improvement of the alignment detection device for small-size power batteries and digital laminated batteries of the utility model, the left loading tray mechanism, the right loading tray mechanism and the empty tray mechanism each include two side plates and a tray lifting Z-axis module that are arranged at intervals and correspond to each other. The corresponding surfaces of the two side plates are provided with a tray conveyor belt, and the tray conveyor belt is driven by a belt conveyor motor. The tray lifting Z-axis module can control the lifting of the tray. The upper ends of the left loading tray mechanism, the right loading tray mechanism and the empty tray mechanism are each provided with a beam sensor, which is used to sense the position of the tray.

[0013] As an improvement of the small-size power battery and digital stacked battery alignment detection equipment of the utility model, it also includes a discharge tray, which is arranged on one side of the left loading tray mechanism and the right loading tray mechanism. The left loading and unloading robot takes the batteries that have been inspected from the left positioning platform and places them on the discharge tray for collection, and the right loading and unloading robot takes the batteries that have been inspected from the right positioning platform and places them on the discharge tray for collection.

[0014] The working process of the utility model is as follows: the battery tray is manually placed in the equipment feeding position, the left loading and unloading robot and the right loading and unloading robot take the battery from the left loading tray mechanism and the right loading tray mechanism and place it on the left positioning platform and the right positioning platform for positioning, after the direction of the battery is positioned, the handling manipulator takes the battery from the left positioning platform or the right positioning platform, and transports the battery to the left detection fixture or the right detection fixture, the left detection fixture or the right detection fixture moves to the detection position of the imaging system for scanning, after scanning one corner, the detection fixture rotates 180 degrees to detect the alignment of the other corner, until the two opposite corners are detected and the material is unloaded to the left positioning platform or the right positioning platform, the left loading and unloading robot and the right loading and unloading robot take the batteries that have been inspected from the left positioning platform and the right positioning platform, and put in the batteries that have not been inspected, and the batteries that have been inspected are placed on the unloading tray for collection.

[0015] The beneficial effect of the utility model is that the utility model sets two detection jigs, and the two detection jigs alternately perform loading and unloading and detection actions, and each scanning and imaging detection can detect multiple batteries on the detection jig. This can reduce the waiting time for loading and unloading and detection, and improve detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a left side stereogram of the utility model;

[0017] Figure 2 It is a right side stereogram of the utility model;

[0018] Figure 3 It is a top view of the utility model;

[0019] Figure 4 It is a schematic diagram of the structure of the detection fixture of the utility model;

[0020] Figure 5 This is a schematic diagram of the structure of the handling robot of the utility model;

[0021] The accompanying drawings are marked as follows: 1. X-ray imaging mechanism, 2. Left detection and conveying module, 3. Right detection and conveying module, 4. Left positioning platform, 5. Right positioning platform, 6. Left loading and unloading robot, 7. Right loading and unloading robot, 8. Transport manipulator, 9. Left loading tray mechanism, 10. Right loading tray mechanism, 11. Empty tray mechanism, 12. Left detection fixture, 13. Right detection fixture, 101. Turntable, 102. Motor, 103. Flip cylinder, 104. Fixture Plate, 105, battery adsorption station, 81, left lifting servo module, 82, right lifting servo module, 83, suction head, 110, installation side plate, 111, ring mounting plate, 112, X-ray tube, 113, flat panel detector, 14, empty tray handling robot, 15, unloading tray, 16, defective product unloading robot, 21, side plate, 22, tray lifting Z-axis module, 23, tray conveyor belt, 24, belt conveyor motor, 25, through-beam sensor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0025] like Figure 1-Figure 5 As shown, a small-size power battery and digital laminated battery alignment detection equipment includes an X-ray imaging mechanism 1, a left detection conveying module 2, a right detection conveying module 3, a left positioning platform 4, a right positioning platform 5, a left loading and unloading robot 6, a right loading and unloading robot 7, a handling manipulator 8, a left loading tray mechanism 9, a right loading tray mechanism 10 and an empty tray mechanism 11. The left detection conveying module 2 controls the movement of the left detection fixture 12, and the right detection conveying module 3 controls the movement of the right detection fixture 13. The left detection fixture 12 and the right detection fixture 13 alternately deliver the battery to the detection position. The left detection conveying module 2 and the right detection conveying module 3 both include a profile beam, a servo motor and a conveying screw are arranged on the profile beam, a pulley is arranged at one end of the conveying screw, the conveying screw and the servo motor are connected and driven by the pulley and the belt, a screw nut is screwed on the conveying screw, and the screw nut is connected to the left detection fixture 12 or the right detection fixture 13 through a connecting block, a linear slide is arranged on one side of the profile beam, and the left detection fixture 12 or the right detection fixture 13 is connected to the linear slide through a linear slider. A defective product unloading robot 16 is also arranged between the handling robot 8 and the X-ray imaging mechanism 1.

