Lifting and clamping device

Abstract

A lifting and clamping device relates to the technical field of automated material handling; it includes: a lifting assembly, the lifting assembly including a first driving member; a clamping assembly, the first driving member driving the clamping assembly to move up and down to approach or move away from a workpiece; the clamping assembly including a second driving member and at least one pair of grippers, the second driving member driving corresponding two grippers to approach each other to clamp the workpiece; each gripper includes a clamping block, the side of the clamping block used to clamp the workpiece is provided with an elastic pad, the elastic pad including a substrate layer and a plurality of bosses provided on the substrate layer, the bosses being an integral structure with the substrate layer, the top surface of the bosses away from the substrate layer having a plane, the plane being used to contact the workpiece. The bosses have good elastic deformation capability, which not only helps to improve the clamping stability of the workpiece, but also expands the applicability of the elastic pad and helps to reduce manufacturing costs.

Description

Technical Field

[0001] This application relates to the technical field of automated material handling, specifically to a lifting and clamping device. Background Technology

[0002] In automated production processes, transfer equipment is sometimes needed to grip and move workpieces. This equipment has grippers for holding the workpieces, and these grippers have elastic pads to prevent damage. To achieve good gripping of the workpieces, one method is to design the elastic pads as contoured structures, where the contact surface of the elastic pad matches the shape of a portion of the workpiece. For example, if the workpiece is an atomizing device that generates aerosols, the atomizing device's shell has both flat and curved surfaces, and the contact surface of the elastic pad must also have corresponding flat and curved surfaces. Different products require corresponding contoured elastic pads, which increases manufacturing costs. Furthermore, during long-term use, the contoured elastic pads may experience localized wear, leading to poor contact between the pad and the workpiece, unstable gripping, and situations where the workpiece is mispositioned or even falls off. Utility Model Content

[0003] This application provides a lifting clamping device that can solve the problems caused by using a contoured elastic pad.

[0004] According to one aspect of this application, one embodiment provides a lifting clamping device, comprising:

[0005] A lifting assembly, the lifting assembly including a first driving component;

[0006] A clamping assembly, wherein the first driving member is used to drive the clamping assembly to move up and down to move closer to or away from the workpiece; the clamping assembly includes a second driving member and at least one pair of jaws, the second driving member being used to drive the corresponding two jaws to move closer to each other to clamp the workpiece;

[0007] The gripper includes a clamping block, and the clamping block has an elastic pad on one side for clamping the workpiece. The elastic pad includes a substrate layer and a plurality of bosses on the substrate layer. The bosses are integral with the substrate layer. The top surface of the bosses away from the substrate layer has a plane for contacting the workpiece.

[0008] In one embodiment, the boss is strip-shaped, the plane is parallel to the strip-shaped extension direction of the boss, and the strip-shaped extension directions of the plurality of bosses are parallel;

[0009] Alternatively, the boss is columnar, the plane is perpendicular to the axis of the boss, and multiple bosses are arranged in a rectangular array.

[0010] In one embodiment, the boss is strip-shaped, and the first cross-section of the boss is rectangular, the first cross-section being perpendicular to the extension direction of the strip.

[0011] In one embodiment, the boss is strip-shaped, and two rows of the boss are distributed on the substrate layer along the lifting and lowering direction of the clamping assembly, with the strip-shaped extension direction of each boss being parallel to the lifting and lowering direction of the clamping assembly.

[0012] In one embodiment, the boss is columnar, and the second cross-section of the boss is rectangular or circular, and the second cross-section is a cross-section perpendicular to the axis of the boss.

[0013] In one embodiment, the top surface of the boss away from the substrate layer is a plane;

[0014] Alternatively, the top surface of the substrate layer includes a central plane and at least one stepped plane disposed outside the central plane, the central plane being located on the side of the stepped plane away from the substrate layer.

[0015] In one embodiment, the elastic pad is made of rubber, the substrate layer has a plurality of protrusions on the side away from the boss, the clamping block has a plurality of receiving grooves, and each of the protrusions is correspondingly fitted in the receiving groove to limit the elastic pad on the clamping block.

[0016] In one embodiment, the lifting assembly includes a guide rail and a support base. The support base is slidably mounted on the guide rail, and the clamping assembly is mounted on the support base. The first driving member is connected to the support base to drive the clamping assembly to move up and down. The clamping direction of the gripper is perpendicular to the direction of the lifting movement of the clamping assembly.

