CN220282840U - Workpiece positioning device and battery production line - Google Patents

Abstract

The application discloses a work piece positioner and battery production line. The workpiece positioning device comprises a tray and a positioning mechanism, wherein the positioning mechanism is provided with a positioning pin and a shooting mechanism, the positioning pin is used for being clamped with a positioning clamping part of a workpiece borne by the tray, and the shooting mechanism is used for shooting the positioning clamping part at a preset shooting position. The shooting mechanism and the locating pin are linked with each other; the positioning mechanism is configured to move the positioning pin to a first target position that can be aligned with the positioning engaging portion of the workpiece by driving of the driving device and insert the positioning pin into the positioning engaging portion, the first target position being determined based on a positional deviation between an image of the positioning engaging portion captured by the capturing mechanism at a predetermined capturing position and a reference image and a position of the positioning pin when the capturing mechanism is at the predetermined capturing position. The workpiece positioning device and the battery production line drive the positioning pin to be clamped with the positioning clamping part under the guidance of the shooting mechanism to realize positioning, the appearance and the size of a workpiece are not required to be accurately controlled, and the compatibility is high.

Description

Workpiece positioning device and battery production line

Technical Field

The application relates to the technical field of battery manufacturing, in particular to a workpiece positioning device and a battery production line.

Background

New energy batteries are increasingly used in life and industry, for example, new energy automobiles having a battery mounted therein have been widely used, and in addition, batteries are increasingly used in the field of energy storage and the like.

In the manufacturing process of batteries, it is often necessary to position a workpiece such as a battery case. Taking a battery case as an example, there are cases where the size and the shape are different. When the battery box bodies with different sizes and shapes are positioned, the positioning mechanism needs to be replaced or adjusted correspondingly. With the improvement of the compatibility requirement of the battery production line in the industry, how to improve the compatibility of the positioning mechanism becomes one of the research subjects.

Disclosure of Invention

In order to solve the technical problem, the application provides a workpiece positioning device and a battery production line, which can be compatible with positioning of workpieces with different external dimensions.

In a first aspect, the present application provides a workpiece positioning device for positioning a workpiece, the workpiece positioning device comprising: the tray is used for bearing the workpiece, and the workpiece is provided with at least one positioning clamping part; and at least one positioning mechanism, each of the positioning mechanisms being provided with at least one positioning pin movable by the driving device and at least one photographing mechanism, the positioning pin being for engagement with the positioning engagement portion, the photographing mechanism being for photographing the positioning engagement portion at a predetermined photographing position, the photographing mechanism being configured to be interlocked with the positioning pin; the positioning mechanism is configured to move the positioning pin to a first target position capable of being aligned with the positioning engagement portion of the workpiece by driving of the driving device, and to insert the positioning pin into the positioning engagement portion to engage with the positioning engagement portion; the first target position is determined based on a positional deviation between an image of the positioning engagement portion captured by the capturing mechanism at the predetermined capturing position and a reference image, and a position of the positioning pin when the capturing mechanism is at the predetermined capturing position.

In the technical scheme of the embodiment of the application, the shooting mechanism is provided for the positioning mechanism, and the positioning clamping part is arranged on the workpiece, so that the position of the positioning clamping part of the workpiece can be deduced by utilizing the position deviation between the image of the positioning clamping part shot by the shooting mechanism and the reference image and the position of the positioning pin during shooting, and the positioning pin is driven to a correct position by the driving device to be clamped with the positioning clamping part so as to realize positioning. In the positioning process guided by the shooting mechanism, even if the appearance and the size of the workpiece are not accurately controlled, the position where the positioning pin is to be inserted can be determined for alignment, and the compatibility of the workpiece positioning device is greatly improved. In addition, the device has the advantages of simple structure and convenient installation and debugging. Further, since there is no need to prepare positioning jigs or the like of various specifications, it is helpful to reduce positioning costs while achieving high-precision positioning.

In some embodiments, in each of the positioning mechanisms, the photographing mechanism and the positioning pin are provided as a unitary structure, and the relative positions of the photographing mechanism and the positioning pin are fixed.

By providing the imaging mechanism and the positioning pin in an integrated structure and fixing the relative positions thereof, the imaging mechanism and the positioning pin can be easily moved while maintaining the relative positions unchanged, the position difference between the imaging mechanism and the positioning pin can be easily grasped, and the first target position, that is, the position where the positioning engaging portion on the workpiece is actually located can be easily determined. In addition, shooting mechanism and locating pin accessible same drive arrangement drive, need not to set up actuating mechanism respectively for shooting mechanism and locating pin, simple structure.

In some embodiments, the positioning mechanism comprises a bracket and a first rail extending in a first direction, a second rail extending in a second direction, a third rail extending in a third direction, wherein the first direction, the second direction, and the third direction intersect each other, the intersecting each other comprising a vertical intersection; the shooting mechanism and the locating pin are arranged on the bracket to form an integral structure, and the bracket can move along the first direction, the second direction and the third direction.

Thus, the photographing mechanism and the positioning pin can be moved in three directions, and the photographing mechanism and the positioning pin can be quickly brought to their target positions with a simple structure.

In some embodiments, the bracket is slidably mounted to the first rail along the first rail, the first rail to which the bracket is mounted is slidably mounted to the second rail along the second rail, and the second rail is slidably mounted to the third rail along the third rail.

Therefore, the shooting mechanism and the locating pin move in three directions by arranging the sliding rail in the three directions, the structure is simple, and the movement is easy to accurately control.

In some embodiments, the workpiece positioning device further comprises a frame having a first frame and a second frame disposed at a distance from each other in the second direction, the positioning mechanism being mounted on at least one of the first frame and the second frame.

The positioning mechanism is arranged on the frame, and the frame can provide stable support. In addition, since the mounting devices can be provided on the first and second frames at intervals, respectively, the reliability of workpiece positioning can be further improved, and the stability of the positioned workpiece can be improved.

In some embodiments, the first frame and the second frame are respectively provided with one positioning mechanism, the workpiece is provided with flange parts at two opposite sides, the positioning clamping parts are arranged at the flange parts, and the positioning mechanism arranged at the first frame and the positioning mechanism arranged at the second frame are not overlapped in the first direction, the second direction and the third direction under the state that the positioning pin of each positioning mechanism is clamped at the positioning clamping part of the workpiece.

The two positioning mechanisms can fix two diagonal angles of the workpiece through the positioning pins respectively, so that the workpiece can be positioned accurately and stably even if the workpiece is a large-sized workpiece. Further, a large moment can be generated on the tray, and the tray can be easily rotated to a predetermined posture.

