Positioning tray device and workpiece automatic feeding and unloading device

Abstract

This application provides a positioning pallet device and an automatic workpiece loading and unloading device. The positioning pallet device includes: a pallet body with a bearing area for bearing workpieces; multiple sets of positioning components arranged in a matrix in the bearing area, each set of positioning components including multiple positioning protrusions, the positioning protrusions being movably disposed on the pallet body, the pallet body having through holes for the positioning protrusions to pass through; and a driving mechanism connected to each positioning protrusion, driving the top of the positioning protrusions to rise above the bearing area, so that multiple positioning protrusions in the same set of positioning components together form a positioning groove matching the shape of the workpiece, or driving the top of the positioning protrusions to descend below the bearing area. The positioning pallet device of this application embodiment can avoid interference with the handling mechanism.

Description

Technical Field

[0001] This application belongs to the field of battery cell manufacturing technology, and more specifically, relates to a positioning pallet device and an automatic workpiece loading and unloading device. Background Technology

[0002] In the battery cell module assembly process, it is usually necessary to use a handling robot to transfer the battery cells to the pallet positioning station, and then the downstream equipment completes the material picking and assembly operations.

[0003] However, in actual operation, when downstream equipment performs the cell picking action, the positioning structure on the tray is always in a raised state, which is very easy to interfere with the handling mechanism, resulting in cell picking failure, and may even damage the handling mechanism and the cell, seriously affecting production efficiency and product quality, and reducing the stability and reliability of the production process. Utility Model Content

[0004] This application provides a positioning pallet device that can avoid interference with the handling mechanism.

[0005] The technical solution adopted in this application embodiment is: to provide a positioning pallet device, including:

[0006] The pallet body has a support area for carrying workpieces;

[0007] Multiple sets of positioning components are arranged in a matrix in the bearing area. Each set of positioning components includes multiple positioning protrusions. The positioning protrusions are movably mounted on the tray body. The tray body is provided with through holes for the positioning protrusions to pass through.

[0008] A driving mechanism is connected to each of the positioning protrusions, driving the top of the positioning protrusions to rise above the bearing area, so that multiple positioning protrusions in the same group of positioning components together form a positioning groove that matches the shape of the workpiece, or driving the top of the positioning protrusions to descend below the bearing area.

[0009] Furthermore, it also includes a fixing frame, on which the tray body is mounted;

[0010] The driving mechanism includes a driver and a linkage plate. The driver is fixed to the fixing frame, and the bottom end of each of the positioning protrusions is connected to the linkage plate.

[0011] The output end of the driver is connected to the linkage plate to drive the linkage plate to synchronously raise and lower each of the positioning protrusions.

[0012] Furthermore, the drive mechanism also includes a floating connector, through which the output end of the driver is connected to the linkage plate.

[0013] Furthermore, it also includes a linear guide assembly, the linear guide assembly comprising:

[0014] The guide rail is vertically installed on the fixed frame;

[0015] A sliding element is provided on the linkage plate and slides in cooperation with the guide rail.

[0016] Furthermore, the upper end of the positioning protrusion is provided with a guide cone surface. When the positioning protrusion rises above the bearing area, the guide cone surface is located in the entrance area of ​​the positioning groove.

[0017] Furthermore, it also includes an ultra-high detection component, which constructs a horizontal detection area above the bearing area to monitor whether the top of the workpiece enters the horizontal detection area; when the top of the workpiece is detected to enter the horizontal detection area, the ultra-high detection component triggers an abnormal signal.

[0018] Furthermore, the ultra-high detection component includes a photoelectric detection component, which includes a transmitter and a receiver. The transmitter and the receiver are respectively installed on opposite sides of the tray mechanism, and the through-beam optical path between the transmitter and the receiver constitutes the horizontal detection area.

[0019] When the top of the workpiece enters the horizontal detection area, the through-beam optical path is blocked, and the receiving end outputs an abnormal signal to trigger the response operation of the external control system.

[0020] Furthermore, in the same column, in two adjacent sets of positioning components, at least one positioning protrusion belongs to both sets of positioning components.

[0021] This application embodiment also provides an automatic workpiece loading and unloading device, including a first conveying mechanism, a second conveying mechanism, and a positioning pallet device as described in any of the above claims. The first conveying mechanism is used to convey the workpiece to the positioning slot, and the second conveying mechanism is used to remove the workpiece after the top of the positioning protrusion descends below the bearing area.

