Positioning device and positioning method

Abstract

The invention provides a positioning device and a positioning method. Objects such as batteries can be conveniently positioned. The positioning device (1000) comprises a synchronous lifting mechanism (100), the synchronous lifting mechanism (100) comprises a plurality of lifting arms (110), each lifting arm (110) is provided with a carrying table (111) used for carrying the battery, and the lifting arms (110) can move to the same preset height in the height direction (Z); and a plurality of pressing mechanisms (200), each of which is movable in a horizontal direction (XY) perpendicular to the height direction (Z), and which are capable of pressing by being brought into contact with both opposite sides of the battery placed on the plurality of lifting arms (110) in the horizontal direction (XY) independently.

Description

Technical Field

[0001] The present invention relates to a positioning device and a positioning method, and more specifically, to a battery positioning device and a battery positioning method in the field of automobile manufacturing. Background Art

[0002] In the related art, in workshops such as automobile production, batteries are usually transported using battery material frames and grabbed by manipulators or other operating devices at specified workstations. In this way, for example, the batteries are transferred from the battery material frames to battery trays placed on the production line, and supplied to the next manufacturing or assembly process.

[0003] When using a manipulator or other manipulator to grab a battery, if the battery is skewed (i.e. offset or deflected) relative to the grabbing position of the manipulator in the battery material frame, the manipulator may collide with the battery during grabbing and may damage the manipulator or the battery. On the other hand, if the battery is transferred to a battery tray while being skewed, the battery may also collide with the battery tray and be damaged. Therefore, when using a manipulator to grab a battery, it is necessary to position the grabbed battery more accurately to prevent a series of problems caused by the offset or deflection of the battery.

[0004] Therefore, in the past, in order to position the battery, a standard material frame with a standard size for positioning the battery is usually set near the position where the manipulator grabs the battery. Before using the manipulator to grab the battery, the operator will manually move the battery in the battery frame to the standard material frame for positioning and adjust the position of the battery so that the position of the battery in the standard material frame for positioning corresponds to the grabbing position of the manipulator, thereby being able to use the manipulator to smoothly grab the battery and perform subsequent operations.

[0005] However, in the above-mentioned conventional scheme, since the operators need to transfer the batteries one by one from the battery material frame to the positioning standard material frame for positioning, it will cost a lot of manpower. Moreover, transferring the batteries one by one will take a long time and greatly limit the improvement of production cycle. Summary of the invention

[0006] The present invention is made to solve at least any one of the above problems, and its object is to provide a positioning device that can easily position an object such as a battery and a positioning method using the positioning device.

[0007] In order to achieve the above-mentioned purpose, in a first scheme of the present invention, a positioning device is provided for positioning a battery, characterized in that the positioning device comprises: a synchronous lifting mechanism, the synchronous lifting mechanism comprises a plurality of lifting arms, the plurality of lifting arms respectively have a loading platform for loading the battery, and can be moved to the same predetermined height in the height direction; and a plurality of pushing mechanisms, the plurality of pushing mechanisms can respectively move in a horizontal direction perpendicular to the height direction, and can independently abut against opposite sides of the battery loaded on the plurality of lifting arms in the horizontal direction for pushing.

[0008] According to an embodiment of the present invention, the positioning device may further include at least one positioning mechanism, which is movable along the height direction and has a positioning portion for positioning the battery in the horizontal direction.

[0009] According to an embodiment of the present invention, the positioning portion may be a positioning pin provided on the positioning mechanism, and the positioning mechanism moves along the height direction so that the positioning pin is inserted into a positioning hole provided on the bottom surface of the battery.

[0010] According to an embodiment of the present invention, the mounting platform may include a horizontal portion and an inclined portion, and the inclined portion may be inclined toward an upper side in the height direction as it moves away from the horizontal portion.

[0011] According to one embodiment of the present invention, the pushing mechanism may include at least one of a plurality of first pushing mechanisms and a plurality of second pushing mechanisms, wherein the plurality of first pushing mechanisms abut against the opposite sides of the battery along the length direction in the horizontal direction, and the plurality of second pushing mechanisms abut against the opposite sides of the battery along the width direction in the horizontal direction.

[0012] According to an embodiment of the present invention, the positioning device may further include a floating mechanism, the synchronous lifting mechanism is disposed on the floating mechanism, and can perform at least one of rotation and movement in the horizontal direction via the floating mechanism.

[0013] According to one embodiment of the present invention, the floating mechanism may also include at least one of a first floating mechanism and a second floating mechanism, the first floating mechanism having a fixed plate and a rotating plate, a rotating bearing being arranged between the fixed plate and the rotating plate, the outer ring of the rotating bearing being connected to the fixed plate, and the inner ring of the rotating bearing being connected to the rotating plate, the second floating mechanism having an upper plate, an intermediate plate and a bottom plate arranged along the height direction, the upper plate and the intermediate plate being able to move relative to each other along the width direction in the horizontal direction via a first sliding portion, and the intermediate plate and the bottom plate being able to move relative to each other along the length direction in the horizontal direction via a second sliding portion.

[0014] According to an embodiment of the present invention, a locking mechanism may be provided on the first floating mechanism, and the locking mechanism is used to lock the rotation of the rotating plate relative to the fixed plate.

[0015] According to one embodiment of the present invention, the locking mechanism may be a locking cylinder having a locking cylinder body and a locking cylinder rod, wherein the locking cylinder body is fixed to either the fixed plate or the rotating plate, and the locking cylinder rod extends into the locking hole of the other of the fixed plate and the rotating plate.

[0016] In addition, in the second scheme of the present invention, a positioning method is provided, which uses the above-mentioned positioning device to position the battery, and is characterized in that the positioning method includes: a transfer step, in which the battery is transferred to the positioning device; a lifting step, in which the multiple lifting arms of the synchronous lifting mechanism are moved in the height direction to lift the battery to a predetermined height; and a pushing step, in which the multiple pushing mechanisms are brought into contact with the opposite sides of the battery along the horizontal direction and push them.

[0017] According to one embodiment of the present invention, the positioning device may also include at least one positioning mechanism, which is capable of moving along the height direction and has a positioning portion for positioning the battery in the horizontal direction. The positioning method may also include a positioning step, in which the positioning mechanism is moved along the height direction and the battery is positioned using the positioning portion.