In some embodiments, a first rail extending along the first shelf and a second rail extending along the second shelf are provided between the first shelf and the second shelf, the first rail and the second rail being spaced apart from each other in the second direction to form a channel between the first rail and the second rail for passage of a vehicle for transporting the pallet.

When the carrier passes through the channel between the first guide rail and the second guide rail, the carrier is guided and limited by the first guide rail and the second guide rail, so that the carrier advances or retreats along the extending direction of the first guide rail and the second guide rail, the tray and the workpieces on the tray can be smoothly conveyed to a preset position, and the positioning mechanism can be used for positioning the workpieces conveniently.

In some embodiments, the workpiece positioning device further comprises at least one clamping device, each clamping device comprising a pair of clamping blocks, each clamping block configured to be movable between a clamping position and a retracted position; in the clamping position, each of the clamping blocks extends into the channel for clamping the vehicle to prevent movement of the vehicle in the channel; in the retracted position, each of the clamp blocks is retracted relative to the passage so as not to prevent the movement of the vehicle.

Because the bearing vehicle can be fixed through the clamping device, the bearing vehicle can be always kept fixed in the workpiece positioning process, so that the bearing vehicle can be prevented from driving the workpiece to move accidentally. In addition, the clamping device is configured to include a pair of clamping blocks that are shiftable between a clamping position and a retracted position, thereby not impeding the smooth passage of the vehicle through the tunnel.

In some embodiments, one clamping device is respectively arranged on one side, close to the channel, of the first guide rail and one side, close to the channel, of the second guide rail, two clamping blocks of the clamping device, which are arranged on one side, close to the channel, of the first guide rail are arranged opposite to each other at intervals along the first guide rail, and two clamping blocks of the clamping device, which are arranged on one side, close to the channel, of the second guide rail are arranged opposite to each other at intervals along the second guide rail.

Thereby, the vehicle can be clamped equally from both sides of the vehicle by the clamping means provided on the side of the first rail close to the channel and the clamping means provided on the side of the second rail close to the channel; in addition, the gripping blocks can be gripped from both front and rear sides in the traveling direction of the vehicle, so that the movement of the vehicle can be effectively restricted.

In some embodiments, each of the clamping blocks is connected to a third drive means, the clamping blocks being rotated between the clamping position and the stowed position by the third drive means.

Therefore, the third driving device can be controlled to clamp or avoid the bearing vehicle in time, and the positioning precision is improved. Furthermore, by means of the third drive device, the clamping force of the clamping block on the vehicle can be increased, and an unintentional movement of the vehicle is avoided.

In some embodiments, the first rail and the second rail have bending sections at ends, respectively, the bending sections being formed such that the first rail is gradually distant from the second rail as approaching an end edge of the first rail and the second rail.

By providing the first and second guide rails with bending sections, the vehicle can be easily guided into the aisle between the first and second guide rails even if the travelling vehicle has a certain deviation with respect to the aisle.

In some embodiments, the workpiece positioning device further comprises a lifting mechanism, the lifting mechanism comprises a lifting rod and a lifting cylinder, at least one universal ball is arranged on the upper surface of the lifting rod, the lifting mechanism is that the lifting rod is lifted between a lifting position and a falling position through the lifting cylinder, the lifting rod supports the tray through the universal ball in the lifting position, and the supporting of the lifting rod on the tray is released in the falling position.

By providing the lifting mechanism, the pallet can be lifted up and separated from the carrier when the workpiece is positioned, so that the workpiece can be positioned without being influenced by the carrier on the bottom surface of the pallet. In a state that the jacking rod supports the tray through the universal ball, the tray can rotate under the drive of the positioning pin and is used for enabling the workpiece to be in a specified posture.

In some embodiments, the jacking mechanism further comprises a supporting block with a slope surface, the jacking rod is connected with a supporting wheel, the supporting wheel is supported by the supporting block, and the supporting wheel walks on the slope surface during the lifting process of the jacking rod between the lifting position and the falling position.

Thus, the lift pins and the work above the lift pins can be held without the lift cylinder, and the lift pins can be held stably in the raised position by positioning the support wheels on the lift pin side on the surfaces of the support blocks at different heights. Even if the weight of the work is large, a stable supporting force can be provided.

In some embodiments, the dowel has a tapered end that decreases closer to the tip outer diameter.

Therefore, even if the positions of the positioning pin and the positioning clamping hole have a small deviation, the end part of the positioning pin can be inserted into the positioning clamping hole, and the workpiece is pulled to the position where the positioning clamping hole faces the positioning pin along with the insertion of the positioning pin.

In a second aspect, the present application further provides a battery production line, the battery production line comprising: the workpiece positioning device as described above, the workpiece including a battery case; and the carrying vehicle is used for carrying and conveying the tray, and can carry the tray to convey the workpiece to the workpiece positioning device or separate the workpiece from the workpiece positioning device, and the positioning pin in the workpiece positioning device can be inserted into or pulled out of the positioning clamping part of the battery box body carried by the tray.

Thereby being compatible with battery box bodies with various specifications flowing in a battery production line.

The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the accompanying drawings. In the drawings:

FIG. 1 is a schematic perspective view of a workpiece positioning device according to some embodiments of the present disclosure;

FIG. 2 is a schematic side view of a workpiece positioning device provided in some embodiments of the present application;

FIG. 3 is a partial perspective view of a positioning mechanism in a workpiece positioning apparatus according to some embodiments of the present disclosure;

FIG. 4 is a partial perspective view of one clamping block of the workpiece positioning apparatus provided in some embodiments of the application;

FIG. 5 is a partial perspective view of another clamping block in a workpiece positioning apparatus provided in accordance with some embodiments of the present application;

fig. 6 is a schematic perspective view of a workpiece positioning device and a workpiece according to some embodiments of the present disclosure.

Description of the reference numerals

1. A workpiece positioning device; 2. a tray; 3. a carrier vehicle; 10. a workpiece; 101. a positioning engagement portion; 100. a battery cell; 14. a positioning mechanism; 141. a bracket; 142. a first slide rail; 143. a second slide rail; 144. a third slide rail; 145. a sliding plate; 146. a first slider; 147. a carriage driving device; 148. a first driving device; 149. a second driving device; 16. a positioning pin; 17. a backup pin; 18. a photographing mechanism; 20. a frame; 201. a first rack; 202. a second rack; 203. a channel; 24. a clamping device; 241. a clamping block; 242. a third driving device; 243. a rotating shaft; 244. a rotating arm; 26. a first guide rail; 27. a guide wheel; 28. a second guide rail; 30. a jacking mechanism; 301. a lifting rod; 302. jacking the air cylinder; 303 universal ball; 304. a connecting plate; 305. a support wheel; 306. a support block; 307. a slope surface; 308. and lifting the supporting surface.