[0017] In one embodiment, the clamping assembly includes a flipping base rotatably mounted on the support for flipping the workpiece, and a second drive member mounted on the flipping base and connected to the grippers to drive corresponding two grippers to move closer or further apart.

[0018] In one embodiment, the lifting clamping device further includes a pressing assembly, which includes a bracket, a third driving member, and a pressure plate. The bracket is fixedly connected to the support base, the third driving member is mounted on the bracket, and the third driving member is connected to the pressure plate for driving the pressure plate to approach the flipping base and press the workpiece. A gap is left between the flipping base and the pressure plate for the flipping base to flip.

[0019] According to the lifting clamping device of the above embodiment, the elastic pad includes a substrate layer and a plurality of bosses disposed on the substrate layer. The top surface of the bosses away from the substrate layer has a plane for contacting the workpiece. The bosses have good elastic deformation capability, which can adaptively conform to different workpiece surfaces and is not easily worn. This not only helps to improve the clamping stability of the workpiece, but also expands the applicability of the elastic pad. It eliminates the need to set different elastic pads for different products, which helps to reduce manufacturing costs. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a lifting clamping device according to one embodiment;

[0021] Figure 2 As one embodiment Figure 1 Enlarged view of A;

[0022] Figure 3 This is a schematic diagram of the gripper structure in one embodiment;

[0023] Figure 4 A schematic diagram of the structure of an elastic pad including a substrate layer and a boss, according to one embodiment;

[0024] Figure 5 As one embodiment Figure 4 BB section view;

[0025] Figure 6 This is a schematic diagram of a structure in which the bosses are arranged in a rectangular array according to one embodiment;

[0026] Figure 7 This is a schematic diagram of the top surface of a boss in one embodiment, including a center plane and a step plane.

[0027] Figure 8 A schematic diagram of the structure of a lifting clamping device including a pressing assembly, according to one embodiment;

[0028] Explanation of reference numerals in the attached figures:

[0029] 1-Lifting assembly; 101-Support base; 102-Guide rail; 103-Base; 104-First driving component; 2-Clamping assembly; 201-Gripper; 2011-Clamping block; 2012-Elastic pad; 2013-Boss; 2014-Base material layer; 2015-Protrusion; 2016-Step plane; 2017-Center plane; 202-Second driving component; 203-Tilting base; 3-Pressure assembly; 301-Pressure plate; 302-Third driving component; 303-Bracket; 4-Sensor; 5-Workpiece. Detailed Implementation

[0030] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0031] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0032] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0033] Transfer equipment can clamp and transport workpieces to be processed. The equipment is equipped with grippers for clamping the workpieces, and the grippers have elastic pads to prevent damage. To achieve good gripping of the workpiece by the grippers, one method is to set the elastic pads to a contoured structure, that is, to make the contact surface of the elastic pads conform to the shape of part of the workpiece. For example, when the workpiece is an atomizing device, the shell of the atomizing device has both flat and curved surfaces, and the contact surface of the elastic pads also needs to have corresponding flat and curved surfaces. Different products require corresponding contoured elastic pads, which increases manufacturing costs. Furthermore, during long-term use, the contoured elastic pads may experience localized wear, resulting in poor contact between the contoured elastic pads and the workpiece, unstable clamping, and situations where the workpiece is inaccurately positioned or even falls off.

[0034] This application provides an elastic pad on one side of the clamping block used to clamp the workpiece. The elastic pad includes a substrate layer and a plurality of bosses on the substrate layer. The top surface of the bosses away from the substrate layer has a plane for contacting the workpiece. The bosses have good elastic deformation capability and can adaptively conform to different workpiece surfaces, expanding the applicability of the elastic pad. It eliminates the need to set different elastic pads for different products, which helps to reduce manufacturing costs and improve processing efficiency.

[0035] The following describes some embodiments of the lifting clamping device provided in this application with reference to the accompanying drawings.

[0036] Please see Figures 1 to 8 This application provides a lifting and clamping device, including a lifting component 1, a clamping component 2, and other functional components as needed, which are described in detail below.