[0018] According to the positioning device of the present invention, by using multiple lifting arms of the synchronous lifting mechanism to lift the battery from the battery material frame, and making each of the battery-carrying platforms of the multiple lifting arms at the same height in the height direction, the battery can be positioned in the height direction. On the other hand, by making multiple pushing mechanisms respectively contact and push against the opposite sides of the battery, the battery can be adjusted to the correct grasping position for smooth grasping by the operating device. Therefore, through the positioning device of this embodiment, the displacement and deflection of the battery relative to the grasping position can be effectively reduced, which can help avoid the problems such as collision with the operating device caused by the displacement or deflection of the battery. In addition, since the battery can be lifted from the battery material frame by using multiple lifting arms of the synchronous lifting mechanism, and the positioning in the height direction based on the multiple lifting arms and the positioning in the horizontal direction based on the pushing mechanism can be performed accordingly, compared with the past, it is not necessary for the operator to manually carry the battery from the battery material frame to the standard material frame for positioning and adjust the position of the battery, which can effectively save labor costs and the time spent on operations such as transferring batteries, thereby effectively improving the production cycle.

[0019] According to the positioning method of the present invention, the displacement and deflection of the battery relative to the grasping position can be effectively reduced, and it can help avoid the collision with the operating device and other problems caused by the displacement or deflection of the battery. In addition, since the battery can be lifted from the battery material frame by using multiple lifting arms of the synchronous lifting mechanism, and the positioning in the height direction based on the multiple lifting arms and the positioning in the horizontal direction based on the pushing mechanism can be performed accordingly, compared with the past, it is no longer necessary for the operator to manually carry the battery from the battery material frame to the standard material frame for positioning and adjust the position of the battery, which can effectively save labor costs and time spent on operations such as transferring batteries. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a perspective view schematically showing a positioning device according to an embodiment of the present invention.

[0021] Figure 2 The present invention schematically shows a positioning device according to an embodiment of the present invention. Figure 1 Schematic diagram when observing with arrow A in FIG.

[0022] Figure 3 It is a top view schematically showing a positioning device according to one embodiment of the present invention.

[0023] Figure 4 It is a bottom view schematically showing a positioning device according to an embodiment of the present invention.

[0024] Figure 5 It is a perspective view schematically showing a synchronous lift mechanism in a positioning device according to an embodiment of the present invention.

[0025] Figure 6 The synchronous lifting mechanism in the positioning device according to one embodiment of the present invention is schematically shown. Figure 5 Schematic diagram when observing with arrow B in FIG.

[0026] Figure 7 The synchronous lifting mechanism in the positioning device according to one embodiment of the present invention is schematically shown. Figure 5 Schematic diagram when observing with arrow C in FIG.

[0027] Figure 8 It is a perspective view schematically showing a first pressing mechanism in a positioning device according to an embodiment of the present invention.

[0028] Fig. 9 It is a perspective view schematically showing the left second pressing mechanism in the positioning device according to one embodiment of the present invention.

[0029] Fig.10 It is a perspective view schematically showing the right second pressing mechanism in the positioning device according to one embodiment of the present invention.

[0030] Fig.11 It is a perspective view schematically showing a positioning mechanism in a positioning device according to an embodiment of the present invention.

[0031] Fig.12 It is a schematic diagram schematically showing a first floating mechanism in a positioning device according to an embodiment of the present invention.

[0032] Fig.13 It is a schematic diagram schematically showing a second floating mechanism in the positioning device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present disclosure will be described below with reference to the accompanying drawings, wherein the accompanying drawings illustrate several embodiments of the present disclosure. However, it should be understood that the present disclosure can be presented in a variety of different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the present disclosure more complete and fully illustrate the scope of protection of the present disclosure to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0034] It should be understood that, in all the drawings, the same reference numerals represent the same elements. In the drawings, for clarity, the size and shape of some features may be appropriately modified.

[0035] It should be understood that the terms used in the specification are only used to describe specific embodiments and are not intended to limit the present disclosure. All terms (including technical terms and scientific terms) used in the specification have the meanings commonly understood by those skilled in the art unless otherwise defined. For the sake of simplicity and / or clarity, well-known functions or structures may not be described in detail.

[0036] The singular forms "a", "the" and "the" used in the specification include the plural forms unless clearly indicated. The terms "include", "comprise" and "contain" used in the specification indicate the presence of the claimed features, but do not exclude the presence of one or more other features. The term "and / or" used in the specification includes any and all combinations of one or more of the relevant listed items. The terms "between X and Y" and "between approximately X and Y" used in the specification should be interpreted as including X and Y. The term "between approximately X and Y" used in this specification means "between approximately X and approximately Y", and the term "from approximately X to Y" used in this specification means "from approximately X to approximately Y".

[0037] In the specification, when an element is said to be "on", "attached", "connected", "set" or "contacting" another element, the element may be directly on, attached, connected, coupled or contacting another element, or there may be an intermediate element. In contrast, when an element is said to be "directly" "on", "directly attached", "directly connected", "directly coupled" or "directly contacting" another element, there will be no intermediate element. In the specification, a feature is arranged "adjacent" to another feature, which may refer to a feature having a portion that overlaps with an adjacent feature or a portion that is located above or below an adjacent feature.

[0038] In the specification, spatial relational terms such as "upper", "lower", "left", "right", "front", "back", "higher", "lower", etc. may describe the relationship of one feature to another feature in the drawings. It should be understood that the spatial relational terms include different orientations of the device in use or operation in addition to the orientation shown in the drawings. For example, when the device in the drawings is turned upside down, features that were originally described as being "below" other features may now be described as being "above" the other features. The device may also be oriented in other ways (rotated 90 degrees or in other orientations), and the relative spatial relationships will be interpreted accordingly.

[0039] Reference Figures 1 to 13, a positioning device 1000 according to an embodiment of the present invention is described in detail. It should be noted that in the description of the following drawings, the same or similar parts are marked with the same or similar figure marks. However, the drawings are schematic, and it should be noted that the ratios of various dimensions are different from the actual situation. Therefore, the specific dimensions should be determined with reference to the following description. In addition, the drawings may also include parts with different dimensional relationships or ratios. In addition, in the following detailed description in conjunction with the drawings, for the convenience of explanation, the direction in which the lifting arm 110 of the synchronous lifting mechanism 100 in the positioning device 1000 moves is defined as the height direction Z, and the direction substantially perpendicular to the height direction Z is defined as the horizontal direction XY, wherein the above-mentioned horizontal direction XY can be defined, for example, by the width direction X of the synchronous lifting mechanism 100 and the length direction Y substantially perpendicular to the width direction X.

[0040] like Figure 1 to Figure 5 As shown, a positioning device 1000 according to an embodiment of the present invention, for example, comprises a synchronous lifting mechanism 100 and a plurality of pushing mechanisms 200. Optionally, the battery placed in the battery material frame is conveyed to the positioning device 1000 together with the battery material frame, and a plurality of lifting arms 110 (described later) of the synchronous lifting mechanism 100 abut against the bottom surface of the battery and lift the battery to a predetermined height along the height direction Z, so that the battery is separated from the battery material frame. At this time, it is optional that the respective loading platforms 111 of the plurality of lifting arms 110, for example, abutting against the bottom surface of the battery are at the same height in the height direction Z, thereby enabling the battery to be positioned more accurately in the height direction Z.