[0022] The beneficial effects of the positioning pallet device provided in this application embodiment are as follows: By setting the positioning protrusions as liftable structures and cooperating with the through holes and matrix-distributed positioning components of the pallet body, the positioning pallet device of this application embodiment achieves the synergy of dynamic positioning and obstacle avoidance functions. During the workpiece (e.g., battery cell) positioning stage, the drive mechanism drives multiple sets of positioning protrusions to rise and form positioning grooves that adapt to the shape of the workpiece, ensuring the workpiece position accuracy through multi-point contact constraints; when the downstream equipment picks up the material, the drive mechanism drives all positioning protrusions to descend below the bearing surface, so that the pallet surface forms a flat and unobstructed working space, completely eliminating the risk of motion interference between the positioning structure and the handling robot. The positioning pallet device of this application embodiment, through the lifting and switching mechanism of the positioning protrusions, not only ensures the accurate positioning requirements of the workpiece during the handling stage, but also frees up operating space for the material picking process, significantly improving the stability of equipment operation and product yield, while reducing the equipment maintenance costs caused by mechanical collisions. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of the positioning tray device provided in the embodiments of this application;

[0025] Figure 2 A front view of the positioning tray device provided in an embodiment of this application;

[0026] Figure 3 A top view of the positioning tray device provided in the embodiments of this application;

[0027] Figure 4 An exploded view of the positioning tray device provided in an embodiment of this application;

[0028] Figure 5 A schematic diagram of the positioning protrusion of the positioning tray device provided in the embodiment of this application when it is raised;

[0029] Figure 6 This is a schematic diagram of the positioning protrusion of the positioning tray device provided in the embodiment of this application descending.

[0030] The following are the labeling elements in the figure:

[0031] 10. Pallet body; 11. Load-bearing area; 111. Through hole;

[0032] 20. Positioning component; 21. Positioning protrusion; 211. Guide cone surface;

[0033] 30. Drive mechanism; 31. Driver; 32. Linkage plate; 33. Floating connector;

[0034] 40. Fixture;

[0035] 50. Linear guide assembly; 51. Guide rail; 52. Sliding element;

[0036] 60. Ultra-high detection component; 61. Horizontal detection area; 62. Transmitter; 63. Receiver; 64. Optical path;

[0037] 70. Battery cells. Detailed Implementation

[0038] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0039] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0042] Please see Figure 1 The positioning pallet device provided in the embodiments of this application will now be described. An embodiment of this application provides a positioning pallet device including a pallet body 10, multiple sets of positioning components 20, and a drive mechanism 30.

[0043] Reference Figure 1 and Figure 2 The tray body 10 is provided with a support area 11 for supporting workpieces. The tray body 10 is the basic support component of the entire positioning tray device, providing a platform for placing workpieces. The workpiece may be a battery cell 70. It is understood that the tray body 10 may be made of insulating material, or an insulating layer may be provided on the surface of the tray body to avoid short circuits caused by contact with the battery cell 70.

[0044] Reference Figure 1 and Figure 3 Multiple positioning components 20 are arranged in a matrix in the bearing area 11. Each positioning component 20 includes multiple positioning protrusions 21. The positioning protrusions 21 are movably mounted on the pallet body 10. The pallet body 10 is provided with through holes 111 through which the positioning protrusions 21 pass.

[0045] Multiple positioning components 20 are arranged in a matrix in the bearing area 11, including but not limited to 2 14 permutations and combinations, 2 6, 3 8, 14 14th grade X Any permutation and combination of Y.

[0046] The lifting and lowering feature of the positioning protrusion 21 allows it to change position according to different work requirements. It can be raised when the battery cell 70 needs to be positioned, and lowered when the workpiece (such as the battery cell 70) needs to be moved, thereby avoiding interference with the handling mechanism.

[0047] Reference Figure 1 and Figure 2 The driving mechanism 30 is connected to each of the positioning protrusions 21, and drives the top of the positioning protrusions 21 to rise above the bearing area 11, so that multiple positioning protrusions 21 in the same group of positioning components 20 together form a positioning groove that matches the shape of the workpiece, or drives the top of the positioning protrusions 21 to fall below the bearing area 11.