[0026] Preferably, the left detection jig 12 and the right detection jig 13 both include a moving plate, on which a turntable 101 is provided, which is controlled to rotate by a motor 102, and each rotation angle is 180 degrees, which enables the two jig plates to be swapped, and is convenient for swapping positions during loading and unloading. Two correspondingly arranged flip cylinders 103 are provided on the turntable 101, and both flip cylinders 103 can control a jig plate 104 to flip 180 degrees, and at least one battery adsorption station 105 is provided on the jig plate 104. When one corner of the battery is detected, the flip cylinder controls the jig plate 104 to flip 180 degrees, so that the other diagonal corner of the battery is in the detection position, and the X-ray imaging mechanism 1 then detects the corner.

[0027] Preferably, the handling robot 8 includes a left lateral shift servo module, a right lateral shift servo module, a left lifting servo module 81 and a right lifting servo module 82. The left lateral shift servo module controls the movement of the left lifting servo module 81, and the right lateral shift servo module controls the movement of the right lifting servo module 82. The left lifting servo module 81 and the right lifting servo module 82 respectively control the lifting and moving of a suction head 83. The left lateral shift servo module and the right lateral shift servo module both include a crossbeam, on which a lead screw, a servo motor and a slide rail are arranged. The servo motor is connected to the lead screw through a coupling, the left lifting servo module 81 or the right lifting servo module 82 is connected to the slide rail through a sliding plate, and the lead screw is connected to the sliding plate through a lead screw nut.

[0028] The left lifting servo module 81 or the right lifting servo module 82 includes a screw and a servo motor connected to the screw through a coupling, the screw is connected to the suction cup bracket through a screw nut, and the suction head is arranged below the suction cup bracket.

[0029] Preferably, the left loading and unloading robot 6 takes the battery from the left loading tray mechanism 9 and moves the battery to the left positioning platform 4 for positioning; the right loading and unloading robot 7 takes the battery from the right loading tray mechanism 10 and moves the battery to the right positioning platform 5 for positioning; the left transverse movement servo module controls the left lifting servo module 81 to move to the position of the left positioning platform 4 to take the battery and move the battery to the left detection fixture 12; the right transverse movement servo module controls the right lifting servo module 82 to move to the position of the right positioning platform 5 to take the battery and move the battery to the right detection fixture 13; the left detection conveying module 2 controls the left detection fixture 12 to move to the detection position of the X-ray imaging mechanism 1 for detection; and the right detection conveying module 2 controls the right detection fixture 13 to move to the detection position of the X-ray imaging mechanism 1 for detection.

[0030] Preferably, the X-ray imaging mechanism 1 includes a mounting side plate 110, a circular guide rail is provided on one side of the mounting side plate 110, a circular mounting plate 111 is provided on the circular guide rail, a light tube adjustment module and a flat panel adjustment module are provided on the circular mounting plate 111, an X-ray tube 112 is provided on the light tube adjustment module and the position of the X-ray tube 112 is adjusted, a flat panel detector 113 is provided on the flat panel adjustment module and the position of the flat panel detector 113 is adjusted, the light source of the X-ray tube 112 is vertically projected onto the flat panel detector 113, and the detected battery corner is located between the X-ray tube and the flat panel detector; the light tube adjustment module and the flat panel adjustment module both include an adjustment plate, an adjustment screw and a handwheel, the adjustment plate is connected to the adjustment screw via a screw nut, and the handwheel is arranged at the end of the adjustment screw.