[0041] For the battery material frame that carries the battery, in order to facilitate the removal and placement of the battery, the battery material frame is usually designed to have a sufficiently large space compared to the size of the battery. In addition, in order to reduce manufacturing costs, a positioning device for positioning the battery is usually not provided in the battery material frame. Based on the above reasons, the battery placed in the battery material frame will produce various deviations (including offsets and / or deflections) relative to the correct grasping position (hereinafter referred to as the "grabbing position") that can be smoothly grasped by an operating device such as a manipulator.

[0042] When the battery is lifted to a predetermined height by the synchronous lifting mechanism 100 as described above, the battery may be offset by a certain distance (e.g., ±15 mm) or deflected by a certain angle (e.g., ±10°) relative to the above-mentioned grasping position. In such a case, it is difficult to smoothly grasp the battery using the operating device and use it for the next process. Therefore, in the positioning device 1000 of this embodiment, a plurality of pushing mechanisms 200 are brought into contact with opposite sides of the battery placed on the plurality of lifting arms 110 along the horizontal direction XY (e.g., the width direction X and / or the length direction Y). As an example, Figure 1 to Figure 4As shown, each pushing mechanism 200 can move independently along a predetermined track, i.e., along the horizontal direction XY, and can abut against the side surface of the battery at at least two locations. By making the plurality of pushing mechanisms 200 approach each other in a manner of pushing the two opposite sides of the battery along the horizontal direction XY, the offset and deflection of the position of the battery relative to the grasping position can be reduced, and the battery can be brought close to the correct grasping position for smooth grasping by the operating device.

[0043] As described above, according to the positioning device 1000 of this embodiment, the battery is lifted from the battery material frame by using the multiple lifting arms 110 of the synchronous lifting mechanism 100, and the respective battery-carrying tables 111 of the multiple lifting arms 110 are placed at the same height in the height direction Z, so that the battery can be positioned in the height direction Z. On the other hand, by making the multiple pushing mechanisms 200 respectively contact and push against the opposite sides of the battery, the battery can be adjusted to the correct grasping position for smooth grasping by the operating device. Therefore, the positioning device 1000 of this embodiment can effectively reduce the displacement and deflection of the battery relative to the grasping position, which can help avoid problems such as collision with the operating device caused by the displacement or deflection of the battery. Moreover, since the multiple lifting arms 110 of the synchronous lifting mechanism 100 can be used to lift the battery from the battery material frame, and corresponding positioning in the height direction Z based on the multiple lifting arms 110 and in the horizontal direction XY based on the pushing mechanism 200 can be performed, compared with the past, there is no need for operators to manually transport the batteries from the battery material frame to the standard material frame for positioning and adjust the position of the batteries, which can effectively save labor costs and the time spent on operations such as transferring batteries, thereby effectively improving the production cycle.

[0044] In addition, in some embodiments, the positioning device 1000, for example, further includes at least one positioning mechanism 300. Optionally, after adjusting the position of the battery placed on the plurality of lifting arms 110 in the horizontal direction XY using the plurality of pushing mechanisms 200, the positioning device 1000 uses at least one positioning mechanism 300 to more accurately position the battery in the horizontal direction XY. Specifically, the positioning mechanism 300 is capable of moving along the height direction Z and has a positioning portion 310 capable of positioning the battery in the horizontal direction XY. By positioning the battery in the horizontal direction XY using the positioning portion 310, the battery can be positioned within a specified error range (e.g., ±1.5 mm) relative to the grasping position, that is, the battery can be basically in the correct grasping position.

[0045] In this way, by providing a positioning mechanism 300 capable of positioning the battery in the horizontal direction XY, after using multiple pushing mechanisms 200 to push the opposite sides of the battery to reduce the offset and deflection of the battery relative to the grasping position, the positioning part 310 of the positioning mechanism 300 can be used to more accurately position the battery in the horizontal direction XY at the grasping position of the operating device, which can further reduce the offset and deflection of the battery relative to the grasping position.

[0046] It should be noted that the positioning portion 310 in the positioning mechanism 300 is not particularly limited in its specific form as long as it can position the battery in the horizontal direction XY. For example, it can be a mechanical structure such as a positioning shoulder, a positioning plate, a positioning pin, etc. that cooperates with the edge of the battery. In some embodiments, optionally, the positioning portion 310 is a positioning pin provided in the positioning mechanism 300, and the positioning mechanism 300 moves along the height direction Z so that the positioning portion 310 is inserted into the positioning hole provided on the bottom surface of the battery. The size of the positioning portion 310 can be slightly smaller than the size of the positioning hole to facilitate the insertion of the positioning portion 310. For example, when the size of the positioning hole provided on the bottom surface of the battery is 50 mm, the size of the positioning portion 310 can be 49 mm. By adopting such a structure, the positioning portion 310 can be reliably matched with the positioning hole on the bottom surface of the battery to achieve precise positioning.

[0047] In some embodiments, the positioning portion 310 configured as a positioning pin may have, for example, a truncated cone shape that tapers toward its end. Thus, when the positioning portion 310 is used to position the battery, after the battery is pushed by multiple pushing mechanisms 200 to reduce the offset and deflection of the battery, even if there is a deviation between the center position of the positioning portion 310 and the center position of the positioning hole, the positioning portion 310 can be smoothly guided and inserted into the positioning hole on the bottom surface of the battery by the tapered end of the positioning portion 310 so that the center of the positioning portion 310 is aligned with the center of the positioning hole, thereby achieving precise positioning.

[0048] In addition, in some embodiments, it is optional that the platform 111 in each lifting arm 110 of the synchronous lifting mechanism 100 includes a horizontal portion 111a and an inclined portion 111b, and the inclined portion 111b is inclined toward the upper side of the height direction Z as it moves away from the horizontal portion 111a. By having such a structure, the horizontal portion 111a of the platform 111 can be used to stably and reliably support the battery in the horizontal direction XY, and even if the bottom surface of the battery does not contact the horizontal portion 111a of the platform 111 when the battery is lifted from the battery material frame by using the multiple lifting arms 110 of the synchronous lifting mechanism 100, the inclined portion 111b of the platform 111 can be used to guide the battery so that the bottom surface of the battery contacts the horizontal portion 111a. As a result, the horizontal portion 111a of the platform 111 can be effectively contacted with the bottom surface of the battery and the battery can be accurately positioned at a predetermined height in the height direction Z.