Detailed Description

Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion.

In the description of the embodiments of the present application, the technical terms "first," "second," "third," etc. are used merely to distinguish between different objects and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, the character "/" generally indicates that the associated object is an "or" relationship.

In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "length", "width", "thickness", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc. are orientation or positional relationship based on the drawings, and are merely for convenience of describing the embodiments of the present application and simplifying the description, and are not intended to indicate or imply that the apparatus or element in question must have a specific orientation, be configured, operated, or used in a specific orientation, and thus should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the term "contact" is to be understood in a broad sense as either direct contact or contact across an intermediate layer, as either contact with substantially no interaction force between the two in contact or contact with interaction force between the two in contact.

The present application will be described in detail below.

New energy batteries are increasingly used in life and industry, for example, new energy automobiles having a battery mounted therein have been widely used, and in addition, batteries are increasingly used in the field of energy storage and the like.

In the manufacturing process of the battery, it is often necessary to position a workpiece such as a battery case, for example, in a welding process, the battery case needs to be positioned. In the conventional positioning mechanism, the battery box body is positioned by matching a plurality of positioning blocks with the outer contour of a workpiece such as the battery box body.

Taking a battery case as an example, when the specifications and sizes of the produced batteries are different, the sizes and the shapes of the battery case are generally changed. Under the condition that the size, the appearance and the like of the battery box body are changed, the positioning blocks on the traditional positioning mechanism are required to be correspondingly replaced or adjusted so as to position the changed battery box body. The way can carry out accurate location to different battery box.

However, with the increasing compatibility requirements for battery production lines, in the case of positioning by using a conventional positioning mechanism, the positioning mechanism needs to be frequently replaced or adjusted, which is troublesome in operation and time-consuming and laborious. Moreover, the outer contour shape and the size of the battery box body are required to be high in a mode that a plurality of positioning blocks are matched with the outer contour of the battery box body for positioning, so that the situation that the application scene is limited exists.

In view of the above-described problems, the inventors of the present application have developed how to improve compatibility of a positioning mechanism.

The inventor of the present application found that the positioning of the workpiece can be achieved by inserting and holding the positioning pin into the positioning engagement portion on the workpiece under the guidance of the photographing mechanism; the positioning pin is made to perform a deviation correcting operation in a state where the positioning pin is inserted into the positioning engagement portion on the workpiece, and the posture of the workpiece can be further adjusted to position the workpiece in a predetermined posture. Based on such a design concept, the inventor of the present application devised a workpiece positioning device for positioning a workpiece, the workpiece positioning device including a tray for carrying the workpiece, the workpiece being provided with at least one positioning engaging portion, each positioning mechanism being provided with at least one positioning pin movable under the drive of a driving device and at least one shooting mechanism for engaging with the positioning engaging portion, the shooting mechanism being for shooting the positioning engaging portion at a predetermined shooting position, the shooting mechanism being configured to be interlocked with the positioning pin; the positioning mechanism is configured to move the positioning pin to a first target position capable of aligning with the positioning engaging portion of the workpiece by driving of the driving device, and to insert the positioning pin into the positioning engaging portion to engage with the positioning engaging portion; the first target position is determined based on a positional deviation between an image of the positioning engagement portion captured by the capturing mechanism at the predetermined capturing position and the reference image, and a position of the positioning pin when the capturing mechanism is at the predetermined capturing position.

As described above, by providing the positioning mechanism with the imaging mechanism and providing the positioning engaging portion on the workpiece, the position of the positioning engaging portion of the workpiece can be estimated from the positional deviation between the image of the positioning engaging portion imaged by the imaging mechanism and the reference image and the position of the positioning pin at the time of imaging, and the positioning pin is driven by the driving device to a correct position to engage with the positioning engaging portion, thereby realizing positioning.

In the positioning process guided by the shooting mechanism, even if the appearance and the size of the workpiece are not accurately controlled, the position where the positioning pin is to be inserted can be determined for alignment, and the compatibility of the workpiece positioning device is greatly improved. In addition, the device has the advantages of simple structure and convenient installation and debugging. Further, since there is no need to prepare positioning jigs or the like of various specifications, it is helpful to reduce positioning costs while achieving high-precision positioning.

The workpiece positioning device provided by the embodiment of the application can be used for positioning the battery box body, but is not limited to the positioning of the battery box body, and other suitable workpieces can be positioned. The battery case includes a case in which a battery is stored, a case in which a battery is not stored, and the like.

The battery referred to by embodiments of the present application may be a single physical module that includes one or more battery cells to provide higher voltage and capacity. When a plurality of battery cells are provided, the plurality of battery cells are connected in series, in parallel or in series-parallel through the converging component.

In some embodiments, the battery may be a battery module, and when there are a plurality of battery cells, the plurality of battery cells are arranged and fixed to form one battery module.

In some embodiments, the battery may be a battery module or a battery pack including a battery case and a battery cell, the battery cell or the battery module being accommodated in the battery case. In this embodiment of the present application, the battery cell may be a secondary battery, and the secondary battery refers to a battery cell that can activate the active material by charging after discharging the battery cell and continue to use. The battery cell may be a lithium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium sulfur battery, a magnesium ion battery, a nickel hydrogen battery, a nickel cadmium battery, a lead storage battery, or the like, which is not limited in the embodiment of the present application.

The workpiece positioning device provided by the embodiment of the application can be used in a production line such as a battery production line, for example, used for a welding procedure section so as to position a battery box body and even battery monomers contained in the battery box body during welding. Of course, the workpiece positioning device can also be used for other links needing to be positioned in the battery production line.

The following description refers to the accompanying drawings.

FIG. 1 is a schematic perspective view of a workpiece positioning device according to some embodiments of the present disclosure; FIG. 2 is a schematic side view of a workpiece positioning device provided in some embodiments of the present application; FIG. 3 is a partial perspective view of a positioning mechanism in a workpiece positioning apparatus according to some embodiments of the present disclosure; FIG. 4 is a partial perspective view of one clamping block of the workpiece positioning apparatus provided in some embodiments of the application; FIG. 5 is a partial perspective view of another clamping block in a workpiece positioning apparatus provided in accordance with some embodiments of the present application; fig. 6 is a schematic perspective view of a workpiece positioning device and a workpiece according to some embodiments of the present disclosure.