[0037] like Figures 1-4 As shown, the lifting assembly 1 in this embodiment includes a first driving member 104; the first driving member 104 is used to drive the clamping assembly 2 to move up and down to approach or move away from the workpiece 5; the clamping assembly 2 includes a second driving member 202 and at least a pair of grippers 201, the second driving member 202 is used to drive the corresponding two grippers 201 to approach each other to clamp the workpiece 5; the gripper 201 includes a clamping block 2011, and the side of the clamping block 2011 used to clamp the workpiece 5 is provided with an elastic pad 2012, the elastic pad 2012 includes a substrate layer 2014, and a plurality of bosses 2013 provided on the substrate layer 2014, the bosses 2013 and the substrate layer 2014 are an integral structure, and the top surface of the bosses 2013 away from the substrate layer 2014 has a plane, the plane is used to contact the workpiece 5.

[0038] It is understood that the first driving component 104 and the second driving component 202 in this embodiment can be, but are not limited to, cylinders or motors, and can achieve driving. The first driving component 104 and the clamping assembly 2 can be directly driven or indirectly driven through an intermediate component. The lifting motion in this embodiment can be a lifting motion parallel to the direction of gravity. For example, before clamping, the clamping assembly 2 can be located above the workpiece 5. When clamping is required, the first driving component 104 drives the clamping assembly 2 downwards, positioning the workpiece 5 between two opposing jaws 201. Then, the second driving component 202 drives the two opposing jaws 201 to move closer together and clamp the workpiece 5. Afterwards, the workpiece 5 can be moved by subsequent movements of the jaws 201, such as translation or flipping. In this embodiment, the jaws 201 can be provided in one, two, or more pairs. With multiple pairs of jaws 201, the device can clamp multiple workpieces 5 simultaneously, which is beneficial for improving processing efficiency. In this embodiment, the gripper 201 includes a gripping block 2011 and an elastic pad 2012. The gripping block 2011 can be made of a hard material and mainly serves a supporting function. For example, the gripping block 2011 can be made of metal. The elastic pad 2012 is made of a soft material with elasticity. When subjected to force, it can undergo adaptive elastic deformation, which can not only play a buffering role and help prevent damage to the workpiece 5, but also achieve good fit with the workpiece 5 through elastic deformation.

[0039] The elastic pad 2012 in this embodiment includes a substrate layer 2014 and bosses 2013. The substrate layer 2014 and bosses 2013 can be integrally manufactured by injection molding. The structure of providing bosses 2013 on the substrate layer 2014 is beneficial to further improve the deformation capability of the elastic pad 2012. The bosses 2013 are independent of each other and have good elastic deformation capability. Each boss 2013 can generate corresponding elastic deformation to different parts of the workpiece 5 surface, which has good adaptability to the deformation of the workpiece 5 surface, is not easy to wear, and has more uniform contact with the workpiece 5 surface. It can solve the problem of local wear of the conformal elastic pad 2012, which is beneficial to improve the clamping stability of the workpiece 5 and can also expand the application range of the elastic pad 2012. There is no need to set different elastic pads 2012 for different products, which helps to reduce manufacturing costs. In this embodiment, the top surface of the boss 2013, away from the substrate layer 2014, has a flat surface. This flat surface contacts the workpiece 5, facilitating a better fit between the boss 2013 and the surface of the workpiece 5. Compared to a curved top surface, the force is more evenly distributed, reducing the likelihood of localized wear. Furthermore, compared to the full-surface contact of the contoured elastic pad 2012, the flat contact of the boss 2013 reduces the overall contact area between the elastic pad 2012 and the workpiece 5, increasing friction, improving clamping stability, and making it less likely for the workpiece 5 to detach.

[0040] In this embodiment, the lifting clamping device has an elastic pad 2012 on the side of the clamping block 2011 used to clamp the workpiece 5. The elastic pad 2012 includes a base material layer 2014 and a plurality of bosses 2013 provided on the base material layer 2014. The top surface of the bosses 2013 away from the base material layer 2014 has a plane for contacting the workpiece 5. The bosses 2013 have good elastic deformation capability, which can adaptively conform to different workpiece 5 surfaces and is not easily worn. This not only helps to improve the clamping stability of the workpiece 5, but also expands the applicability of the elastic pad 2012. It eliminates the need to set different elastic pads 2012 for different products, which helps to reduce manufacturing costs.