[0049] In some embodiments, the pushing mechanism 200 may include at least one of a plurality of first pushing mechanisms 210 and a plurality of second pushing mechanisms 220. Optionally, the plurality of first pushing mechanisms 210 abut against the two opposite sides of the battery, for example, along the length direction Y on the horizontal direction XY, and the plurality of second pushing mechanisms 220 abut against the two opposite sides of the battery, for example, along the width direction X on the horizontal direction XY. By having such a structure, the plurality of first pushing mechanisms 210 can be used to effectively reduce the offset of the position of the battery relative to the grasping position in the length direction Y, and in addition, the plurality of second pushing mechanisms 220 can be used to effectively reduce the offset of the position of the battery relative to the grasping position in the width direction X. Moreover, when the pushing mechanism 200 includes a plurality of first pushing mechanisms 210 and a plurality of second pushing mechanisms 220, the position of the battery can be adjusted (i.e., the offset and deflection can be reduced) in the width direction X and the length direction Y (i.e., the horizontal direction XY) at the same time, so that the battery can be close to the correct grasping position for the operating device to grasp smoothly.

[0050] The above describes a structure in which multiple first pushing mechanisms 210 abut against the battery along the length direction Y and multiple second pushing mechanisms 220 abut against the battery along the width direction X, but it is not limited to this. It can also be that multiple first pushing mechanisms 210 abut against the opposite sides of the battery along the width direction X in the horizontal direction XY, and multiple second pushing mechanisms 220 abut against the opposite sides of the battery along the length direction Y in the horizontal direction XY.

[0051] Next, refer to Figures 1 to 11 , each structure of the positioning device 1000 is described in detail by way of example.

[0052] like Figure 1 and Figure 5 to Figure 7As shown, the synchronous lifting mechanism 100 in the positioning device 1000 includes a plurality of lifting arms 110, a support frame 120, a drive motor 130 and a power transmission device 140. Optionally, the plurality of lifting arms 110 is, for example, 4, and is respectively arranged at the four corners of the support frame 120. However, it is not limited thereto, and the plurality of lifting arms 110 may be, for example, 2, 3 or 4 or more, as long as the battery can be lifted to a predetermined height, and is not particularly limited. The power transmission device 140 is used to transmit the driving force of the drive motor 130 to the plurality of lifting arms 110, so that each of the plurality of lifting arms 110 can move up and down along the height direction Z. When the lifting arm 110 moves downward to the limit position, the lifting arm 110 will shrink to a position lower than the upper surface of the support frame 120. In this state, the battery material frame on which the batteries are placed can be transferred to the support frame 120 without interference, so that the lifting arm 110 can lift the batteries in the battery material frame when it rises.

[0053] like Figure 5 to Figure 7 As shown, the drive motor 130 and the power transmission device 140 are, for example, arranged at the lower side of the support frame 120. Optionally, the drive motor 130 is a dual-axis output type, and the two output shafts 131 of the drive motor 130 are respectively connected to the power transmission devices 140 arranged front and rear along the length direction Y so as to be able to transmit power, and can drive the lifting and lowering of multiple (4) lifting arms 110 at the same time. As long as the power transmission device 140 can transmit the driving force of the drive motor 130 to each lifting arm 110, its specific structure is not particularly limited, and for example, it can be composed of a structure known in the art such as a gear-rack mechanism.

[0054] Optionally, the plurality of lifting arms 110 are respectively provided with a loading platform 111, a transmission rod 112 and a slide rail mechanism 113, for example. The loading platform 111, for example, has a horizontal portion 111a and an inclined portion 111b that is inclined toward the upper side of the height direction Z as it moves away from the horizontal portion 111a. The loading platform 111 is disposed as a whole on the upper side of the transmission rod 112, and can move up and down along the height direction Z as the transmission rod 112 is extended and retracted under the drive of the drive motor 130. In order to enable the loading platform 111 to stably support the battery, the lifting arm 110 is optionally further provided with a slide rail mechanism 113 that can slide up and down corresponding to the up and down movement of the transmission rod 112. The slide rail mechanism 113 can be used to guide the up and down movement of the lifting arm 110 and provide support accordingly.

[0055] In addition, two sets of first support plates 121 and second support plates 122 are provided at front and rear positions of the support frame 120 along the longitudinal direction Y. The first support plates 121 and second support plates 122 are used to connect to the floating mechanism 400 described later. The details will be described later.

[0056] Optionally, the support frame 120 is provided with a first through portion 123 and a second through portion 124 which are formed by, for example, frame rods and are formed by penetrating in the height direction Z. The first through portion 123 is provided for, for example, a first pushing mechanism 210 which is abutted against the opposite sides of the battery along the length direction Y in the pushing mechanism 200 described later, and the second through portion 124 is provided for, for example, a second pushing mechanism 220 which is abutted against the opposite sides of the battery along the width direction X in the pushing mechanism 200 described later. By providing the first through portion 123 and the second through portion 124 in the support frame 120, and providing the first pushing mechanism 210 and the second pushing mechanism 220 with penetration respectively, the overall structure of the positioning device 1000 can be made more compact. In addition, optionally, a plurality of pushing mechanisms 200 can also be provided on the outside of the support frame 120.

[0057] Reference Figure 1 and Figure 8 to Figure 10 , the pushing mechanism 200 in the positioning device 1000 is described. In some embodiments, the pushing mechanism 200 is separately provided with the synchronous lifting mechanism 100, for example, it is provided on the ground or a workbench adjacent to the synchronous lifting mechanism 100. As long as the pushing mechanism 200 can move along the horizontal direction XY perpendicular to the height direction Z and abut against the opposite sides of the batteries placed on the plurality of lifting arms 110 in the horizontal direction XY to push, its specific structure is not particularly limited. In addition, in some embodiments, in addition to being able to move in the horizontal direction XY, the pushing mechanism 200 can also move up and down in the height direction Z.

[0058] Optionally, the pushing mechanism 200 includes a plurality of (for example, two) first pushing mechanisms 210 and / or a plurality of (for example, two) second pushing mechanisms 220. Figure 1 and Figure 8 As shown, the plurality of first pushing mechanisms 210 have, for example, the same structure and are respectively arranged on both sides of the synchronous lifting mechanism 100 along the length direction Y. By driving the plurality of first pushing mechanisms 210 and making them approach each other along the length direction Y, the plurality of first pushing mechanisms 210 can abut against and push the two sides of the battery lifted to a predetermined height by the lifting arm 110 in the length direction Y, thereby effectively adjusting the deviation of the battery relative to the grasping position in the length direction Y.

