Battery cell appearance detection device capable of synchronous feeding and weighing appearance detection all-in-one machine

Abstract

The utility model relates to battery production equipment technical field, concretely relates to a kind of battery appearance detection device of synchronous feeding.The battery appearance detection device includes feeding position, detection position, discharging position, discharging manipulator, transmission mechanical arm and moving track;Feeding position, detection position and discharging position are sequentially connected;Moving track is at the side of detection position;Transmission mechanical arm and transfer manipulator are all on moving track, can move on moving track;Transmission mechanical arm has first mechanical claw and second mechanical claw;First mechanical claw and second mechanical claw are simultaneously located in different stations, can synchronously carry out material taking or discharging;Discharging manipulator is used to clamp the battery on second mechanical claw and place in detection position, and keep clamping state, after detection, transfer to discharging position.The utility model realizes the parallel processing of multiple processes, collaborative work, reduces the waiting time of battery between each station, to optimize detection process, improve overall detection efficiency.

Description

Technical Field

[0001] This utility model relates to the field of battery production equipment technology, and more specifically, to a battery cell appearance inspection device and a weighing and appearance integrated machine that can simultaneously feed materials. Background Technology

[0002] In the battery cell manufacturing process, visual inspection is one of the key steps to ensure product quality. Existing battery cell visual inspection devices typically have the following problems: Mechanical grippers struggle to efficiently connect multiple processes such as loading, inspection, and unloading simultaneously, resulting in low inspection efficiency and hindering continuous, rapid automated production. Between different processes, mechanical grippers often need to grab and transfer battery cells multiple times, increasing the dwell time and number of handling operations during inspection. This not only reduces overall inspection efficiency but may also increase the risk of battery cell damage due to frequent handling. Utility Model Content

[0003] The purpose of this invention is to provide a battery cell appearance inspection device and a weighing and appearance integrated machine that can simultaneously feed materials, thereby solving the above-mentioned technical problems.

[0004] In the first aspect, this utility model provides a battery cell appearance inspection device that can synchronously feed materials, which includes a feeding position, an inspection position, a discharging position, a transfer robot, a transmission robot arm, and a moving track. The loading station, the detection station, and the unloading station are connected in sequence; The moving track is located on one side of the detection position; Both the transmission robotic arm and the transfer robotic hand are mounted on the moving track and are able to move on the moving track. The transmission robotic arm is equipped with a first mechanical claw and a second mechanical claw. The first mechanical gripper and the second mechanical gripper are located at different workstations at the same time.

[0005] The detection station includes a weld detection device and a front and back detection device; The second mechanical claw moves back and forth between the weld inspection device and the front and back inspection device, enabling it to simultaneously pick up or release materials. The transfer robot is used to grip the battery cell on the second mechanical claw and place it at the detection position, while maintaining the gripping state. After the detection is completed, it is transferred to the unloading position.

[0006] In a preferred embodiment, the weld inspection device includes a weld inspection table and a weld inspection camera, with the weld inspection camera disposed on one side of the weld inspection table.

[0007] In a preferred embodiment, the front and back detection device includes a front and back detection stage, an upper detection camera, and a lower detection camera; The front and back inspection station is located between the upper inspection camera and the lower inspection camera, and the upper inspection camera and the lower inspection camera can simultaneously inspect the front and back of the battery cell.

[0008] In a preferred embodiment, the battery cell appearance inspection device capable of synchronous feeding also includes a weighing device; The weighing device is positioned between the detection position and the loading position; The first mechanical gripper reciprocates between the weighing device and the detection position.

[0009] In a preferred embodiment, the battery cell appearance inspection device capable of synchronous feeding further includes a barcode scanning mechanism, which is disposed between the weighing device and the feeding position.

[0010] In a preferred embodiment, a loading robot is provided between the loading position and the weighing device.

[0011] In a preferred embodiment, there are multiple first mechanical claws and multiple second mechanical claws, and the number of each is the same.

[0012] In a preferred embodiment, a transfer station is further provided between the detection station and the unloading station.

[0013] In a preferred embodiment, a sorting mechanism is provided at the transfer station. The sorting mechanism is used to send qualified products at the transfer station to the unloading station and to send unqualified products at the transfer station to the unqualified product station.

[0014] Secondly, this utility model also provides a weighing and appearance inspection integrated machine, which includes the battery cell appearance inspection device that can synchronously feed materials as described in any of the above-mentioned claims.

