Part positioning and expansion linkage

Abstract

The present disclosure provides a part positioning and expanding linkage device, which comprises a seat part, a pull rod seat fixed to the seat part and comprising a first end part and a second end part spaced apart by a preset distance, a first pull rod having a middle part hinged to the first end part, wherein one end of the first pull rod is provided with a first pull claw, a second pull rod having a middle part hinged to the second end part, wherein one end of the second pull rod is provided with a second pull claw, and an expanding driving device for driving the first pull rod and the second pull rod and enabling the first pull claw and the second pull claw to approach or move away from each other, wherein the part is expanded when the first pull claw and the second pull claw move away from each other.

Description

Technical Field

[0001] This disclosure relates to a component positioning expansion linkage device. Background Technology

[0002] Manufacturing is one of the most important basic industries in the national economy. Whether it is traditional manufacturing or modern flexible manufacturing systems, the processing operations all require clamping, so fixtures are particularly important as they directly affect production efficiency and manufacturing costs.

[0003] Fixtures on production lines typically require rapid positioning and clamping of items to meet automation needs. However, existing fixtures often lack positioning devices and linkage, and usually involve multiple motion mechanisms operating independently. This makes control complex, debugging difficult, and prone to failure, and they are inconvenient to use. Moreover, the complexity of control and adjustment often prevents the synchronization of multiple actions, resulting in problems such as long clamping waiting time and clamping failure. Summary of the Invention

[0004] To solve one of the aforementioned technical problems, this disclosure provides a part positioning expansion linkage device.

[0005] According to one aspect of this disclosure, a part positioning expansion linkage device is provided, comprising:

[0006] Seat components;

[0007] A pull rod seat, which is fixed to the seat component and includes a first end and a second end spaced apart at a predetermined position;

[0008] A first pull rod, the middle of which is hinged to the first end; wherein, one end of the first pull rod is provided with a first pull claw;

[0009] A second pull rod, the middle of which is hinged to the second end; wherein, one end of the second pull rod is provided with a second pull claw; and

[0010] An expansion drive device is used to drive a first pull rod and a second pull rod, and to enable the first pull claw and the second pull claw to approach or move away from each other, wherein when the first pull claw and the second pull claw move away from each other, the part is expanded.

[0011] According to at least one embodiment of the present disclosure, the part positioning expansion linkage device includes a first gripper slidably disposed on the seat component, and the first gripper includes two first gripping fingers and a second gripping finger that can approach or move away from each other, wherein the first gripping finger is hinged to the other end of the first pull rod, and the second gripping finger is hinged to the other end of the second pull rod.

[0012] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the expansion driving device includes a first driving structure and a second driving structure, wherein the first driving structure is used to drive the first pull rod, and the second driving structure is used to drive the second pull rod.

[0013] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the first driving structure and the second driving structure are linear motion structures.

[0014] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, a first positioning component is provided on the pull rod seat, the first positioning component being used to position the part in at least one direction.

[0015] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the first positioning component includes a suction cup.

[0016] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, a second positioning component is provided on the pull rod seat, the second positioning component is used to cooperate with the first pull claw and the second pull claw to position the part in at least one direction.

[0017] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the second positioning component includes a second gripper, the second gripper including a first gripper finger and a second gripper finger that can approach or move away from each other, wherein the first gripper finger has a first recessed portion formed at the lower end portion near the second gripper finger, and the second gripper finger has a second recessed portion formed at the lower end portion near the first gripper finger.

[0018] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, both the first recess and the second recess include an arc-shaped surface.

[0019] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the first gripper is provided with a first pressure plate, and / or the second gripper is provided with a second pressure plate; when the first pressure plate and the second pressure plate move in a direction of mutual approach, the part is positioned.

[0020] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the free end of the first pressure plate is provided with a first pressure finger; and / or, the free end of the second pressure plate is provided with a second pressure finger.