[0031] The edge of the annular mounting plate 111 is provided with transmission teeth, and the bottom of the mounting side plate is provided with a driving motor. The output shaft of the driving motor is provided with gears, and the gears are meshed with the transmission teeth. The driving motor controls the rotation of the annular mounting plate.

[0032] Working principle of X-ray imaging mechanism: When the X-ray tube emits a beam and stabilizes, the circular guide drives the imaging system to rotate at a constant speed, and the flat-panel detector collects images at the same time. The circular guide drives the X-ray imaging system to rotate at a set angle of 0-360°, and the sample completes image acquisition, and 3D reconstruction is performed at the same time. The 3D reconstruction file uses software to perform image segmentation (slicing) to obtain a 2D image, and the 2D image is processed to determine NG / OK, and the robot performs sorting to complete the sample inspection.

[0033] Preferably, it also includes an empty tray handling manipulator 14, the empty tray mechanism 11 is arranged between the left loading tray mechanism 9 and the right loading tray mechanism 10, and the empty tray handling manipulator 14 takes the empty trays from the left loading tray mechanism 9 and the right loading tray mechanism 10, and places them on the empty tray mechanism 14 for stacking. The empty tray handling manipulator 14 includes a lateral movement module and a lifting tray taking module, the lateral movement module controls the movement of the lifting tray taking module, and the lifting tray taking module is provided with a suction cup, which can suck the tray. The lateral movement module includes a servo motor and a transmission screw, the servo motor is connected to the transmission screw through a coupling, and the transmission screw is connected to the lifting tray taking module through a screw nut. The lifting tray taking module includes a servo motor and a transmission screw, the servo motor is connected to the transmission screw through a coupling, the transmission screw is connected to the lifting plate through a screw nut, and the bottom of the lifting plate is connected to the suction cup.

[0034] Preferably, the left loading tray mechanism 9, the right loading tray mechanism 10 and the empty tray mechanism 14 each include two side plates 21 and a tray lifting Z-axis module 22 that are spaced and arranged correspondingly, and the corresponding surfaces of the two side plates 21 are provided with a tray conveyor belt 23, and the tray conveyor belt 23 is driven by a belt conveyor motor 24, and the tray lifting Z-axis module 22 can control the lifting of the tray. The upper ends of the left loading tray mechanism 9, the right loading tray mechanism 10 and the empty tray mechanism 11 are each provided with a beam sensor 25, and the beam sensor 25 is used to sense the position of the tray.

[0035] Preferably, it also includes a discharge tray 15, which is arranged on one side of the left loading tray mechanism 9 and the right loading tray mechanism 10. The left loading and unloading robot 6 takes the batteries that have been inspected from the left positioning platform 4 and places them on the discharge tray 15 for collection, and the right loading and unloading robot 7 takes the batteries that have been inspected from the right positioning platform 5 and places them on the discharge tray 15 for collection.

[0036] The working process of the utility model is as follows: the battery tray is manually placed in the equipment feeding position, the left loading and unloading robot and the right loading and unloading robot take the battery from the left loading tray mechanism and the right loading tray mechanism and place it on the left positioning platform and the right positioning platform for positioning, after the direction of the battery is positioned, the handling manipulator 8 takes the battery from the left positioning platform 4 or the right positioning platform 5 for positioning, and transports the battery to the left detection jig or the right detection jig, the left detection jig or the right detection jig moves to the detection position of the imaging system for scanning, after scanning one corner, the detection jig rotates 180 degrees to detect the alignment of the other corner, until the two opposite corners are detected and unloaded to the left positioning platform or the right positioning platform, the left loading and unloading robot and the right loading and unloading robot take the inspected batteries from the left positioning platform and the right positioning platform, and put in the undetected batteries, and the inspected batteries are placed on the unloading tray for collection.