[0015] The beneficial effects of this utility model embodiment are: The transmission robotic arm is equipped with a first robotic claw and a second robotic claw, which are located at different workstations simultaneously, allowing for synchronous material handling. The transfer robotic arm can position and clamp the battery cells during appearance inspection to ensure inspection accuracy. After inspection, the battery cells can be transferred to the unloading position, thereby enabling parallel processing and collaborative operation of multiple processes, reducing the waiting time of the battery cells between workstations, and improving the overall inspection efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A top view of a battery cell appearance inspection device capable of synchronous feeding provided in an embodiment of this utility model; Figure 2 A perspective layout diagram of a battery cell appearance inspection device capable of synchronous feeding provided in an embodiment of this utility model; Figure 3 A three-dimensional structural diagram of the front and back inspection device of the battery cell appearance inspection device that can synchronously feed materials, provided in an embodiment of this utility model.

[0018] Icons: 1-Loading position; 2-Weighing device; 3-Transmission robotic arm; 4-First robotic claw; 5-Second robotic claw; 6-Weld inspection device; 7-Front and back inspection device; 8-Defective station; 9-Transfer station; 10-Unloading position; 11-Loading robot; 12-Unloading robot; 13-Transfer robot; 14-Moving track; 15-Front and back inspection table; 16-Upper inspection camera; 17-Lower inspection camera. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] The following is combined Figures 1-3 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] This utility model provides a battery cell appearance inspection device capable of synchronous feeding, such as... Figure 1 and Figure 2 As shown, it includes a loading station 1, a detection station, a unloading station 10, a transfer robot 13, a transmission robot arm 3, and a moving track 14; the loading station 1, the detection station, and the unloading station 10 are connected in sequence; the moving track 14 is located on one side of the detection station; the transmission robot arm 3 and the transfer robot 13 are both located on the moving track 14 and can move on the moving track 14; the transmission robot arm 3 is provided with a first mechanical claw 4 and a second mechanical claw 5; the first mechanical claw 4 and the second mechanical claw 5 are located at different workstations at the same time and can simultaneously pick up or unload materials; the transfer robot 12 is used to grip the battery cell on the second mechanical claw 5 and place it at the detection station, and maintain the gripping state, and after detection, transfer it to the unloading station 10.

[0027] In this embodiment, both the transmission robotic arm 3 and the transfer robotic arm 13 can move on the moving track 14, while the transmission robotic arm 3 synchronously drives the first robotic claw 4 and the second robotic claw 5 to move synchronously, thus avoiding spatial interference between the first robotic claw 4, the second robotic claw 5 and the transfer robotic arm.

[0028] The first mechanical claw 4 and the second mechanical claw 5 are located at different workstations at the same time, enabling the battery cell appearance inspection device to process multiple tasks at the same time and realize parallel processing of multiple processes.

[0029] Specifically, in this embodiment, when the first robotic gripper 4 picks up a battery cell at the loading station 1, the second robotic gripper 5 can simultaneously perform inspection work at the inspection station, or when the first robotic gripper 4 is working at the inspection station, the second robotic gripper 5 places the inspected battery cell at the unloading station 10. This method reduces the waiting time of the battery cell between different stations, optimizes the inspection process, and achieves efficient transfer and automated inspection of the battery cell, meeting the battery cell manufacturing industry's demand for efficient and accurate inspection equipment.

[0030] Compared with the traditional single mechanical gripper design, the first mechanical gripper 4 and the second mechanical gripper 5 of this invention work together, which significantly improves the detection efficiency.

[0031] In this embodiment, the transmission robotic arm 3 can connect at least three workstations, so that the first robotic claw 4 and the second robotic claw 5 can be located at two different workstations at the same time and move synchronously between two adjacent workstations. That is, when the first robotic claw 4 moves the battery cell from the loading position 1 to the detection position, the second robotic claw 5 simultaneously moves the battery cell on the detection position to the unloading position 10.

[0032] In this embodiment, the first mechanical claw 4 and the second mechanical claw 5 are clamping mechanisms that can clamp the battery cell.

[0033] It is understandable that the structure of the first mechanical claw 4 and the second mechanical claw 5 can be a clamping mechanism, but it is not limited to a clamping mechanism. It can also be other types of structures, such as an adsorption structure, as long as it can grasp the battery cell or other items to be tested.

[0034] In this embodiment, the transfer robot 13 can clamp and position the battery cell during the appearance inspection of the battery cell, maintain the stability of the battery cell during the inspection, and improve the accuracy of the inspection.

[0035] After the inspection is completed, the transfer robot 13 moves the battery cell to the unloading position 10 for processing in the next step.