[0021] According to at least one embodiment of the part positioning expansion linkage device of the present disclosure, the first pull claw and the second pull claw have the same structure and are symmetrically arranged.

[0022] According to at least one embodiment of the part positioning and expansion linkage device of the present disclosure, the first pull claw includes at least one groove portion, the groove portion being used to position the edge component of the part and to expand the part. Attached Figure Description

[0023] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0024] Figure 1 This is a schematic diagram of the structure of a part positioning expansion linkage device according to one embodiment of the present disclosure.

[0025] Figure 2 This is a partial structural schematic diagram of a part positioning expansion linkage device according to one embodiment of the present disclosure.

[0026] Figure 3 This is a schematic diagram of the structure of an expansion drive device according to one embodiment of the present disclosure.

[0027] Figure 4 This is a schematic diagram of the structure of a first positioning component according to an embodiment of the present disclosure.

[0028] Figure 5 This is a schematic diagram of the structure of a second positioning component according to one embodiment of the present disclosure.

[0029] The specific labels in the attached figures are as follows:

[0030] 100-part positioning expansion linkage device

[0031] 110 components

[0032] 111 guide rail

[0033] 112 sliders

[0034] 120 pull rod seat

[0035] 130 First pull rod

[0036] 140 First Pulling Claw

[0037] 141 Groove

[0038] 150 second pull bar

[0039] 160 Second Pull Claw

[0040] 170 Expansion Drive

[0041] 171 First Drive Structure

[0042] 172 Second Drive Structure

[0043] 173 connecting rod seat

[0044] 174 Link

[0045] 180 First Positioning Component

[0046] 181 suction cup mount

[0047] 182 suction cup

[0048] 183 shock absorber

[0049] 190 Second Positioning Component

[0050] 191 Second Gripper

[0051] 192 First finger

[0052] 1921 First Depression

[0053] 193 Second finger

[0054] 1931 Second Depression

[0055] 196 First pressure plate

[0056] 197 Second pressure plate

[0057] 198 First Finger Press

[0058] 199 Second Finger Press

[0059] 200 arc-shaped support

[0060] 210D type plate

[0061] 220 vertical board

[0062] 230 electric claw mount. Detailed Implementation

[0063] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0064] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0066] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0067] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0068] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0069] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0070] Figure 1 This is a schematic diagram of the structure of a part positioning expansion linkage device 100 according to one embodiment of the present disclosure.

[0071] like Figure 1 As shown, the part positioning and expansion linkage device 100 disclosed herein can perform a linkage operation of positioning and expansion of parts during use, that is, it can position and expand parts through the same power element (e.g., expansion drive device 170).

[0072] In one embodiment, the part can be a shell-like part such as a fairing or a rectifier. Accordingly, the part includes an end and two oppositely arranged side parts. The part positioning expansion linkage device 100 of this disclosure can operate the side parts and increase the distance between the two side parts, thereby completing the expansion operation.

[0073] In this disclosure, the part positioning expansion linkage device 100 may include components such as a seat component 110, a pull rod seat 120, a first pull rod 130, a first pull claw 140, a second pull rod 150, a second pull claw 160, and an expansion drive device 170.

[0074] The seat component 110 forms the basis of the part positioning expansion linkage device 100. For example, the position of the entire positioning expansion linkage device 100 can be fixed by mounting the seat component 110 to other components.

[0075] The pull rod seat 120 is fixed to the seat component 110. In one embodiment, the pull rod seat 120 is formed as a U-shaped component, that is, the pull rod seat 120 forms a receiving space in which at least a portion of the part can be disposed.

[0076] In one embodiment, the pull rod seat 120 may include a first end and a second end, and the opening of the receiving space is formed by the first end and the second end. In this disclosure, the size (interval distance) of the opening of the receiving space is larger than the size (interval distance) of the area of ​​the receiving space away from the opening, thereby enabling the pull rod seat 120 to provide a certain guiding function for the entry and exit of parts.