As shown in fig. 1 and 6, the workpiece positioning device 1 is used for positioning a workpiece 10. The workpiece positioning device 1 comprises a tray 2 and at least one positioning mechanism 14. The tray 2 is used for carrying a workpiece 10, and the workpiece 10 is provided with at least one positioning and clamping part 101. Each positioning mechanism 14 is provided with at least one positioning pin 16 movable by the drive device, and at least one photographing mechanism 18, the positioning pin 16 being engaged with the positioning engaging portion 101, the photographing mechanism 18 being configured to photograph the positioning engaging portion 101 at a predetermined photographing position, the photographing mechanism 18 being configured to be interlocked with the positioning pin 16. The positioning mechanism 14 is configured such that the positioning pin 16 is moved to a first target position that can be aligned with the positioning engaging portion 101 of the workpiece 10 by driving of the driving device, and the positioning pin 16 is inserted into the positioning engaging portion 101 and engaged with the positioning engaging portion 101. The first target position is determined based on a positional deviation between the image of the positioning engaging portion 101 captured by the capturing mechanism 18 at the predetermined capturing position and the reference image, and the position of the positioning pin 16 when the capturing mechanism 18 is at the predetermined capturing position.

The pallet 2 is used to carry the workpieces 10, and in a production line, the pallet 2 sometimes carries the workpieces 10 to be circulated between stations. For example, in a battery production line, battery cases are placed on trays 2 and circulated between stations by conveyor belts, conveyor chains, carriages 3, and the like. The carriage 3 may be, for example, an automatic guided vehicle (Automated Guided Vehicle, AGV for short). Sometimes, a plurality of battery cells 100 are accommodated in the battery case. In some embodiments, the tray 2 may also have an identification code related to the identity information of the workpieces 10 in the tray 2, and by identifying the identification code, at least the model, the size, the location of the positioning engaging portion 101, etc. of the workpieces 10 in the tray 2 can be grasped.

The workpiece 10 is provided with at least one positioning engaging portion 101, and the positioning engaging portion 101 has a shape allowing the positioning pin 16 to be at least partially inserted, for example, the positioning engaging portion 101 may be a positioning hole or a positioning groove having an inner diameter larger than an outer diameter of the positioning pin 16. One positioning engaging portion 101 may be provided on the work 10, or a plurality of positioning engaging portions 101 may be provided, for example, one positioning engaging portion 101 may be provided on each of opposite sides of the work 10.

The positioning mechanism 14 in the workpiece positioning device 1 is provided with at least one, and of course, one or more positioning mechanisms may be provided on each of opposite sides of the workpiece 10. In the embodiment of the present application, a case where two positioning mechanisms 14 are provided will be described as an example. The term "positioning" as used herein includes fixing the position of the workpiece 10 so as not to be freely movable, and according to circumstances, the workpiece 10 may be positioned in the current posture or the workpiece 10 may be positioned in a predetermined posture.

The positioning mechanism 14 is provided with at least one positioning pin 16 and at least one photographing mechanism 18 that are movable under the drive of the drive device. A positioning pin 16 may be provided in one positioning mechanism 14, and positioning may be performed by inserting the positioning pin 16 into one positioning engagement portion 101 of the workpiece 10; two or more positioning pins 16 may be provided in one positioning mechanism 14, and accordingly, the workpiece 10 is provided with not less than the number of positioning engaging portions 101, and positioning is achieved by the positioning pins 16 being engaged with the positioning engaging portions 101 in a one-to-one correspondence. In addition, each positioning mechanism 14 may be provided with a spare pin 17 as shown in fig. 1, and the outer dimension (e.g., outer diameter) of the spare pin 17 may be the same as or different from the outer dimension of the positioning pin 16, so that the mounting position of the spare pin 17 to the positioning pin 16 may be used as another type of positioning pin 16 according to circumstances.

The locating pin 16 may be implemented by pins, bolts, etc., for example.

The photographing mechanism 18 photographs the positioning engagement portion 101 at a predetermined photographing position. Here, the predetermined photographing position may be determined according to a processing blue book implementation, for example. As a specific example, the scanning device (not shown) at the station to be positioned scans the identification code on the incoming tray 2 to obtain the identity information of the workpiece 10 to be positioned. The predetermined position where the positioning engaging portion 101 of the workpiece 10 entered into the station positioning mechanism should be located is determined based on the identity information, and the photographing mechanism 18 is moved to a position where the positioning engaging portion 101 located at the predetermined position can photograph an image without offset, and at this time, the position where the photographing mechanism 18 is located can be regarded as a predetermined photographing position. The predetermined photographing position may be a position set according to the blue book information.

Of course, since there may be a slight change in the position, posture, etc. in which the workpiece 10 is actually located, the position in which the positioning engaging portion 101 is actually located may be slightly deviated from the predetermined position, and thus there may be a positional deviation of the image of the positioning engaging portion 101 captured by the capturing mechanism 18 at the predetermined capturing position with respect to the reference image. Since the imaging mechanism 18 and the positioning pin 16 are linked to each other, this positional deviation is also reflected between the position of the positioning pin 16 and the position where the positioning engaging portion 101 is actually located. Therefore, it is possible to calculate how much the positioning pin 16 should be moved in what direction based on the positional deviation between the images and the position of the positioning pin 16 when the imaging mechanism 18 is at the predetermined imaging position, and to align the positioning pin 16 (at least the tip of the positioning pin 16) with the positioning engaging portion 101.

The positioning pin 16 is inserted into the positioning engaging portion 101, and the workpiece 10 may not be moved at will by the engagement of the positioning pin 16 with the positioning engaging portion 101, or the tray 2 may be positioned by being abutted against a structure such as the frame 20 by the movement of the positioning pin 16, or the positioning may be performed by, for example, pulling the positioning engaging portion 101 in opposite directions by the two positioning pins 16.

By providing the positioning mechanism 14 with the imaging mechanism 18 and providing the positioning engaging portion 101 on the workpiece 10, the position of the positioning engaging portion 101 of the workpiece 10 can be estimated from the positional deviation between the image of the positioning engaging portion 101 imaged by the imaging mechanism 18 and the reference image and the position of the positioning pin 16 at the time of imaging, and the positioning can be achieved by driving the positioning pin 16 to a correct position by the driving device and engaging the positioning engaging portion 101. In the positioning process guided by the imaging mechanism 18, even if the external shape and the size of the workpiece 10 are not precisely controlled, the position where the positioning pin 16 should be inserted can be determined for alignment, and the compatibility of the workpiece positioning device 1 is greatly improved. In addition, the device has the advantages of simple structure and convenient installation and debugging. Further, since there is no need to prepare positioning jigs or the like of various specifications, it is helpful to reduce positioning costs while achieving high-precision positioning.

In some embodiments, optionally, photographing mechanism 18 comprises any one of a CCD camera and a CMOS camera. The CCD camera and the CMOS camera have the advantages of small volume, light weight and strong vibration resistance, are easy to install and fix, and can provide stable images.