[0041] In one embodiment, such as Figures 3-4 As shown, the boss 2013 is strip-shaped, with its plane parallel to the strip-shaped extension direction of the boss 2013. The strip-shaped extension directions of multiple bosses 2013 are parallel. Multiple parallel strip-shaped bosses 2013 facilitate the removal of foreign objects from adjacent gaps. In some embodiments, the strip-shaped extension direction of the boss 2013 may be straight; in other embodiments, the strip-shaped extension direction of the boss 2013 may not be straight. In one embodiment, when the boss 2013 is strip-shaped, the first cross-section of the boss 2013 can be rectangular, and the first cross-section is perpendicular to the strip-shaped extension direction. In this case, the top surface of the boss 2013 away from the substrate layer 2014 is a plane. When the first cross-section of the boss 2013 is rectangular, the side walls on both sides of the plane on the boss 2013 are vertical walls. Compared with the boss 2013 of the trapezoidal structure, the boss 2013 has better deformation capability. Compared with the inverted trapezoidal structure, the boss 2013 is less prone to fatigue fracture at the root of the substrate layer 2014, which is beneficial to improving service life. In some embodiments, two rows of bosses 2013 can be distributed on the substrate layer 2014 along the lifting and lowering direction of the clamping assembly 2, and the strip-shaped extension direction of each boss 2013 is parallel to the lifting and lowering direction of the clamping assembly 2. The spacing between the two rows of bosses 2013 improves the adaptability of the elastic pad 2012 to different workpieces 5. The spacing between the two rows of bosses 2013, as well as the spacing between adjacent bosses 2013 in each row, helps prevent interference between the elastic pad 2012 and protrusions or silkscreen printing on the surface of the workpiece 5, thus facilitating stable clamping of the workpiece 5 by the elastic pad 2012. In some embodiments, depending on the different workpieces 5, only one row of strip-shaped bosses 2013 or two or more rows of strip-shaped bosses 2013 may be provided. In this embodiment, the strip-shaped bosses 2013 can be evenly spaced in the row direction, or they can be non-evenly spaced according to the needs of different workpieces 5.

[0042] In one embodiment, such as Figure 6As shown, the boss 2013 can also be columnar, with its plane perpendicular to the axis of the boss 2013, and multiple bosses 2013 arranged in a rectangular array. The columnar bosses 2013 have better deformation capacity, which is beneficial for the stable clamping of the workpiece 5 by the elastic pad 2012. In some embodiments, the multiple columnar bosses 2013 can also be distributed in a circular array; in some embodiments, the multiple columnar bosses 2013 can also be arbitrarily distributed, and the spacing between adjacent bosses 2013 can be the same or different. In one embodiment, when the boss 2013 is columnar, the second cross-section of the boss 2013 is rectangular or circular, and the second cross-section is a cross-section perpendicular to the axis of the boss 2013; that is, the boss 2013 can be a cylindrical boss 2013, or a cubic or cuboid columnar boss 2013.

[0043] In one embodiment, such as Figure 3 As shown, the top surface of the boss 2013 away from the substrate layer 2014 can be a plane, that is, the top surface of the boss 2013 is entirely planar. In this case, the structure of the boss 2013 is simple, which is beneficial for simplifying the mold structure. Or, as... Figure 7 As shown, the top surface of the substrate layer 2014 may include a central plane 2017 and at least one stepped plane 2016 located outside the central plane 2017. The central plane 2017 is located on the side of the stepped plane 2016 away from the substrate layer 2014. A step is formed between the central plane 2017 and the stepped plane 2016. During long-term use, initially the central plane 2017 contacts the workpiece 5. After the central portion is worn, the stepped plane 2016, which is lower than the central portion, will contact the workpiece 5. This facilitates a good fit between the boss 2013 and the surface of the workpiece 5, reducing the impact of wear.

[0044] In one embodiment, such as Figure 4 , Figure 5As shown, the elastic pad 2012 is made of rubber. The substrate layer 2014 has multiple protrusions 2015 on the side away from the boss 2013. The clamping block 2011 has multiple receiving grooves, and each protrusion 2015 corresponds to and fits into the receiving groove to limit the elastic pad 2012 on the clamping block 2011. During manufacturing, the elastic pad 2012 can be integrally injection molded onto the clamping block 2011. During the molding process, the rubber material flows into the receiving groove of the clamping block 2011. After cooling, multiple protrusions 2015 are formed on the side of the substrate layer 2014 away from the boss 2013, and the protrusions 2015 connect to the receiving groove of the clamping block 2011. The corresponding fit of the protrusions 2015 in the receiving groove helps improve the stability of the connection between the elastic pad 2012 and the clamping block 2011, and facilitates the stable clamping of the workpiece 5 by the gripper 201. In some embodiments, the elastic pad 2012 can also be made of other materials, such as silicone. In some applications, the clamping block 2011 can have protrusions, and the elastic pad 2012 can have grooves. After integral injection molding, the protrusions on the clamping block 2011 are located in the grooves of the elastic pad 2012, which increases the contact area between the elastic pad 2012 and the clamping block 2011, thereby increasing the stability of the elastic pad 2012 fixed on the clamping block 2011. In some applications, the elastic pad 2012 can also be fixed to the clamping block 2011 by other methods, such as bonding.