[0059] like Figure 1 and Fig. 9 , Fig.10 As shown, optionally, the plurality of second pushing mechanisms 220 may have different structures. Figure 1 When viewed from the A direction in FIG. 1 , the plurality of second pushing mechanisms 220 include left second pushing mechanisms 220A ( Fig. 9) and the right second pushing mechanism 220B ( Fig.10 ). The difference between the left second pushing mechanism 220A and the right second pushing mechanism 220B is, for example, only that the abutting portion disposed on the upper side that abuts against the battery is different, and the other structures are basically the same. By driving the left second pushing mechanism 220A and the right second pushing mechanism 220B and bringing them closer to each other in the width direction X, the two sides of the battery lifted to a predetermined height by the lifting arm 110 can be abutted and pushed against each other in the width direction X, thereby effectively adjusting the offset of the battery relative to the grasping position in the width direction X.

[0060] In addition, since the basic structures of the first pushing mechanism 210 and the second pushing mechanism 220 (i.e., the left second pushing mechanism 220A and the right second pushing mechanism 220B) included in the pushing mechanism 200 are roughly the same, the structure of the pushing mechanism 200 is specifically described by way of example using the first pushing mechanism 210 as an example.

[0061] like Figure 1 and Figure 8 As shown, the first pushing mechanism 210 arranged along the length direction Y, for example, comprises an abutment portion 211, a longitudinal driving portion 212 and a transverse driving portion 213. The abutment portion 211 is arranged on the upper side of the first pushing mechanism 210, and has at least one abutment rod 211a extending toward the battery side along the length direction Y. The abutment rod 211a is used to abut and push against the side of the battery in the length direction Y, so as to adjust the offset of the battery in the length direction Y. The longitudinal driving portion 212 is arranged on the lower side of the abutment portion 211, for example, comprising a longitudinal driving cylinder 212a and a longitudinal slide rail member 212b. The longitudinal driving cylinder 212a can make the longitudinal lever 212a1 move up and down relative to the longitudinal cylinder body 212a2 along the height direction Z, thereby making the abutting part 211 move up and down as a whole, and making the abutting rod 211a of the abutting part 211 be at a height substantially the same as the battery lifted to a predetermined height by the lifting arm 110 (i.e., at a height that can abut against and push the battery). The longitudinal slide rail members 212b provided on both sides of the longitudinal driving cylinder 212a are used to guide the vertical movement of the longitudinal lever 212a1 and the abutting part 211 and provide support accordingly.

[0062] On the other hand, the transverse driving part 213 in the first pushing mechanism 210 is configured to enable the abutting part 211 to move along the length direction Y, for example, it is respectively arranged on both sides of the abutting part 211 in the width direction X. Optionally, the transverse driving part 213 includes, for example, a transverse driving cylinder 213a and a transverse slide rail member 213b. The transverse driving cylinder 213a enables the transverse lever to move relative to the transverse cylinder body along the length direction Y, thereby enabling the abutting part 211 to move as a whole in the length direction Y, and enabling the abutting rods 211a of the abutting part 211 to approach each other in the length direction Y and abut against the side of the battery. By driving with the transverse driving cylinder 213a, the abutting rods 211a push the battery from both sides in the length direction Y, which can effectively and reliably reduce the deviation of the battery in the length direction Y. The transverse slide rail member 213b arranged on the side of the transverse driving cylinder 213a is used to guide the movement of the transverse lever and the abutting part 211 in the length direction Y. Optionally, the longitudinal cylinder 212a2 in the longitudinal drive unit 212 and the transverse cylinder in the transverse drive unit 213 are fixed relative to the ground, thereby enabling the abutment rod 211a of the abutment unit 211 to reliably and accurately move in the length direction Y and height direction Z relative to the ground.

[0063] It should be noted that the first pressing mechanism 210 only needs to include the contact portion 211 and the transverse driving portion 213 so that the contact portions 211 are close to each other and contact the battery in the longitudinal direction Y, and the longitudinal driving portion 212 may be omitted. In addition, the transverse driving portion 213 only needs to be able to move the contact portion 211 in the longitudinal direction Y, and its specific structure and arrangement are not particularly limited.

[0064] Reference Figure 1 and Fig.11 , the positioning mechanism 300 in the positioning device 1000 is described. In some embodiments, the positioning mechanism 300 is separately provided with the synchronous lifting mechanism 100, for example, it is provided on the ground or a workbench adjacent to the synchronous lifting mechanism 100. The positioning mechanism 300 can move along the height direction Z and use the positioning part 310 to position the battery in the horizontal direction XY, and its specific structure is not particularly limited.

[0065] like Fig.11As shown, optionally, the positioning mechanism 300 includes a positioning portion 310 and a longitudinal positioning driving portion 320. The positioning portion 310 is, for example, a positioning pin provided on the positioning mechanism 300. In some embodiments, the positioning pin has, for example, a truncated cone shape that tapers toward the top, and is inserted into a positioning hole provided on the bottom surface of the battery to more accurately position the battery in the horizontal direction XY. The longitudinal positioning driving portion 320 includes, for example, a positioning driving cylinder 321 and a positioning slide rail member 322. The positioning driving cylinder 321 enables the longitudinal positioning lever 321a to move up and down along the height direction Z relative to the longitudinal positioning cylinder body 321b, thereby enabling the positioning portion 310 provided on the mounting portion 321c on the upper side of the longitudinal positioning lever 321a to move up and down, and be inserted into the positioning hole of the battery to complete the positioning of the battery. The upper side of the sliding portion 322a of the positioning rail member 322 is, for example, fixedly connected to the mounting portion 321c of the positioning longitudinal lever 321a, and moves up and down along the height direction Z relative to the guide portion 322b as the positioning longitudinal lever 321a moves.

[0066] Optionally, the positioning longitudinal cylinder 321b of the positioning drive cylinder 321 and the guide portion 322b of the positioning slide rail member 322 are fixed relative to the ground, thereby enabling the positioning portion 310 in the positioning mechanism 300 to be reliably and accurately moved in the height direction Z and inserted into the positioning hole of the battery.

[0067] In addition, in some embodiments, the positioning device 1000 may have one or more positioning mechanisms 300, and the multiple positioning mechanisms 300 may be arranged along the length direction Y or the width direction X, or may be arranged diagonally in the horizontal direction XY. As long as the positioning mechanism 300 can insert the positioning portion 310 into the positioning hole of the battery and position it in the horizontal direction XY, its specific structure and arrangement are not particularly limited.