In some embodiments, in each positioning mechanism 14, the photographing mechanism 18 and the positioning pin 16 are provided as a unitary structure, and the relative positions of the photographing mechanism 18 and the positioning pin 16 are fixed.

By providing the imaging mechanism 18 and the positioning pin 16 in a single structure and fixing the relative positions thereof, the imaging mechanism 18 and the positioning pin 16 can be easily moved while maintaining the relative positions unchanged, and the positional difference between the imaging mechanism 18 and the positioning pin 16 can be easily grasped, so that the first target position, that is, the position where the positioning engaging portion 101 on the workpiece 10 is actually located, can be easily determined. In addition, the shooting mechanism 18 and the positioning pin 16 can be driven by the same driving device, and the shooting mechanism 18 and the positioning pin 16 are not required to be provided with driving mechanisms respectively, so that the structure is simple.

In some embodiments, as shown in fig. 2 and 3, the positioning mechanism 14 includes a bracket 141 and a first rail 142 extending in a first direction, a second rail 143 extending in a second direction, and a third rail 144 extending in a third direction, wherein the first direction, the second direction, and the third direction intersect each other, including perpendicularly intersecting each other. The imaging mechanism 18 and the positioning pin 16 are integrally attached to the bracket 141, and the bracket 141 is movable in the first, second, and third directions.

In the present embodiment, for the sake of easy understanding of the technology, a case where the first direction, the second direction, and the third direction intersect each other perpendicularly is described as an example, specifically, in fig. 1 to 4, the direction in which the arrow Z is located is taken as the first direction, the direction in which the arrow Y is located is taken as the second direction, and the direction in which the arrow X is located is taken as the third direction, but the present embodiment is not limited to this case, and the three directions intersecting each other may not intersect each other perpendicularly.

As shown in fig. 2 and 3, the bracket 141 is formed in a plate shape, for example, and the positioning pin 16 is attached to the bracket 141 on the side facing the space where the workpiece 10 is located. The positioning pin 16 is, for example, detachably attached to the bracket 141, and in the attached state, the positioning pin 16 is fixed to the bracket 141. The photographing mechanism 18 is mounted to the bracket 141 at a distance from the positioning pin 16. In the mounted state, the photographing mechanism 18 is fixed to the bracket 141. The photographing mechanism 18 includes an optical element assembly or the like that can be used to photograph an image. In addition, although the photographing mechanism 18 as a whole is fixed with respect to the bracket 141, an optical element or the like in the photographing mechanism 18 may be moved in the first direction to zoom or the like.

The bracket 141 is movable as needed by the first rail 142, the second rail 143, and the third rail 144.

Thus, the photographing mechanism 18 and the positioning pin 16 can be moved in three directions, so that the photographing mechanism 18 and the positioning pin 16 can be quickly brought to their target positions with a simple structure.

In some embodiments, as shown in fig. 2, the bracket 141 is slidably mounted to the first slide rail 142 along the first slide rail 142, the first slide rail 142 to which the bracket 141 is mounted is slidably mounted to the second slide rail 143 along the second slide rail 143, and the second slide rail 143 is slidably mounted to the third slide rail 144 along the third slide rail 144.

Specifically, the carriage 141 is attached to the first slide rail 142 by, for example, a slide plate 145, and can move up and down by the carriage driving device 147. The first slide rail 142 extends in the first direction and is connected to a first slider 146, and the first slider 146 is mounted to the second slide rail 143 and is capable of sliding along the second slide rail 143, so that the first slide rail 142 along with the bracket 141 is capable of sliding along the second slide rail 143. The third sliding rail 144 is disposed along the third direction, and a second sliding member (not shown in the figure) capable of being matched with the third sliding rail 144 is disposed below the second sliding rail 143, and the second sliding member is slidably connected with the third sliding rail 144, so that the second sliding rail 143 and a mechanism disposed above the second sliding rail 143 can move along the third sliding rail 144 together.

Therefore, the shooting mechanism and the positioning pin 16 move in three directions by arranging the sliding rails in the three directions, the structure is simple, and the movement is easy to accurately control.

In some embodiments, as shown in fig. 2, the driving in the first direction, the second direction, and the third direction is performed by the carriage driving device 147, the first driving device 148, and the second driving device 149, respectively. As a specific example, the bracket 141 is connected to the bracket driving device 147, the first slider 146 on the second slide rail 143 is connected to the first driving device 148, and the second slider (not shown) on the third slide rail 144 is connected to the second driving device 149. The carriage driving device 147 is used for driving the carriage 141 to slide on the first slide rail 142, the first driving device 148 is used for driving the carriage 141 to slide on the second slide rail 143, and the second driving device 149 is used for driving the carriage 141 to slide on the third slide rail 144.

In some embodiments, the workpiece positioning device 1 further comprises a controller (not shown in the figures). The controller controls the carriage driving device 147, the first driving device 148, and the second driving device 149 to drive, so that the photographing mechanism 18 is moved to a predetermined photographing position. The controller determines a first target position (i.e., the position where the positioning engaging portion 101 is actually located) based on the positional deviation between the image of the positioning engaging portion 101 and the reference image, which is captured by the capturing mechanism 18 at the predetermined capturing position, and the position of the positioning pin 16 when the capturing mechanism 18 is at the predetermined capturing position, and controls at least one of the carriage driving device 147, the first driving device 148, and the second driving device 149 to drive so that the positioning pin 16 is moved to the first target position.

In some embodiments, as shown in fig. 1, 2 and 6, the workpiece positioning apparatus 1 further includes a frame 20, the frame 20 having a first frame 201 and a second frame 202 disposed at a distance from each other in the second direction, the positioning mechanism 14 being mounted on at least one of the first frame 201 and the second frame 202.

In some embodiments, one positioning mechanism 14 is mounted on each of the first frame 201 and the second frame 202, the workpiece 10 is provided with flange portions on opposite sides, the positioning engaging portion 101 is provided on the flange portions, and the positioning mechanism 14 mounted on the first frame 201 and the positioning mechanism 14 mounted on the second frame 202 do not overlap in the first direction, the second direction, and the third direction in a state in which the positioning pin 16 of each positioning mechanism 14 is engaged with the positioning engaging portion 101 of the workpiece 10.

In the embodiment shown in fig. 6, flange portions are provided on both sides of the workpiece 10, each of the flange portions has a positioning engaging portion 101, and the two positioning engaging portions 101 are located at positions offset from each other, and it is understood that, in positioning, the positioning engaging portions 101 are located at positions near two diagonally opposite corners of the workpiece 10, respectively. The two positioning mechanisms 14 fix the two diagonal angles of the workpiece 10 by the positioning pins 16, respectively, so that the workpiece 10 can be positioned more accurately and stably even if the workpiece is a large-sized workpiece.