[0045] In one embodiment, such as Figure 1 , Figure 8As shown, the lifting assembly 1 includes a guide rail 102 and a support base 101. The support base 101 is slidably mounted on the guide rail 102. The clamping assembly 2 is mounted on the support base 101. A first driving member 104 is connected to the support base 101 to drive the clamping assembly 2 to move up and down. The clamping direction of the gripper 201 is perpendicular to the direction of the lifting movement of the clamping assembly 2. In this embodiment, the support base 101 may be provided with a groove structure that cooperates with the guide rail 102. The guide rail 102 cooperates in the groove structure to form a sliding guide for the support base 101. In this embodiment, the support base 101 may also have a mounting platform, on which the clamping assembly 2 may be mounted. The mounting platform may be perpendicular to the guide rail 102. In some embodiments, the lifting assembly 1 may also include a base 103, on which the guide rail 102 is disposed to fix the guide rail 102. In some embodiments, the first driving member 104 can be fixed to the top of the guide rail 102. The first driving member 104 can be a motor, and the output shaft of the motor is connected to the support base 101 through an intermediate component to drive the support base 101 to move up and down along the guide rail 102. The clamping direction of the gripper 201 is perpendicular to the lifting and lowering direction of the clamping assembly 2. When clamping the workpiece 5, the support base 101 drives the clamping assembly 2 to move up and down along the guide rail 102, and drives the gripper 201 to approach the workpiece 5 until the workpiece 5 is located between the two grippers 201. Then, the corresponding two grippers 201 are brought closer to each other to clamp the workpiece 5. The movement of the gripper 201 is simple.

[0046] In one embodiment, the clamping assembly 2 includes a flipping base 203, which is rotatably mounted on a support 101 for flipping the workpiece 5. A second driving member 202 is mounted on the flipping base 203 and is connected to the grippers 201 to drive the corresponding two grippers 201 to move closer or further apart. The workpiece 5 can be flipped by flipping the flipping base 203, thus achieving the transfer of the workpiece 5. The clamping assembly 2 may also include a fourth driving member, which can drive the flipping base 203 to rotate 180 degrees. During processing, after the grippers 201 stably clamp the workpiece 5, the fourth driving member drives the flipping base 203 to rotate, thereby achieving the flipping of the workpiece 5. In this embodiment, the flipping base 203 may include a frame structure, with at least one receiving hole. During clamping, the first driving member 104 drives the clamping assembly 2 to approach the workpiece 5, and the workpiece 5 is inserted between the corresponding two grippers 201 through the receiving hole, creating clearance. In some embodiments, the flipping base 203 may also include a connecting shaft connected to the frame. This connecting shaft can be rotatably mounted on the support base 101 via bearings. The fourth driving component can be mounted on the support base 101 and connected to the connecting shaft, or it can be mounted on other components and connected to the connecting shaft via a transmission mechanism. In some applications, the flipping base 203 may not be provided when the workpiece 5 does not need to be flipped.

[0047] In one embodiment, the lifting and clamping device further includes a pressing assembly 3, which includes a bracket 303, a third driving member 302, and a pressing plate 301. The bracket 303 is fixedly connected to the support base 101. The third driving member 302 is mounted on the bracket 303 and connected to the pressing plate 301. The third driving member 302 is used to drive the pressing plate 301 to approach the flipping base 203 and press the workpiece 5. A gap is left between the flipping base 203 and the pressing plate 301 to allow the flipping base 203 to flip. After the clamping assembly 2 moves up and down, the pressing plate 301 can be driven to approach the flipping base 203 and press the workpiece 5 first by the third driving member 302, and then the gripper 201 can be driven by the second driving member 202 to clamp the workpiece 5. This helps to avoid poor clamping positioning due to the workpiece 5 shaking during the clamping process. In this embodiment, the support 303 can be, but is not limited to, an L-shaped structure. One part is parallel to the lifting direction and is fixedly connected to the support base, while the other part is perpendicular to the lifting direction and extends above the tilting base 203. The third drive component 302 is mounted on the other part perpendicular to the lifting direction. In some applications, the device may also be equipped with a sensor 4, such as a fiber optic sensor, to detect the workpiece 5 and prevent invalid strokes due to missed clamping, material dropping, or material shortage. The sensor 4 can be mounted on the pressure plate 301 or other parts of the device.