[0036] In a preferred embodiment, the detection position includes a weld detection device 6 and a front and back detection device 7; the second mechanical gripper 5 reciprocates between the weld detection device 6 and the front and back detection device 7.

[0037] In this embodiment, the detection station includes at least two stations: the weld detection station where the weld detection device 6 is located, and the front and back detection station where the front and back detection device 7 is located, which can simultaneously detect the weld on the battery cell and the appearance of the front and back of the battery cell.

[0038] Specifically, in this embodiment, the first mechanical claw 4 reciprocates between the loading position 1 and the weld inspection device 6, and the second mechanical claw 5 reciprocates between the weld inspection device 6 and the front and back inspection device 7.

[0039] In this embodiment, the distance between the loading position 1 and the weld inspection device 6, and the distance between the weld inspection device 6 and the front and back inspection device 7 are difficult to be exactly the same in actual operation. Therefore, when the first mechanical claw 4 moves the battery cell from the loading position 1 to the weld inspection device 6, the second mechanical claw 5 moves the battery cell on the weld inspection device 6 to a position between the weld inspection device 6 and the front and back inspection device 7, and close to the position of the front and back inspection device 7. The transfer robot 13 picks up the battery cell from the second mechanical claw 5 and sends it to the front and back inspection station of the front and back inspection device 7, and keeps it in a clamping state. After the inspection is completed, the battery cell is transferred to the unloading position 10 for unloading.

[0040] In a preferred embodiment, the weld inspection device 6 includes a weld inspection table and a weld inspection camera, with the weld inspection camera disposed on one side of the weld inspection table.

[0041] In this embodiment, a weld inspection camera is positioned on one side of the weld inspection table. The weld inspection table is used to place the battery cells and ensure their stability during inspection. The weld inspection camera is mounted on one side of the weld inspection table, with the battery cells placed vertically on the weld inspection station. The weld inspection camera can capture and inspect the weld seams of the battery cells from the side.

[0042] Specifically, in this embodiment, after the weld inspection camera acquires an image of the weld, the quality of the weld is analyzed by image processing software, such as the width, continuity, and presence of inclusions. Unqualified cells are marked to ensure that the welding quality of the cells meets the standards.

[0043] In a preferred embodiment, the front and back detection device 7 includes a front and back detection stage 15, an upper detection camera 16, and a lower detection camera 17; the front and back detection stage 15 is located between the upper detection camera 16 and the lower detection camera 17, and the upper detection camera 16 and the lower detection camera 17 can simultaneously detect the front and back of the battery cell.

[0044] In this embodiment, the front and back detection device 7 includes a front and back detection stage 15, an upper detection camera 16, and a lower detection camera 17. The front and back detection stage 15 is placed between the upper detection camera 16 and the lower detection camera 17, and the upper detection camera 16 and the lower detection camera 17 can simultaneously detect the front and back of the battery cell.

[0045] During testing, the battery cell is placed on the front and back testing platform 15. The upper testing camera 16 shoots the front of the battery cell downwards, and the lower testing camera 17 shoots the back of the battery cell upwards to obtain clear images. The image processing system analyzes and judges whether the appearance of the battery cell is qualified.

[0046] The front and back detection device 7 provided in this embodiment can perform double-sided detection without flipping the device, which improves detection efficiency, reduces the risk of damage, and the simultaneous detection by dual cameras saves time compared to traditional single-sided detection and improves production efficiency.

[0047] In a preferred embodiment, the battery cell appearance inspection device capable of synchronous feeding further includes a weighing device 2; the weighing device 2 is disposed between the detection position and the feeding position 1; the first mechanical claw 4 reciprocates between the weighing device 2 and the detection position.

[0048] In this embodiment, the weighing device 2 is set between the detection position and the loading position 1. The battery cell first enters the weighing device 2 from the loading position 1 for weighing, and then the weighed battery cell is transported to the weld inspection device 6 by the transmission mechanical arm 3 to start the appearance inspection.

[0049] Specifically, in this embodiment, the transmission robotic arm 3 can connect to the weighing device 2, the weld inspection device 6, and the front and back inspection device 7.

[0050] Specifically, the first mechanical claw 4 reciprocates between the weighing device 2 and the weld inspection device 6, and the second mechanical claw 5 reciprocates between the weld inspection device 6 and the front and back inspection device 7.

[0051] The battery cell appearance inspection device with buffer function provided in this embodiment integrates weighing and appearance inspection, which can realize seamless connection between automatic weighing and appearance inspection of battery cells and improve inspection efficiency.