[0068] like Figure 1 to Figure 4 and Fig.12 , Fig.13As shown, in some embodiments, the positioning device 1000 further includes a floating mechanism 400, and the synchronous lifting mechanism 100 is disposed on the floating mechanism 400, and can be rotated and moved in at least one of the horizontal directions XY via the floating mechanism 400. In this way, by disposing the synchronous lifting mechanism 100 on the floating mechanism 400 and making it rotate and move in at least one of the horizontal directions XY via the floating mechanism 400, when a plurality of pushing mechanisms 200 are used to abut and push against the opposite sides of the battery, it is not necessary to use a power mechanism such as a driving cylinder to provide a large driving force, and the pushing mechanism 200 can be used to conveniently push the battery and make the synchronous lifting mechanism 100 carrying the battery rotate and / or move in the horizontal direction XY, so that the offset and deflection of the battery relative to the grasping position can be adjusted more smoothly.

[0069] In addition, in some embodiments, the floating mechanism 400 includes at least one of a first floating mechanism 410 and a second floating mechanism 420. The first floating mechanism 410, for example, includes a fixed plate 411 and a rotating plate 412, a rotating bearing 413 is provided between the fixed plate 411 and the rotating plate 412, the outer ring of the rotating bearing 413 is connected to the fixed plate 411, and the inner ring of the rotating bearing 413 is connected to the rotating plate 412. In addition, optionally, the second floating mechanism 420 includes an upper plate 421, an intermediate plate 422, and a bottom plate 423 arranged in a height direction Z, a first sliding portion (for example, a slide rail and slider mechanism) 424 extending along a width direction X on a horizontal direction XY is provided between the upper plate 421 and the intermediate plate 422, and a second sliding portion (for example, a slide rail and slider mechanism) 425 extending along a length direction Y on a horizontal direction XY is provided between the intermediate plate 422 and the bottom plate 423. Thus, the upper plate 421 and the middle plate 422 can move relative to each other in the width direction X in the horizontal direction XY via the first sliding portion 424 , and the middle plate 422 and the bottom plate 423 can move relative to each other in the length direction Y in the horizontal direction XY via the second sliding portion 425 .

[0070] By adopting such a structure, since the fixed plate 411 and the rotating plate 412 are connected to each other so as to be relatively rotatable by the rotating bearing 413, the synchronous lifting mechanism 100 provided in the floating mechanism 400 can be rotated relative to the fixed plate 411 (ground) by a simple structure, and the deflection of the battery relative to the grasping position can be adjusted more smoothly. In addition, since the upper plate 421 and the middle plate 422 in the second floating mechanism 420 are connected to each other so as to be relatively movable in the width direction X via the first sliding part 424, and the middle plate 422 and the bottom plate 423 are connected to each other so as to be relatively movable in the length direction Y via the second sliding part 425, the synchronous lifting mechanism 100 provided in the floating mechanism 400 can be reliably moved in the horizontal direction XY relative to the ground, and the deviation of the battery relative to the grasping position can be adjusted more smoothly.

[0071] In addition, the structure in which the first sliding portion 424 extending in the width direction X is provided between the upper plate 421 and the middle plate 422, and the second sliding portion 425 extending in the length direction Y is provided between the middle plate 422 and the bottom plate 423 is described, but the present invention is not limited thereto, and the second sliding portion 425 extending in the length direction Y may be provided between the upper plate 421 and the middle plate 422, and the first sliding portion 424 extending in the width direction X may be provided between the middle plate 422 and the bottom plate 423. The second floating mechanism 420 may be any one of a plurality of structures as long as it can move the synchronous lifting mechanism 100 in the horizontal direction XY relative to the ground.

[0072] In addition, optionally, a locking mechanism 430 is provided on the first floating mechanism 410, and the locking mechanism 430 is used to lock the rotation of the rotating plate 412 relative to the fixed plate 411. By using the locking mechanism 430 to lock the rotation of the rotating plate 412 relative to the fixed plate 411, it is possible to prevent the positioning device 1000 from being accidentally deflected relative to the initial position due to external force when the positioning device 1000 is not used to position the battery.

[0073] In some embodiments, the locking mechanism 430 is a locking cylinder, which includes, for example, a locking cylinder body 431 and a locking cylinder rod 432. The locking cylinder body 431 is fixed to one of the fixed plate 411 and the rotating plate 412, and the locking cylinder rod 432 can extend into the locking hole of the other of the fixed plate 411 and the rotating plate 412. By using the locking cylinder including the locking cylinder body 431 and the locking cylinder rod 432 as the locking mechanism 430, the rotation of the rotating plate 412 relative to the fixed plate 411 can be locked with a simple structure. On the other hand, after the battery is positioned using the positioning device 1000, the locking cylinder rod 432 is extended into the locking hole relative to the locking cylinder body 431 and locked, so that the rotating plate 412 that is deflected relative to the fixed plate 411 can be relatively rotated and returned to the initial position without manual adjustment by the operator.

[0074] Next, refer to Figure 1 to Figure 4 and Fig.12 , Fig.13 , the floating mechanism 400 in the positioning device 1000 is illustratively described.

[0075] like Figure 1 to Figure 4 and Fig.12 As shown, in some embodiments, the positioning device 1000 has a floating mechanism 400, and the synchronous lifting mechanism 100 is disposed on the floating mechanism 400 and can rotate and move in the horizontal direction XY via the floating mechanism 400. Optionally, the floating mechanism 400 includes a first floating mechanism 410 and a second floating mechanism 420, for example.

[0076] Optionally, the first floating mechanism 410 has, for example, a fixing plate 411 (see Fig.12 and as a bottom view Figure 4 ) and a rotating plate 412 (see Fig.12 and as a top view Figure 3 ).like Fig.12As shown, in some embodiments, by fixing the outer ring of the rotating bearing 413 to the mounting hole of the fixed plate 411, and installing the mounting portion 412a provided on the lower side of the rotating plate 412 on the upper side of the inner ring of the rotating bearing 413, the fixed plate 411 and the rotating plate 412 can be rotatably connected via the rotating bearing 413. In addition, as long as the fixed plate 411 and the rotating plate 412 can be rotatably connected via the rotating bearing 413, the specific setting form and connection method are not particularly limited. For example, the inner ring of the rotating bearing 413 can be fixed to the fixed plate 411 and the mounting portion of the rotating plate 412 can be inserted into the outer ring of the rotating bearing 413 to rotatably connect the fixed plate 411 and the rotating plate 412. In addition, optionally, the fixed plate 411 is set on a workbench or set on the ground via the legs installed on the lower side, so that the rotating plate 412 can smoothly rotate relative to the fixed plate 411 via the rotating bearing 413. Thus, when the synchronous lift mechanism 100 is installed on the rotating plate 412 , the synchronous lift mechanism 100 can rotate in the horizontal direction XY relative to the ground.