In some embodiments, as shown in fig. 1 and 6, a first rail 26 extending along the first rack 201 and a second rail 28 extending along the second rack 202 are provided between the first rack 201 and the second rack 202, the first rail 26 and the second rail 28 being disposed at a distance from each other in the second direction so as to form a channel 203 between the first rail 26 and the second rail 28, the channel 203 being for the passage of a carriage 3 for transporting the pallet 2.

The vehicle 3 may for example enter from one end of the tunnel 203 and leave from the other end. As shown in fig. 1, a plurality of guide wheels 27 may also be provided near the ends of the first rail 26 and the second rail 28 to allow the vehicle 3 to smoothly enter the tunnel 203.

When the carrier 3 passes through the channel 203 between the first guide rail 26 and the second guide rail 28, the carrier 3 is guided and limited by the first guide rail 26 and the second guide rail 28, so that the carrier 3 advances or retreats along the extending direction of the first guide rail 26 and the second guide rail 28, which is helpful for smoothly conveying the pallet 2 and the workpieces 10 on the pallet 2 to a preset position, and is convenient for the positioning mechanism 14 to position the workpieces 10.

In some embodiments, as shown in fig. 1, the workpiece positioning device 1 further includes at least one clamping device 24, each clamping device 24 including a pair of clamping blocks 241, each clamping block 241 being configured to be movable between a clamping position (the position shown in fig. 5) in which each clamping block 241 extends into the channel 203 for clamping the vehicle 3 against movement of the vehicle 3 in the channel 203, and a retracted position (the position shown in fig. 4) in which each clamping block 241 is retracted relative to the channel 203 into a state in which movement of the vehicle 3 is not inhibited.

In some embodiments, each clamping block 241 is coupled to a third drive 242, and the clamping blocks 241 are rotated between the clamping position and the retracted position by the third drive 242.

The third driving device 242 can be operated according to the control. For example, when the controller determines that the vehicle 3 has reached a prescribed position within the channel 203, the third driving means 242 controls the clamping block 241 to extend to the clamping position. For example, the carrier 3 may be stopped and the pair of clamping blocks 241 may be extended, or one clamping block 241 may be extended to block the carrier 3 and stop the carrier 3, and then the other clamping block 241 may be extended to engage and clamp.

Thereby, the third driving device 242 can be controlled to clamp or avoid the carrier 3 in time, which contributes to improving the positioning accuracy. Furthermore, by means of the third drive 242, the clamping force of the clamping block 241 on the vehicle 3 can be increased, avoiding an unintentional movement of the vehicle 3.

The clamping device 24 is described in detail with reference to fig. 1, 4 and 5. The clamping device 24 has a pair of clamping blocks 241, only one of which is illustrated because the pair of clamping blocks 241 have similar structures but are oriented differently. The clamping device 24 includes a clamping block 241, a rotating arm 244 connected to the clamping block 241, a rotating shaft 243 for rotating the rotating arm 244, and a third driving device 242. The third driving device 242 may be a cylinder, for example. For example, the third driving device 242 may drive the rotation shaft 243 to rotate forward or backward by 90 degrees. In fig. 4, the clamp block 241 is in the retracted position, and fig. 5 is in the clamped position. The clamping block 241 in fig. 4 and the clamping block 241 in fig. 5 may form one clamping device 24.

In the clamped position, the clamping block 241 rotates into the channel 203 and abuts the carriage 3; in the escape position, the clamp block 241 is rotated away from the passage 203, causing the clamp block 241 to retract toward the first rail 26 side or the second rail 28 side. In the process of entering the channel 203, the third driving device 242 drives the clamping block 241 to rotate in a direction away from the channel 203, so that the vehicle 3 can enter smoothly. After the vehicle 3 reaches the set position, the third driving device 242 drives the clamping block 241 to rotate towards the direction approaching the channel 203, and the clamping block 241 contacts and presses the vehicle 3, so that the vehicle 3 cannot move freely.

In addition, the surface of the clamping block 241 may be provided with a buffer device such as a rubber belt to increase the pre-tightening force during clamping and not to easily damage the surface of the vehicle 3.

In some embodiments, one clamping device 24 is provided on each of the first rail 26 side and the second rail 28 side, with the two clamping blocks 241 of the clamping device 24 on the first rail 26 side being disposed opposite each other at a distance along the first rail 26, and the two clamping blocks 241 of the clamping device 24 on the second rail 28 side being disposed opposite each other at a distance along the second rail 28.

The clamping blocks 241 are located on both sides of the carriage 3 in the direction of travel, respectively. In the clamping position, the four clamping blocks 241 are all abutted against the carrier 3, so that the carrier 3 is fixed; in the retracted position, the four gripping blocks 241 are moved away from the vehicle 3, allowing the vehicle 3 to move freely within the channel 203. Thereby, the carriage 3 can be clamped equally from both sides of the carriage 3 by the clamping means 24 provided on the side of the first rail close to the channel and the clamping means 24 provided on the side of the second rail close to the channel; in addition, since the clamping blocks 241 can be clamped from both front and rear sides in the traveling direction of the vehicle 3, the movement of the vehicle 3 can be effectively restricted.

In some embodiments, the first rail 26 and the second rail 28 have bending sections at the ends, respectively, which are formed so that the first rail 26 and the second rail 28 become gradually distant as they approach the end edges of the first rail 26 and the second rail 28.

The portions of the first rail 26 and the second rail 28 between the first frame 201 and the second frame 202 are parallel to each other and have straight line segments. The portions of the first rail 26 and the second rail 28 protruding from the first frame 201 and the second frame 202 are further away from each other as they are closer to the respective ends, thereby forming a bent section with respect to the portion of the straight section.

By providing the first rail 26 and the second rail 28 with bent sections, the vehicle 3 can be easily guided into the channel 203 between the first rail 26 and the second rail 28 even if the travelling vehicle 3 has a certain deviation with respect to the channel 203.

In some embodiments, as shown in fig. 1, the workpiece positioning device 1 further includes a jacking mechanism 30. The jacking mechanism 30 includes a jacking rod 301 and a jacking cylinder 302, and at least one universal ball 303 is provided on the upper surface of the jacking rod 301. The lifting mechanism 30 is configured such that the lifting rod 301 is lifted and lowered between a raised position and a lowered position by the lifting cylinder 302. In the raised position, the lifting lever 301 holds the tray 2 by means of the universal ball 303; in the falling position, the support of the lifting lever 301 to the tray 2 is released.