[0052] Specifically, in this embodiment, the weighing device 2 is equipped with a high-precision sensor, which can accurately measure the weight of the battery cells, promptly screen out products with abnormal weight, prevent them from entering subsequent processes, and ensure product quality.

[0053] In a preferred embodiment, the battery cell appearance inspection device capable of synchronous feeding further includes a barcode scanning mechanism, which is disposed between the weighing device 2 and the feeding position 1.

[0054] In this embodiment, the barcode scanning mechanism is located between the weighing device 2 and the loading station 1. During operation, as the battery cell is transported from the loading station 1 to the weighing device 2, it passes through the barcode scanning mechanism, which quickly reads and identifies the barcode on the battery cell to obtain key information about the battery cell. Subsequently, the battery cell is transferred to the weighing device 2 for weighing and detection, and finally transferred to the detection station for appearance inspection by the first mechanical gripper 4.

[0055] This setup enables early collection and automatic identification of battery cell information, facilitating subsequent testing and management.

[0056] In this embodiment, the barcode scanning mechanism mainly consists of a barcode reader and a ring light source. The barcode reader is used to read the barcode information on the battery cell, and the ring light source is used to provide uniform illumination to the barcode area during reading, ensuring the accuracy of the reading.

[0057] In practical applications, the barcode scanning mechanism can quickly read information such as the production batch, model, and production time of the battery cell and transmit this information to the control system. The control system combines the barcode scanning results with the subsequent weighing results of weighing device 2, weld inspection device 6, and front and back inspection device 7 to ensure that the inspection parameters of each battery cell are traceable.

[0058] By setting up a barcode scanning mechanism between the weighing device 2 and the loading station 1, the battery cell appearance inspection device can quickly obtain the cell's identity information before it enters the inspection process, realizing the automation and intelligence of the inspection process and improving production efficiency and quality management level.

[0059] In a preferred embodiment, a loading robot 11 is provided between the loading position 1 and the weighing device 2.

[0060] In this embodiment, the battery cells are transported between the loading station 1 and the weighing device 2 by an independently set loading robot 11.

[0061] When the loading position 1, the weighing device 2 and the detection position are all located on the same straight line, the loading robot 11 can also be set on the transmission robot arm 3 and move synchronously with the first mechanical claw 4 and the second mechanical claw 5.

[0062] In a preferred embodiment, there are multiple first mechanical claws 4 and multiple second mechanical claws 5, and the number of each is the same.

[0063] In this embodiment, there are two first mechanical claws 4 and two second mechanical claws 5. At the same time, there are also two gripping devices on the loading robot 11.

[0064] At this time, the weighing device 2 has two stations, which can weigh two battery cells at the same time; the welding inspection device and the front and back inspection device 7 both have two inspection stations, which can inspect two battery cells at the same time.

[0065] This setup is equivalent to turning one production line into two, significantly improving the efficiency of battery cell testing.

[0066] In a preferred embodiment, a transfer station 9 is further provided between the detection station and the unloading station 10.

[0067] In this embodiment, the transfer station 9 serves as a temporary storage place for the battery cells after the testing is completed. After the battery cells to be tested are tested at the testing station, they are transferred here by the unloading robot 12 from the testing station of the front and back testing device 7.

[0068] In this embodiment, the transfer station 9 has a buffer function, capable of storing multiple battery cells simultaneously. Its surface is flat and anti-static, ensuring the safety of the battery cells. The battery cells on the transfer station 9 are neatly arranged according to the testing order, facilitating management and subsequent processing.

[0069] In a preferred embodiment, a sorting mechanism is provided on the transfer station 9. The sorting mechanism is used to send qualified products on the transfer station 9 to the unloading station 10 and to send unqualified products on the transfer station 9 to the unqualified product station.

[0070] In this embodiment, the main function of the sorting mechanism is to automatically sort the battery cells on the transfer station 9 based on the battery cell detection results.

[0071] Specifically, in this embodiment, the sorting mechanism accurately transfers qualified products to the unloading station 10 for subsequent packaging or shipping processes. Unqualified cells are identified by the sorting mechanism and transferred to a dedicated non-conforming product station for centralized collection, analysis of defect causes, and appropriate processing.

[0072] In this embodiment, the sorting mechanism includes an identification system and a conveying structure.

[0073] Specifically, in this embodiment, the identification system can quickly read the barcode on the battery cell and accurately distinguish between qualified and unqualified products based on the detection data read from the barcode. The conveying structure ensures the smooth movement of the battery cells during the sorting process, avoiding secondary damage caused by the sorting action.