[0048] When the battery cell 70 needs to be positioned, the drive mechanism 30 drives the top of the positioning protrusion 21 to rise above the bearing area 11. At this time, multiple positioning protrusions 21 in the same group of positioning components 20 work together to form a positioning groove that matches the shape of the battery cell 70, which can accurately hold the battery cell 70 and achieve stable positioning of the battery cell 70. When the battery cell 70 needs to be moved, the drive mechanism 30 drives the top of the positioning protrusion 21 to fall below the bearing area 11, so that the positioning protrusion 21 no longer obstructs the movement of the moving mechanism.

[0049] Understandably, the shape of the battery cell 70 is not limited to cylinder, square shell, blade, or irregular shape. Correspondingly, the position and shape of the positioning protrusion 21 match the shape of the battery cell 70 to form a positioning groove that is adapted to the shape of the battery cell 70.

[0050] In actual operation, when the handling robot moves the battery cell 70 to the pallet positioning station, the drive mechanism 30 drives the positioning protrusion 21 to rise, referring to... Figure 5 Multiple positioning protrusions 21 together form a positioning groove, and the handling robot places the battery cell 70 into the positioning groove. Afterwards, the handling robot of the downstream equipment removes the battery cell 70 from the pallet. When picking up materials, refer to... Figure 6 The drive mechanism 30 drives the positioning protrusion 21 to descend, making it lower than the bearing area 11. This way, the handling robot of the downstream equipment will not interfere with the positioning protrusion 21 when it takes away the battery cell 70. The whole process is smooth and efficient.

[0051] The adoption of this positioning tray device effectively solves the problems of cell 70 picking failure and equipment and cell 70 damage caused by interference between the original positioning structure and the handling mechanism. It greatly improves production efficiency and product quality, enhances the stability and reliability of the production process, and provides a strong guarantee for the smooth progress of the cell 70 module assembly process.

[0052] Reference Figure 1 and Figure 2 It also includes a fixing frame 40, on which the tray body 10 is mounted. Specifically, both ends of the tray body 10 are connected and fixed to the fixing frame 40, and a space is left between the bottom of the tray body 10 and the fixing frame 40 for mounting the drive mechanism 30. The tray body 10 is securely mounted on the fixing frame 40, so that the tray can maintain a stable posture when carrying the battery cell 70 and performing positioning operations, without shaking or displacement.

[0053] Reference Figure 4 The driving mechanism 30 includes a driver 31 and a linkage plate 32. The driver 31 is fixed to the fixing frame 40, and the bottom end of each positioning protrusion 21 is connected to the linkage plate 32. The output end of the driver 31 is connected to the linkage plate 32 for transmission, so as to drive the linkage plate 32 to drive each positioning protrusion 21 to rise and fall synchronously.

[0054] The output of the driver 31 is connected to the linkage plate 32 via a transmission connection. When the driver 31 is started, its output power is transmitted to the linkage plate 32 through the transmission connection, thereby driving the linkage plate 32 to move. Since all the positioning protrusions 21 are connected to the linkage plate 32, the linkage plate 32 can drive each positioning protrusion 21 to rise and fall synchronously during the movement. This synchronous rising and falling design ensures that multiple positioning protrusions 21 in the same group of positioning components 20 can rise or fall simultaneously, thereby accurately forming or releasing the positioning groove that matches the shape of the battery cell 70, ensuring that the positioning and release operations of the battery cell 70 are accurate.

[0055] Specifically, the driver 31 can be a cylinder or a linear motor.

[0056] In some embodiments, refer to Figure 2 The drive mechanism 30 also includes a floating connector 33, and the output end of the driver 31 is connected to the linkage plate 32 through the floating connector 33.

[0057] The floating connector 33 connects the driver 31 and the linkage plate 32, providing a certain amount of space and buffering capacity between them. In actual working scenarios, vibrations are inevitable during the operation of production equipment, and there are certain errors in the processing and installation of parts. If the driver 31 and the linkage plate 32 are rigidly connected, these factors may lead to uneven stress between the components, and long-term operation may result in wear, loosening, or even damage to the components. The floating connector 33 can absorb and buffer the effects of these adverse factors to a certain extent. When the equipment vibrates or has minor errors, the floating connector 33 can adjust the relative position and stress state between the driver 31 and the linkage plate 32 through its own movement and deformation, so that the positioning protrusions 21 can still maintain relative synchronization and stability during the lifting and lowering process.

[0058] Specifically, the floating connector 33 includes, but is not limited to, a self-made floating connector 33, a planar floating joint, a spherical floating joint, and a coupling.