[0037] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and structures of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A small-size power battery and digital laminated battery alignment detection device, characterized in that: It includes an X-ray imaging mechanism, a left detection conveying module, a right detection conveying module, a left positioning platform, a right positioning platform, a left loading and unloading robot, a right loading and unloading robot, a handling manipulator, a left loading tray mechanism, a right loading tray mechanism and an empty tray mechanism. The left detection conveying module controls the movement of the left detection fixture, and the right detection conveying module controls the movement of the right detection fixture. The left detection fixture and the right detection fixture alternately deliver batteries to the detection position.

2. The small-size power battery and digital laminated battery alignment detection device according to claim 1 is characterized in that: The left detection jig and the right detection jig both include a movable plate, a turntable is provided on the movable plate, two correspondingly arranged flip cylinders are provided on the turntable, and the two flip cylinders can control a jig plate to flip 180 degrees. At least one battery adsorption station is provided on the jig plate.

3. The small-size power battery and digital laminated battery alignment detection device according to claim 1 is characterized in that: The handling robot includes a left transverse shift servo module, a right transverse shift servo module, a left lifting servo module and a right lifting servo module. The left transverse shift servo module controls the movement of the left lifting servo module, the right transverse shift servo module controls the movement of the right lifting servo module, and the left lifting servo module and the right lifting servo module respectively control the lifting and lowering movement of a suction head.

4. The small-size power battery and digital laminated battery alignment detection device according to claim 3 is characterized in that: The left loading and unloading robot takes the battery from the left loading tray mechanism and moves the battery to the left positioning platform for positioning. The right loading and unloading robot takes the battery from the right loading tray mechanism and moves the battery to the right positioning platform for positioning. The left transverse movement servo module controls the left lifting servo module to move to the position of the left positioning platform to take the battery and move the battery to the left detection fixture. The right transverse movement servo module controls the right lifting servo module to move to the position of the right positioning platform to take the battery and move the battery to the right detection fixture. The left detection conveying module controls the left detection fixture to move to the detection position of the X-ray imaging mechanism for detection. The right detection conveying module controls the right detection fixture to move to the detection position of the X-ray imaging mechanism for detection.

5. The small-size power battery and digital stacked battery alignment detection device according to claim 1 is characterized in that: The X-ray imaging mechanism comprises a mounting side plate, a circular guide rail is provided on one side of the mounting side plate, a circular mounting plate is provided on the circular guide rail, a light tube adjustment module and a flat plate adjustment module are provided on the circular mounting plate, an X-ray tube is provided on the light tube adjustment module and adjusts the position of the X-ray tube, a flat plate detector is provided on the flat plate adjustment module and adjusts the position of the flat plate detector, a light source of the X-ray tube is vertically projected onto the flat plate detector, and a battery corner to be detected is located between the X-ray tube and the flat plate detector; The edge of the annular mounting plate is provided with transmission teeth, the bottom of the mounting side plate is provided with a driving motor, the output shaft of the driving motor is provided with a gear, the gear is meshed with the transmission teeth, and the driving motor controls the rotation of the annular mounting plate.

6. The small-size power battery and digital laminated battery alignment detection device according to claim 1 is characterized in that: It also includes an empty tray transport robot, the empty tray mechanism is arranged between the left loading tray mechanism and the right loading tray mechanism, the empty tray transport robot takes empty trays from the left loading tray mechanism and the right loading tray mechanism, and places them on the empty tray mechanism for stacking.

7. The small-size power battery and digital laminated battery alignment detection device according to claim 1 is characterized in that: The left loading tray mechanism, the right loading tray mechanism and the empty tray mechanism each include two side panels that are spaced correspondingly and a tray lifting Z-axis module. The corresponding surfaces of the two side panels are each provided with a tray conveyor belt, and the tray conveyor belt is controlled and driven by a belt conveyor motor. The tray lifting Z-axis module can control the lifting and lowering of the tray.

8. The small-size power battery and digital laminated battery alignment detection device according to claim 1 is characterized in that: It also includes a material unloading tray, which is arranged on one side of the left loading tray mechanism and the right loading tray mechanism. The left loading and unloading robot takes the batteries that have been inspected from the left positioning platform and places them on the material unloading tray for collection. The right loading and unloading robot takes the batteries that have been inspected from the right positioning platform and places them on the material unloading tray for collection.

Images