[0074] Specifically, in this embodiment, the conveying structure can be a push rod structure, that is, the battery cell on the transfer station 9 is pushed by the push rod to the unqualified station 8 below or to the side; the conveying structure can also be other structures, such as a negative pressure adsorption device, that is, the unqualified product is adsorbed by negative pressure and then moved to convey the battery cell to the unqualified station 8.

[0075] Secondly, this utility model also provides a weighing and appearance inspection integrated machine, which includes the battery cell appearance inspection device that can synchronously feed materials as described in any of the above-mentioned claims.

[0076] In this embodiment, the four-claw manipulator, consisting of two first mechanical claws, two second mechanical claws, and a transmission mechanical arm, completes the loading of the weld inspection device while the weighing device is unloading the material, and simultaneously loads the buffer transfer platform of the front and back inspection device while the weld inspection device is unloading the material. At the same time, the two mechanical claws of the transfer manipulator hold the battery cell to complete the entire front and back inspection process.

[0077] The layout of each mechanism in the integrated weighing and appearance inspection machine provided in this embodiment is more reasonable, which improves the space utilization of the mechanism, makes the process operation smoother, greatly optimizes the timing of cell quality inspection, and improves production efficiency.

[0078] The beneficial effects of this utility model embodiment are: A first mechanical claw 4 and a second mechanical claw 5 are set on the transmission robotic arm 3, and the first mechanical claw 4 and the second mechanical claw 5 are located at different workstations at the same time, so as to realize the parallel processing of multiple processes and collaborative operation, reduce the waiting time of the battery cells between workstations, thereby optimizing the testing process, improving the overall testing efficiency, realizing the efficient transfer and automated testing of battery cells, and meeting the needs of the battery cell manufacturing industry for efficient and accurate testing equipment.

[0079] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A battery cell appearance inspection device capable of synchronous feeding, characterized in that, This includes loading stations, detection stations, unloading stations, transfer robots, transmission robots, and moving tracks; The loading station, the detection station, and the unloading station are connected in sequence; The moving track is located on one side of the detection position; Both the transmission robotic arm and the transfer robotic hand are mounted on the moving track and are able to move on the moving track. The transmission robotic arm is equipped with a first mechanical claw and a second mechanical claw. The first and second mechanical grippers are located at different workstations at the same time, and can simultaneously pick up or unload materials; The transfer robot is used to grip the battery cell on the second mechanical claw and place it at the detection position, while maintaining the gripping state. After the detection is completed, it is transferred to the unloading position.

2. The battery cell appearance inspection device capable of synchronous feeding according to claim 1, characterized in that, The detection station includes a weld detection device and a front and back detection device; The second mechanical gripper moves back and forth between the weld inspection device and the front and back inspection device, and the unloading robot picks up the battery cell from the second mechanical gripper, places it on the front and back inspection device, and keeps it in a clamping state.

3. The battery cell appearance inspection device capable of synchronous feeding according to claim 2, characterized in that, The weld inspection device includes a weld inspection table and a weld inspection camera, with the weld inspection camera positioned on one side of the weld inspection table.

4. The battery cell appearance inspection device capable of synchronous feeding according to claim 2, characterized in that, The front and back detection device includes a front and back detection stage, an upper detection camera, and a lower detection camera; The front and back inspection station is located between the upper inspection camera and the lower inspection camera, and the upper inspection camera and the lower inspection camera can simultaneously inspect the front and back of the battery cell.

5. The battery cell appearance inspection device capable of synchronous feeding according to claim 1, characterized in that, It also includes a weighing device; The weighing device is positioned between the detection position and the loading position; The first mechanical gripper reciprocates between the weighing device and the detection position.

6. The battery cell appearance inspection device capable of synchronous feeding according to claim 5, characterized in that, It also includes a barcode scanning mechanism, which is disposed between the weighing device and the loading position.

7. The battery cell appearance inspection device capable of synchronous feeding according to claim 1, characterized in that, There are multiple first mechanical claws and multiple second mechanical claws, and the number of each is the same.

8. The battery cell appearance inspection device capable of synchronous feeding according to claim 1, characterized in that, An intermediate station is also provided between the detection station and the unloading station.

9. The battery cell appearance inspection device capable of synchronous feeding according to claim 8, characterized in that, The transfer station is equipped with a sorting mechanism, which is used to send qualified products from the transfer station to the unloading station and unqualified products from the transfer station to the unqualified product station.

10. A weighing and appearance inspection integrated machine, characterized in that, The battery cell appearance inspection device capable of synchronous feeding, as described in any one of claims 1-9.

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