[0059] In some embodiments, refer to Figure 2 It also includes a linear guide assembly 50, which includes a guide rail 51 and a slider 52. The guide rail 51 is vertically mounted on the fixed frame 40; the slider 52 is disposed on the linkage plate 32 and slides in cooperation with the guide rail 51.

[0060] The guide rail 51 defines a precise "track" for the lifting and lowering movement of the linkage plate 32 and the positioning protrusion 21. The guide rail 51 is installed vertically and matches the lifting and lowering direction of the positioning protrusion 21, which can maximize the accuracy of the vertical movement of the positioning protrusion 21.

[0061] The sliding member 52 is disposed on the linkage plate 32 and slides in cooperation with the guide rail 51, acting as a "connection hub" between the linkage plate 32 and the guide rail 51. When the driver 31 drives the linkage plate 32 to move through the floating connector 33, the sliding member 52 slides along the guide rail 51. This sliding cooperation not only restricts the movement trajectory of the linkage plate 32, making it only able to move in a straight line in the direction specified by the guide rail 51, thus avoiding deviation or wobbling of the linkage plate 32 during movement, but also effectively reduces the frictional resistance of the linkage plate 32 during movement, making the lifting and lowering process of the linkage plate 32 driving the positioning protrusion 21 smoother and more stable.

[0062] Whether positioning the battery cell 70 or transferring it in conjunction with the handling mechanism, the linear guide assembly 50 ensures the accuracy and stability of the movement of the positioning protrusion 21, effectively avoiding problems such as inaccurate positioning and interference caused by movement deviation. This greatly improves the working accuracy and reliability of the positioning tray device and further optimizes the production quality and efficiency of the battery cell 70 module assembly process.

[0063] Specifically, the linear guide assembly 50 can be a linear guide slider assembly, a linear bearing assembly, a guide sleeve assembly, etc.

[0064] Reference Figure 2 The upper end of the positioning protrusion 21 is provided with a guide cone surface 211. When the positioning protrusion 21 rises above the bearing area 11, the guide cone surface 211 is located in the entrance area of ​​the positioning groove. The guide cone surface 211 is located at the upper end of the positioning protrusion 21, and its main function is to guide the battery cell 70 into the positioning groove. The guide cone surface 211 is essentially a surface with an inclined angle, through which the battery cell 70 can be guided to slide smoothly into the positioning groove. Structurally, the guide cone surface 211 can be a conical surface or a pyramidal surface. The conical guide cone surface 211 is suitable for guiding circular or near-circular battery cells 70, and its curved surface can uniformly apply guiding force to the battery cell 70; the pyramidal guide cone surface 211 is suitable for square or polygonal battery cells 70, and its edges can better match the corners of the battery cell 70 to achieve precise guidance.

[0065] By setting a guide cone surface 211 on the upper end of the positioning protrusion 21, the alignment difficulty during battery cell 70 placement is effectively reduced. Even if there is a certain deviation in the position of the battery cell 70 moved by the robotic arm, the guide cone surface 211 can accurately guide the battery cell 70 into the positioning slot through its guiding effect, avoiding positioning failure or interference problems caused by inaccurate placement of the battery cell 70. At the same time, this design also improves the efficiency of battery cell 70 positioning, making the entire battery cell 70 module assembly process smoother and more efficient, further enhancing the stability and reliability of the production process.

[0066] Reference Figure 1 and Figure 2 It also includes an ultra-high detection component 60, which constructs a horizontal detection area 61 above the bearing area 11 to monitor whether the top of the workpiece enters the horizontal detection area 61; when the top of the workpiece is detected to enter the horizontal detection area 61, the ultra-high detection component 60 triggers an abnormal signal.

[0067] The ultra-high-altitude detection component 60 is a key component used to monitor the placement status of the battery cell 70. It determines whether the battery cell 70 is placed correctly by detecting the top position of the battery cell 70. In actual production, common types of ultra-high-altitude detection components 60 include photoelectric detection components and infrared detection components. Laser detection components typically consist of a laser emitter and a receiver. The emitter emits a horizontal laser beam, creating a horizontal detection area 61 above the bearing area 11, and the receiver is responsible for receiving the laser signal. Infrared detection components utilize infrared emitters and receivers to sense whether an object has entered the detection area by emitting and receiving infrared signals.