[0048] In the lifting clamping device of the above embodiment, an elastic pad 2012 is provided on the side of the clamping block 2011 used to clamp the workpiece 5. The elastic pad 2012 includes a base material layer 2014 and a plurality of bosses 2013 provided on the base material layer 2014. The top surface of the bosses 2013 away from the base material layer 2014 has a plane for contacting the workpiece 5. The bosses 2013 have good elastic deformation capability, which can adaptively conform to different workpiece 5 surfaces and is not easily worn. This not only helps to improve the clamping stability of the workpiece 5, but also expands the applicability of the elastic pad 2012. It eliminates the need to set different elastic pads 2012 for different products, which helps to reduce manufacturing costs.

[0049] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A lifting and clamping device, characterized in that, include: A lifting assembly, the lifting assembly including a first driving component; A clamping assembly, wherein the first driving member is used to drive the clamping assembly to move up and down to move closer to or away from the workpiece; the clamping assembly includes a second driving member and at least one pair of jaws, the second driving member being used to drive the corresponding two jaws to move closer to each other to clamp the workpiece; The gripper includes a clamping block, and the clamping block has an elastic pad on one side for clamping the workpiece. The elastic pad includes a substrate layer and a plurality of bosses on the substrate layer. The bosses are integral with the substrate layer. The top surface of the bosses away from the substrate layer has a plane for contacting the workpiece.

2. The lifting and clamping device as described in claim 1, characterized in that, The boss is strip-shaped, the plane is parallel to the strip-shaped extension direction of the boss, and the strip-shaped extension directions of the plurality of bosses are parallel; Alternatively, the boss is columnar, the plane is perpendicular to the axis of the boss, and multiple bosses are arranged in a rectangular array.

3. The lifting and clamping device as described in claim 2, characterized in that, The boss is strip-shaped, and the first cross-section of the boss is rectangular, which is perpendicular to the extension direction of the strip.

4. The lifting and clamping device as described in claim 2, characterized in that, The boss is strip-shaped, and two rows of the boss are distributed on the substrate layer along the lifting and lowering direction of the clamping assembly. The strip-shaped extension direction of each boss is parallel to the lifting and lowering direction of the clamping assembly.

5. The lifting clamping device as described in claim 2, characterized in that, The boss is columnar, and the second cross-section of the boss is rectangular or circular, and the second cross-section is perpendicular to the axis of the boss.

6. The lifting clamping device as described in claim 1, characterized in that, The top surface of the boss away from the substrate layer is a plane; Alternatively, the top surface of the substrate layer includes a central plane and at least one stepped plane disposed outside the central plane, the central plane being located on the side of the stepped plane away from the substrate layer.

7. The lifting clamping device according to any one of claims 1-6, characterized in that, The elastic pad is made of rubber. The substrate layer has multiple protrusions on the side away from the boss. The clamping block has multiple receiving grooves. Each of the protrusions is correspondingly matched in the receiving groove to limit the elastic pad on the clamping block.

8. The lifting clamping device according to any one of claims 1-6, characterized in that, The lifting assembly includes a guide rail and a support base. The support base is slidably mounted on the guide rail. The clamping assembly is mounted on the support base. The first driving member is connected to the support base to drive the clamping assembly to move up and down. The clamping direction of the gripper is perpendicular to the direction of the lifting movement of the clamping assembly.

9. The lifting clamping device as described in claim 8, characterized in that, The clamping assembly includes a flipping base rotatably mounted on the support for flipping the workpiece, and a second drive unit mounted on the flipping base. The second drive unit is connected to the grippers to drive the corresponding two grippers to move closer or further apart.

10. The lifting clamping device as described in claim 9, characterized in that, The lifting and clamping device further includes a pressing assembly, which includes a bracket, a third driving component, and a pressing plate. The bracket is fixedly connected to the support base, the third driving component is mounted on the bracket, and the third driving component is connected to the pressing plate to drive the pressing plate closer to the flipping base and press the workpiece. A gap is left between the flipping base and the pressing plate for the flipping base to flip.

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