The number of the jacking mechanisms 30 is two, and the jacking mechanisms are respectively positioned at two sides of the channel 203, so that the tray 2 can be supported from two sides in a balanced manner. One of the jacking mechanisms 30 will be described as an example.

In the jacking mechanism 30, the jacking rod 301 extends in a long shape along the third direction. A lift cylinder 302 is provided below the lift rod 301, and the lift rod 301 is connected to, for example, a cylinder rod of the lift cylinder 302, so as to be capable of lifting and lowering in accordance with expansion and contraction of the cylinder rod.

Specifically, the jacking cylinder 302 is connected to the jacking rod 301 through a connection plate 304. Below the lifting rod 301, for example, two support wheels 305 are provided, which support wheels 305 are supported on the upper surface of the underlying support blocks 306. The support block 306 is formed in an elongated shape extending along the third direction as a whole, and the support block 306 is configured to be movable within a certain range along the third direction. The support block 306 may be driven to slide by a driving means, for example; a mechanism such as a link may be provided between the lifting rod 301 and the support block 306 to move the support block 306 along with the lifting of the lifting rod 301. In addition, the upper surface of the support block 306 has, for example, two sloped surfaces 307. The slope surface 307 is provided near both ends of the support block 306 in the third direction, for example. During the process of lifting up the lifting up lever 301 by the lifting up cylinder 302, the supporting block 306 moves in the third direction, and the supporting wheel 305 walks on the slope surface 307 to reach the lifting up supporting surface 308 as the supporting block 306 moves, whereby the lifting up lever 301 can be stabilized in the lifted up position. The number of the support wheels 305 and the slope surface 307 is not limited to two, but may be three or more.

Thus, the lift pins 301 and the work 10 thereabove may not be held by the lift cylinder 302, and the lift pins 301 may be stably held in the raised position by positioning the support wheels 305 on the lift pin side on the surfaces of the support blocks 306 at different heights. Even if the weight of the work 10 is large, a stable supporting force can be provided.

A freely rolling ball 303 is provided on the upper surface of the jack rod 301. The universal balls 303 are arranged so as to stably support the pallet 2, and may be uniformly distributed on the lift pins 301 on both sides, for example, two, three, and four, respectively, and five, respectively, in the example shown in fig. 1. Other structures may be used instead of the universal ball 303 as long as the tray 2 can be easily moved by the positioning pins 16. For example, the contact surface between the lifting lever 301 and the tray 2 can be made smooth with low friction.

When the tray 2 is lifted up and separated from the carriage 3, the positioning pin 16 inserted into the positioning engagement portion 101 can be moved to adjust the posture of the tray 2. In the example shown in fig. 6, since the two positioning pins 16 are located at substantially diagonal positions of the workpiece 10, respectively, the pallet 2 can be rotated within a certain range. For example, when the posture of the tray 2 is somewhat skewed and the battery case is not parallel to the first and second frames 201 and 202, the posture of the tray 2 can be adjusted by rotating the tray 2 together with the battery case by the positioning pins 16 so that the battery case is always parallel to the first and second frames 201 and 202.

After the posture is adjusted, the lifting cylinder 302 can be driven to lower the lifting rod 301, so that the support of the lifting rod 301 on the pallet 2 is released, and the pallet 2 falls back to the bearing surface of the carrier 3 again. At this time, the apex of the universal ball 303 on the jack rod 301 is lower than the bearing surface of the carriage 3. The tray 2 and the workpieces 10 in the tray 2 are in a correct posture. At this point, the clamping of the clamping device 24 can be released, so that the carriage 3 carries the pallet 2 and the workpieces 10 away from the channel 203.

By providing the jacking mechanism 30, the pallet 2 can be lifted up and separated from the carriage 3 when the workpiece 10 is positioned, and positioning can be performed without being affected by the bottom surface of the pallet 2 by the carriage 3. In a state where the lift lever 301 supports the pallet 2 by the universal ball 303, the pallet 2 is rotatable by the positioning pin 16 to bring the workpiece 10 into a predetermined posture.

In some embodiments, the dowel 16 has a tapered end that decreases closer to the distal outer diameter. The end of the locating pin 16 is tapered. Even if there is a slight positional deviation of the positioning pin 16 from the position of the positioning hole, the tip of the positioning pin 16 can be normally inserted into the positioning pin 16, and the work 10 is pulled back with the insertion of the positioning pin 16.

In actual use, the clamping block 241 is retracted relative to the channel 203, the carrier 3 carries the pallet 2 and the workpieces 10 into the channel 203, and the clamping block 241 extends into the channel 203 to clamp the carrier 3. The lifting mechanism 30 lifts the pallet 2 to separate the pallet 2 from the carriage 3. The driving device drives the photographing mechanism 18 to move to a predetermined photographing position to photograph the positioning engaging portion 101. Then, the first target position aligned with the positioning engagement portion 101 of the workpiece 10 is determined from the positional deviation of the image of the positioning engagement portion 101 captured by the capturing mechanism 18 at the predetermined capturing position from the reference image and the position of the positioning pin 16 when the capturing mechanism 18 is at the predetermined capturing position. The driving device drives the positioning pin 16 to move to the first target position, and contacts and engages with the positioning engagement portion 101. The positioning pin 16 is then driven to rotate the pallet 2 together with the workpiece 10, and the workpiece 10 is adjusted to have a predetermined posture and positioned.

In addition, the pallet 2 is returned to the bearing surface of the carriage 3 by lowering the lift pins 301. At this point, the clamping of the clamping device 24 can be released, so that the carriage 3 carries the pallet 2 and the workpieces 10 away from the channel 203.

The present application also provides a battery production line comprising a workpiece positioning device 1 and a carrier 3 as described above. The workpiece 10 includes a battery case. The carriage 3 is used for carrying and conveying the pallet 2, and the carriage 3 can carry the pallet 2 to convey the workpiece 10 to the workpiece positioning device 1 or to leave the workpiece 10 from the workpiece positioning device 1. The positioning pins 16 of the workpiece positioning device 1 can be inserted into and removed from the positioning engagement portions 101 of the battery case carried by the tray 2.

The vehicle 3 may be provided with sensing means for sensing sensors provided in the path of travel of the vehicle 3. The vehicle 3 is on the path of travel and the sensing means detects the signal from the sensor, stopping travel or starting travel.

In some embodiments, a magnetic strip is arranged along the travel route of the vehicle 3, the magnetic strip being used to guide the travel route of the vehicle 3. In the running process of the carrier 3, the information of the magnetic stripe is continuously sensed, and the magnetic stripe is used for guiding and correcting the running track, so that the carrier 3 runs along the extending direction of the magnetic stripe. Next, specific examples of embodiments of the present application will be described.