[0068] The horizontal detection zone 61 is a specific spatial range constructed by the ultra-high-altitude detection component 60, located directly above the bearing area 11. If the battery cell 70 is placed upright, its top will be at the normal height and will not enter the horizontal detection zone 61, thus the ultra-high-altitude detection component 60 will not trigger an abnormal signal. However, if the battery cell 70 is placed crookedly, a part of its top may exceed the normal height and enter the horizontal detection zone 61. At this time, the signal transmission state between the transmitter and receiver of the ultra-high-altitude detection component 60 changes. Whether the laser is blocked or the infrared signal is interrupted, the sensing mechanism inside the ultra-high-altitude detection component 60 will be triggered, thereby sending an abnormal signal to the control system. The control system can then control the alarm to issue an audible and visual alarm and control the relevant equipment to stop moving.

[0069] Reference Figure 2 The ultra-high detection component 60 includes a photoelectric detection component, which includes a transmitter 62 and a receiver 63. The transmitter 62 and the receiver 63 are respectively installed on opposite sides of the tray mechanism. The through-beam optical path 64 between the transmitter 62 and the receiver 63 constitutes the horizontal detection area 61.

[0070] When the top of the workpiece enters the horizontal detection area 61, the through-beam optical path 64 is blocked, and the receiver 63 outputs an abnormal signal to trigger the response operation of the external control system.

[0071] The transmitter 62 is essentially a light source emitter, with common types including infrared emitting tubes and laser emitting diodes. The receiver 63 is a signal sensing unit, typically using a phototransistor or photodiode. These convert the received light signal into an electrical signal. When the light path is blocked, the electrical signal changes, triggering an abnormal feedback.

[0072] The transmitter 62 and receiver 63 are mounted on opposite sides of the tray mechanism. This opposing mounting ensures a horizontal straight optical path between them, and the area where this optical path lies is the horizontal detection area 61. The transmitter 62 and receiver 63 are placed on both sides of the tray because the battery cell 70 is placed within the tray's support area 11, and the horizontally opposed optical path 64 can fully cover the area where the top of the battery cell 70 may shift, avoiding detection blind spots. In actual installation, a dedicated mounting bracket is typically used to fix the transmitter 62 and receiver 63 to the mounting brackets 40 or support columns on both sides of the tray mechanism. The bracket has adjustment holes to fine-tune the height and angle of the transmitter 62 and receiver 63, ensuring precise alignment of the optical path.

[0073] During operation, the transmitter 62 continuously emits a light beam towards the receiver 63, forming a stable through-beam optical path 64. When the handling robot places the battery cell 70 into the pallet carrying area 11, if the battery cell 70 is placed upright and its top is at the normal height, it will not block the optical path. The receiver 63 continuously receives the light signal from the transmitter 62 and transmits a stable electrical signal to the external control system, and the equipment operates normally. Once the battery cell 70 is placed crookedly, its protruding top enters the horizontal detection area 61, and the through-beam optical path 64 is blocked. The intensity of the light signal received by the receiver 63 decreases sharply. The internal photoelectric element converts this change into an electrical signal change and outputs an abnormal signal to the external control system through a cable. After receiving the abnormal signal, the control system immediately triggers a response operation, such as pausing the production line or issuing an alarm to prompt staff to check the placement of the battery cell 70, to avoid problems such as subsequent material handling failure or equipment damage caused by the misalignment of the battery cell 70.

[0074] The photoelectric detection component uses a horizontal detection area 61 constructed by the through-beam optical path 64 to achieve real-time monitoring of the placement status of the battery cell 70 in a non-contact detection manner. This method offers advantages such as fast response speed, high detection accuracy, and strong anti-interference capability. This design not only effectively avoids the problems of low efficiency and error-proneness in manual inspection but also seamlessly integrates into automated production lines, improving the intelligence and reliability of the battery cell 70 module assembly process and ensuring efficient and stable operation of the production process.

[0075] In some embodiments, refer to Figure 3 In the same column, in two adjacent sets of positioning components 20, at least one positioning protrusion 21 belongs to both sets of positioning components 20.