[0077] In addition, if Fig.12 As shown, in some embodiments, a locking mechanism 430 is further provided in the first floating mechanism 410, and the locking mechanism 430 is used to lock the rotation of the rotating plate 412 relative to the fixed plate 411. The locking mechanism 430 is, for example, a locking cylinder, and the locking cylinder has, for example, a locking cylinder body 431 and a locking cylinder rod 432. Optionally, the locking cylinder body 431 is fixed to the lower side of the fixed plate 411, and the locking cylinder rod 432 can be extended and retracted along the height direction Z relative to the locking cylinder body 431 and inserted into the locking hole 412b provided in the rotating plate 412. When the locking cylinder rod 432 is inserted into the locking hole 412b, the locking mechanism 430 locks the rotating plate 412 with the fixed plate 411, and the rotating plate 412 cannot rotate relative to the fixed plate 411. On the other hand, when the locking cylinder rod 432 is withdrawn (ie, retracted) from the locking hole 412 b , the locking mechanism 430 unlocks the rotating plate 412 and the fixed plate 411 , and the rotating plate 412 can rotate relative to the fixed plate 411 .

[0078] In addition, optionally, the locking cylinder rod 432 has a frustum shape that tapers toward the upper side. After the battery is positioned using the positioning device 1000, the locking cylinder rod 432 is extended and inserted into the locking hole 412b, so that the rotating plate 412 that is deflected relative to the fixed plate 411 can be relatively rotated and returned to the initial position without the need for manual adjustment by the operator. The above describes the case where the locking cylinder body 431 is set on the lower side of the fixed plate 411, but it is not limited to this. The locking cylinder body 431 can also be set on the upper side of the rotating plate 412 and the locking cylinder rod 432 can be extended into the locking hole of the fixed plate 411 to achieve locking.

[0079] like Figure 1 to Figure 4 and Fig.13 As shown, in some embodiments, the second floating mechanism 420 is, for example, disposed on the upper side of the rotating plate 412 of the first floating mechanism 410, and is disposed on the lower side of the first supporting plate 121 or the second supporting plate 122 of the supporting frame 120 of the synchronous lifting mechanism 100 via a fixing connection member such as a bolt. Fig.13 As shown, the second floating mechanism 420 has an upper plate 421, an intermediate plate 422, and a bottom plate 423 arranged in a height direction Z. In some embodiments, a first sliding portion 424 extending in a width direction X is provided between the upper plate 421 and the intermediate plate 422, and a second sliding portion 425 extending in a length direction Y is provided between the intermediate plate 422 and the bottom plate 423, so that the upper plate 421 can move relative to the bottom plate 423 in the length direction Y and the width direction X (i.e., the horizontal direction XY). In some embodiments, as Figures 1 to 5 and Fig.13 As shown, the upper plate 421 of the second floating mechanism 420 is fixedly connected to the support frame 120 of the synchronous lifting mechanism 100 via a fixing member such as a bolt, and the bottom plate 423 is fixedly connected to the rotating plate 412 of the first floating mechanism 410 via a fixing member such as a bolt. Thus, the entire synchronous lifting mechanism 100 (including the support frame 120 and the battery supported by the lifting arm 110) can be smoothly moved and rotated in the horizontal direction XY, and the position of the battery can be conveniently adjusted in the horizontal direction XY using a plurality of pushing mechanisms 200.

[0080] In addition, if Figure 1 to Figure 4 and Fig.13As shown, in some embodiments, optionally, a movement assisting mechanism 440 is provided in a group with the second floating mechanism 420 to assist the movement of the synchronous lifting mechanism 100 in the horizontal direction XY. The movement assisting mechanism 440, for example, comprises an upper connecting plate 441, an intermediate connecting plate 442, and a lower connecting plate 443. The lower connecting plate 443 of the movement assisting mechanism 440 is, for example, fixed to the rotating plate 412, and the intermediate connecting plate 442 is fixedly connected to the lower connecting plate 443. In addition, a supporting member such as a ball (not shown) is provided between the upper connecting plate 441 and the intermediate connecting plate 442, so that the upper connecting plate 441 and the intermediate connecting plate 442 can freely move relative to each other in the horizontal direction XY.

[0081] For example, when two sets of second floating mechanisms 420 and movement assisting mechanisms 440 are respectively fixed to two sets of first support plates 121 and second support plates 122 of the support frame 120, as the battery is pushed by the pushing mechanism 200, the upper plate 421 of the second floating mechanism 420 fixed to the support frame 120 moves relative to the bottom plate 423 in the length direction Y and the width direction X. At this time, the upper connecting plate 441 of the movement assisting mechanism 440 fixed to the support frame 120 moves relative to the middle connecting plate 442 and the lower connecting plate 443 in the length direction Y and the width direction X via supporting members such as balls. Thus, the movement assisting mechanism 440 can assist the movement of the synchronous lifting mechanism 100 in the horizontal direction XY while supporting the synchronous lifting mechanism 100 in the height direction Z.

[0082] In addition, optionally, in some embodiments, a displacement limiting member 450 is further provided near the second floating mechanism 420 and / or the movement assisting mechanism 440. The lower end of the displacement limiting member 450 is fixed to the rotating plate 412 or the fixed plate 411, and a displacement limiting portion 451 is provided at the upper end. The displacement limiting portion 451 is, for example, configured such that when the second floating mechanism 420 and / or the movement assisting mechanism 440 moves to the maximum stroke distance along the length direction Y or the width direction X, the displacement limiting portion 451 abuts against the side surface of the second floating mechanism 420, the movement assisting mechanism 440 or the support frame 120 to prevent the second floating mechanism 420 and / or the movement assisting mechanism 440 from further moving and causing the sliding member of the first sliding portion 424 or the second sliding portion 425 to fall out.

[0083] Next, a positioning method for positioning a battery using the positioning device 1000 of the present disclosure is exemplarily described. In some embodiments, the positioning method may include, for example: a transfer step, in which the battery is transferred to the positioning device 1000; a lifting step, in which the multiple lifting arms 110 of the synchronous lifting mechanism 100 are moved along the height direction Z to lift the battery to a predetermined height; and a pushing step, in which the multiple pushing mechanisms 200 are brought into contact with the opposite sides of the battery along the horizontal direction XY and pushed.

[0084] In some embodiments, it is optional to transfer the battery material frame carrying the battery to the support frame 120 of the synchronous lifting mechanism 100, and then raise the multiple lifting arms 110 of the synchronous lifting mechanism 100, and lift the battery in the battery material frame to a predetermined height, thereby positioning the battery more accurately in the height direction Z. Next, the first pushing mechanisms 210 arranged on both sides of the multiple pushing mechanisms 200 in the length direction Y are brought close to each other, and the first pushing mechanisms 210 push the battery to adjust the position of the battery (and the synchronous lifting mechanism 100) in the length direction Y and the deflection in the horizontal direction XY. In addition, the second pushing mechanisms 220 (specifically, the left second pushing mechanism 220A and the right second pushing mechanism 220B) arranged on both sides of the width direction X in the multiple pushing mechanisms 200 are brought close to each other and push the battery, thereby adjusting the position of the battery (and the synchronous lifting mechanism 100) in the width direction X and the deflection in the horizontal direction XY.