The vehicle 3 with the battery box is driven into a welding room capable of performing the welding of the tabs, and when the vehicle enters the portal frame (between the first frame 201 and the second frame 202), the vehicle 3 is guided by the guiding and positioning modules (such as the first guide rail 26 and the second guide rail 28) to correct the driving track. Stopping when the vehicle 3 runs to the sensor chip at the preset point. The clamping device 24 enables the power cylinder (the third driving device 242) to start moving under the control of the proximity switch, and the front and back freedom degree of the carrier 3 is precisely limited. After the positioning of the carriage 3 is completed, the pallet 2 is lifted. Then, the shooting mechanism 18 automatically captures a preset positioning hole of the battery box body as the positioning engagement part 101, the compensation coordinates are fed back to the three-axis driving device, the positioning pin 16 is guided to be accurately inserted into the positioning hole of the battery box body, the box body is subjected to posture correction and accurate positioning, and the whole positioning process is finished.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the present application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict.

Claims (15)

1. A workpiece positioning device for positioning a workpiece, comprising:

the tray is used for bearing the workpiece, and the workpiece is provided with at least one positioning clamping part; and

at least one positioning mechanism, each positioning mechanism is provided with at least one positioning pin capable of moving under the drive of a driving device and at least one shooting mechanism, the positioning pin is used for being engaged with the positioning engaging part, the shooting mechanism is used for shooting the positioning engaging part at a preset shooting position, and the shooting mechanism is configured to be linked with the positioning pin;

The positioning mechanism is configured to move the positioning pin to a first target position capable of aligning with the positioning engaging portion of the workpiece by driving of the driving device, insert the positioning pin into the positioning engaging portion and engage with the positioning engaging portion,

the first target position is determined based on a positional deviation between an image of the positioning engagement portion captured by the capturing mechanism at the predetermined capturing position and a reference image, and a position of the positioning pin when the capturing mechanism is at the predetermined capturing position.

2. A workpiece positioning apparatus as defined in claim 1, wherein,

in each of the positioning mechanisms, the photographing mechanism and the positioning pin are provided as a unitary structure, and the relative positions of the photographing mechanism and the positioning pin are fixed.

3. A workpiece positioning apparatus as defined in claim 2, wherein,

the positioning mechanism comprises a bracket, a first sliding rail extending along a first direction, a second sliding rail extending along a second direction and a third sliding rail extending along a third direction, wherein the first direction, the second direction and the third direction are intersected with each other, the intersection comprises vertical intersection,

The shooting mechanism and the locating pin are arranged on the bracket to form the integral structure,

the carriage is movable along the first direction, the second direction, and the third direction.

4. A workpiece positioning apparatus as defined in claim 3, wherein,

the bracket is slidably mounted to the first slide rail along the first slide rail,

the first slide rail to which the bracket is attached is slidably attached to the second slide rail along the second slide rail,

the second slide rail is slidably mounted to the third slide rail along the third slide rail.

5. A workpiece positioning apparatus as defined in claim 3, wherein,

the workpiece positioning apparatus further includes a frame having a first frame and a second frame disposed at a distance from each other in the second direction,

the positioning mechanism is mounted on at least one of the first and second frames.

6. The workpiece positioning apparatus of claim 5, wherein,

the first frame and the second frame are respectively provided with the positioning mechanism,

the workpiece is provided with flange parts at two opposite sides, the positioning and clamping parts are arranged on the flange parts,

The positioning mechanism mounted on the first frame and the positioning mechanism mounted on the second frame do not overlap in the first direction, the second direction, and the third direction in a state where the positioning pin of each positioning mechanism is engaged with the positioning engagement portion of the workpiece.

7. The workpiece positioning apparatus of claim 5, wherein,

a first rail extending along the first frame and a second rail extending along the second frame are provided between the first frame and the second frame, the first and second rails being spaced apart from each other in the second direction so as to form a channel between the first and second rails for passage of a vehicle for transporting the pallet.

8. A workpiece positioning apparatus as defined in claim 7, wherein,

the workpiece positioning apparatus further includes at least one clamping apparatus, each clamping apparatus including a pair of clamping blocks, each clamping block being configured to be positionable between a clamping position and a retracted position,

in the clamping position, each clamping block extends into the channel for clamping the vehicle and preventing the vehicle from moving in the channel,

In the retracted position, each of the clamp blocks is retracted relative to the passage so as not to prevent the movement of the vehicle.

9. A workpiece positioning apparatus as recited in claim 8, wherein,

one side of the first guide rail, which is close to the channel, and one side of the second guide rail, which is close to the channel, are respectively provided with one clamping device,

the two clamping blocks of the clamping device, which are arranged on the side of the first guide rail close to the channel, are arranged opposite to each other at intervals along the first guide rail,

the two clamping blocks of the clamping device, which are arranged on one side of the second guide rail, which is close to the channel, are arranged opposite to each other at intervals along the second guide rail.

10. A workpiece positioning apparatus as recited in claim 8, wherein,

each clamping block is connected with a third driving device, and the clamping blocks rotate between the clamping position and the avoiding position under the driving of the third driving device.

11. A workpiece positioning apparatus as defined in claim 7, wherein,

the first guide rail and the second guide rail have bending sections at end portions, respectively, the bending sections being formed such that the first guide rail and the second guide rail are gradually apart as they approach end edges of the first guide rail and the second guide rail.

12. A workpiece positioning apparatus as defined in claim 1, wherein,

the workpiece positioning device also comprises a jacking mechanism, the jacking mechanism comprises a jacking rod and a jacking cylinder, the upper surface of the jacking rod is provided with at least one universal ball,

the lifting mechanism is characterized in that the lifting rod is lifted and lowered between a lifting position and a falling position through the lifting cylinder,

in the lifting position, the jacking rod supports the tray through the universal ball, and in the falling position, the supporting of the jacking rod on the tray is relieved.

13. A workpiece positioning apparatus as recited in claim 12, wherein,

the lifting mechanism further comprises a supporting block with a slope surface, the lifting rod is connected with supporting wheels, the supporting wheels are supported by the supporting block, and the supporting wheels walk on the slope surface in the lifting process of the lifting rod between the lifting position and the falling position.

14. A workpiece positioning apparatus as defined in claim 1, wherein,

the dowel pin has a tapered end that decreases in outer diameter closer to the tip.

15. A battery production line, comprising:

The workpiece positioning device of any of claims 1 to 14, the workpiece comprising a battery box; and

a carrier for carrying and transporting the pallet, the carrier being capable of carrying the pallet to transport the workpiece to or from the workpiece positioning device,

the positioning pin in the workpiece positioning device can be inserted into or pulled out of the positioning clamping part of the battery box body carried by the tray.