[0076] Each group of positioning components 20 includes multiple positioning protrusions 21 arranged in a specific manner. Through the synergistic effect of the multiple positioning protrusions 21, each group of positioning components 20 forms a positioning structure above the bearing area 11 that matches the local shape of the battery cell 70. "Two adjacent groups of positioning components 20 in the same column" refers to two adjacent positioning component units 20 arranged in the column direction of the bearing area 11. These two adjacent groups of positioning components 20 have overlapping positioning protrusions 21 in the column direction. These positioning protrusions 21 are components of both the preceding and following groups of positioning components 20, thus forming a linkage and reuse of the two groups of positioning components 20 in the column direction. For example, assuming a column has two groups of positioning components, A and B, where group A includes positioning protrusions A, B, C, and D, and group B includes positioning protrusions C, D, E, and F, then positioning protrusions C and D are shared by both groups. This shared structure allows adjacent groups of positioning components 20 to form a continuous positioning profile in the column direction.

[0077] By reusing the positioning protrusions 21, the total number of positioning components 20 and the spacing between the positioning protrusions 21 can be reduced, making the positioning structure more compact and thus more accurately fitting the shape of the battery cell 70, especially the column profile of the elongated battery cell 70.

[0078] This application also provides an automatic workpiece loading and unloading device, including a first conveying mechanism, a second conveying mechanism, and a positioning pallet device as described in any of the above embodiments. The first conveying mechanism is used to convey the workpiece to the positioning groove, and the second conveying mechanism is used to remove the workpiece after the top of the positioning protrusion 21 descends to below the bearing area 11.

[0079] The automatic workpiece loading and unloading device of this application includes the positioning pallet device in any of the above embodiments, and therefore has the beneficial effects brought by the positioning pallet device in any of the above embodiments, which will not be repeated here.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A positioning tray device, characterized in that, include: The pallet body has a support area for carrying workpieces; Multiple sets of positioning components are arranged in a matrix in the bearing area. Each set of positioning components includes multiple positioning protrusions. The positioning protrusions are movably mounted on the tray body. The tray body is provided with through holes for the positioning protrusions to pass through. A driving mechanism is connected to each of the positioning protrusions, driving the top of the positioning protrusions to rise above the bearing area, so that multiple positioning protrusions in the same group of positioning components together form a positioning groove that matches the shape of the workpiece, or driving the top of the positioning protrusions to descend below the bearing area.

2. The positioning tray device according to claim 1, characterized in that, It also includes a mounting bracket, on which the tray body is mounted; The driving mechanism includes a driver and a linkage plate. The driver is fixed to the fixing frame, and the bottom end of each of the positioning protrusions is connected to the linkage plate. The output end of the driver is connected to the linkage plate to drive the linkage plate to synchronously raise and lower each of the positioning protrusions.

3. The positioning tray device according to claim 2, characterized in that, The drive mechanism also includes a floating connector, and the output end of the driver is connected to the linkage plate through the floating connector.

4. The positioning pallet device according to claim 2, characterized in that, It also includes a linear guide assembly, the linear guide assembly comprising: The guide rail is vertically installed on the fixed frame; A sliding element is provided on the linkage plate and slides in cooperation with the guide rail.

5. The positioning pallet device according to claim 1, characterized in that, The upper end of the positioning protrusion is provided with a guide cone surface. When the positioning protrusion rises above the bearing area, the guide cone surface is located in the entrance area of ​​the positioning groove.

6. The positioning pallet device according to claim 1, characterized in that, It also includes an ultra-high detection component, which constructs a horizontal detection area above the bearing area to monitor whether the top of the workpiece enters the horizontal detection area; when the top of the workpiece is detected to enter the horizontal detection area, the ultra-high detection component triggers an abnormal signal.

7. The positioning tray device according to claim 6, characterized in that, The ultra-high detection component includes a photoelectric detection component, which includes a transmitter and a receiver. The transmitter and the receiver are respectively installed on opposite sides of the tray mechanism, and the through-beam optical path between the transmitter and the receiver constitutes the horizontal detection area. When the top of the workpiece enters the horizontal detection area, the through-beam optical path is blocked, and the receiving end outputs an abnormal signal to trigger the response operation of the external control system.

8. The positioning tray device according to claim 1, characterized in that, In the same column, in two adjacent sets of positioning components, at least one positioning protrusion belongs to both sets of positioning components.

9. An automatic workpiece loading and unloading device, characterized in that, The device includes a first transport mechanism, a second transport mechanism, and a positioning tray device as described in any one of claims 1 to 8, wherein the first transport mechanism is used to transport the workpiece to the positioning slot, and the second transport mechanism is used to remove the workpiece after the top of the positioning protrusion descends below the bearing area.

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