[0085] As described above, according to the positioning method of this embodiment, the displacement and deflection of the battery relative to the grasping position can be effectively reduced, which can help avoid the problem of collision with the operating device caused by the displacement or deflection of the battery. In addition, since the battery can be lifted from the battery material frame by using the multiple lifting arms 110 of the synchronous lifting mechanism 100, and the positioning in the height direction Z based on the multiple lifting arms 110 and the positioning in the horizontal direction XY based on the pushing mechanism 200 are performed accordingly, compared with the past, it is not necessary for the operator to manually carry the battery from the battery material frame to the standard material frame for positioning and adjust the position of the battery, which can effectively save labor costs and time spent on operations such as transferring batteries.

[0086] In addition, optionally, the positioning device 1000 further includes at least one positioning mechanism 300, which can move along the height direction Z and has a positioning portion 310 for positioning the battery in the horizontal direction XY. In this case, the positioning method of the present disclosure may also include a positioning step, in which the positioning mechanism 300 is moved along the height direction Z, and the positioning portion 310 is used to more accurately position the battery in the horizontal direction XY.

[0087] In some embodiments, after the pushing step using the plurality of pushing mechanisms 200, a positioning step is performed, i.e., the battery is more accurately positioned in the horizontal direction XY using the positioning mechanism 300 of the positioning device 1000. Optionally, the positioning mechanism 300 is moved along the height direction Z, and the positioning portion 310 (e.g., a positioning pin) is inserted into the positioning hole on the bottom surface of the battery, thereby positioning the battery using the positioning portion 310.

[0088] In this way, by providing a positioning step after the pushing step, after using multiple pushing mechanisms 200 to push the opposite sides of the battery to reduce the offset and deflection of the battery relative to the grasping position, the positioning part 310 of the positioning mechanism 300 can be used to more accurately position the battery in the horizontal direction XY at the grasping position of the operating device, which can further reduce the offset and deflection of the battery relative to the grasping position.

[0089] The above describes the case where a battery is used as a positioning object and is positioned, but it is not limited to this. The positioning device 1000 and the positioning method disclosed in the present invention can also be used to position other components (such as glass plates, box shells, etc.), thereby also being able to obtain the same advantageous effects as described above.

[0090] In addition, although exemplary embodiments of the present invention have been described, it will be appreciated by those skilled in the art that various changes and modifications can be made to the exemplary embodiments of the present invention without departing substantially from the spirit and scope of the present invention. Therefore, all changes and modifications are included within the scope of protection of the present invention as defined by the claims. The present invention is defined by the appended claims, and the equivalents of these claims are also included.

Claims

1. A positioning device for positioning a battery, characterized in that: The positioning device comprises: a synchronous lifting mechanism, the synchronous lifting mechanism comprising a plurality of lifting arms, each of the plurality of lifting arms having a loading platform for loading the battery and being movable to the same predetermined height in a height direction; and A plurality of pressing mechanisms are respectively movable in a horizontal direction perpendicular to the height direction and are capable of independently contacting and pressing the batteries placed on the plurality of lifting arms at two opposing sides in the horizontal direction.

2. The positioning device according to claim 1, characterized in that: The positioning device further includes at least one positioning mechanism, which is movable along the height direction and has a positioning portion for positioning the battery in the horizontal direction.

3. The positioning device according to claim 2, characterized in that: The positioning portion is a positioning pin provided on the positioning mechanism. The positioning mechanism moves along the height direction so that the positioning pin is inserted into the positioning hole provided on the bottom surface of the battery.

4. The positioning device according to any one of claims 1 to 3, characterized in that: The mounting table includes a horizontal portion and an inclined portion, and the inclined portion is inclined toward the upper side in the height direction as it moves away from the horizontal portion.

5. The positioning device according to any one of claims 1 to 3, characterized in that: The pushing mechanism includes at least one of a plurality of first pushing mechanisms and a plurality of second pushing mechanisms, The plurality of first pressing mechanisms abut against two opposing sides of the battery along the length direction in the horizontal direction. The plurality of second pressing mechanisms abut against both sides of the battery that face each other along the width direction in the horizontal direction.

6. The positioning device according to any one of claims 1 to 3, characterized in that: The positioning device further includes a floating mechanism, and the synchronous lifting mechanism is disposed on the floating mechanism and can perform at least one of rotation and movement in the horizontal direction via the floating mechanism.

7. The positioning device according to claim 6, characterized in that: The floating mechanism includes at least one of a first floating mechanism and a second floating mechanism. The first floating mechanism comprises a fixed plate and a rotating plate, a rotating bearing is arranged between the fixed plate and the rotating plate, an outer ring of the rotating bearing is connected to the fixed plate, and an inner ring of the rotating bearing is connected to the rotating plate. The second floating mechanism includes an upper plate, a middle plate and a bottom plate arranged along the height direction, the upper plate and the middle plate can move relative to each other along the width direction in the horizontal direction via a first sliding part, and the middle plate and the bottom plate can move relative to each other along the length direction in the horizontal direction via a second sliding part.

8. The positioning device according to claim 7, characterized in that: The first floating mechanism is provided with a locking mechanism, and the locking mechanism is used to lock the rotation of the rotating plate relative to the fixed plate.

9. The positioning device according to claim 8, characterized in that: The locking mechanism is a locking cylinder having a locking cylinder body and a locking cylinder rod. The locking cylinder is fixed to one of the fixed plate and the rotating plate, and the locking cylinder rod extends into the locking hole of the other of the fixed plate and the rotating plate.

10. A positioning method, using the positioning device according to any one of claims 1 to 9 to position a battery, characterized in that: The positioning method comprises: a transferring step, in which the battery is transferred to a positioning device; A lifting step, in which the plurality of lifting arms of the synchronous lifting mechanism are moved in a height direction to lift the battery to a predetermined height; A pressing step, in which the plurality of pressing mechanisms are brought into contact with both sides of the battery facing each other in the horizontal direction to perform pressing.

11. The positioning method according to claim 10, characterized in that: The positioning device further comprises at least one positioning mechanism, which is movable in the height direction and has a positioning portion for positioning the battery in the horizontal direction. The positioning method further includes a positioning step, in which the positioning mechanism is moved along the height direction, and the battery is positioned using the positioning portion.

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