[0077] In one embodiment, the seat component 110 is fixed to the middle portion of the pull rod seat 120, wherein the middle portion is the portion of the pull rod seat 120 corresponding to the opening.

[0078] The first pull rod 130 is hinged at its middle portion to the first end portion; wherein, the middle portion does not refer to the middle part, but rather to the portion between one end and the other end of the first pull rod 130. More preferably, a first pull claw 140 is provided at one end of the first pull rod 130.

[0079] Similarly, the middle part of the second pull rod 150 is hinged to the second end; wherein, one end of the second pull rod 150 is provided with a second pull claw 160. That is to say, in this disclosure, the first pull rod 130 and the second pull rod 150 can be formed with the same structure and arranged symmetrically.

[0080] The expansion drive device 170 is used to drive the first pull rod 130 and the second pull rod 150, and to enable the first pull claw 140 and the second pull claw 160 to approach or move away, wherein when the first pull claw 140 and the second pull claw 160 move away, the part is expanded.

[0081] In other words, in actual use, the edge components of the part are first held and positioned by the first pull claw 140 and the second pull claw 160, and then the expansion drive device 170 is further operated so that the first pull rod 130 can rotate around the connection between the first pull rod 130 and the pull rod seat 120, and the second pull rod 150 can rotate around the connection between the second pull rod 150 and the pull rod seat 120. Thus, the first pull claw 140 and the second pull claw 160 move away from each other, thereby expanding the part.

[0082] In one embodiment, such as Figure 1 As shown, the expansion drive device 170 includes a first gripper, wherein the first gripper may be an electric gripper. Accordingly, the first gripper includes two first gripping fingers and a second gripping finger that can approach or move away from each other. The first gripping finger is hinged to the other end of the first pull rod 130, and the second gripping finger is hinged to the other end of the second pull rod 150.

[0083] like Figure 1As shown, when the first and second fingers of the first gripper move away from each other, the first pull claw 140 and the second pull claw 160 can move closer to each other; conversely, when the first and second fingers of the first gripper move closer to each other, the first pull claw 140 and the second pull claw 160 can move away from each other.

[0084] Figure 2 This is a partial structural schematic diagram of a part positioning expansion linkage device according to one embodiment of the present disclosure.

[0085] like Figure 2 As shown, the first gripper is slidably disposed on the seat component 110, and the sliding direction of the first gripper can be set along the axis of symmetry of the first pull rod 130 and the second pull rod 150.

[0086] like Figure 2 As shown, a guide rail 111 can be provided on the seat component 110, and a slider 112 is provided on the guide rail 111. The slider 112 can slide on the guide rail 111, wherein the length direction of the guide rail 111 coincides with the aforementioned axis of symmetry.

[0087] At this time, the first gripper can be fixed to the slider 112, and Figure 1 In the state where the first gripper is operated and the first gripper finger and the second gripper finger approach each other, the first gripper will move in the direction of approaching the lever seat 120; conversely, when the first gripper finger and the second gripper finger move away from each other, the first gripper will move in the direction of moving away from the lever seat 120.

[0088] In other words, in this disclosure, the first gripper, which is slidably set, ensures that the part positioning expansion linkage device of this disclosure will not get stuck during use.

[0089] Figure 3 This is a schematic diagram of the structure of an expansion drive device according to one embodiment of the present disclosure.

[0090] In another embodiment, such as Figure 3 As shown, the expansion drive device 170 includes a first drive structure 171 and a second drive structure 172, wherein the first drive structure 171 is used to drive the first pull rod 130, and the second drive structure 172 is used to drive the second pull rod 150.

[0091] In this disclosure, the first drive structure 171 and the second drive structure 172 are linear motion structures, which can be selected as a single-axis robot. Thus, by setting the first drive structure 171 and the second drive structure 172, it is more convenient to fine-tune and adjust one side for placing parts into the fixture and expanding the subsequent installation of the fairing; the accuracy is also relatively high.

[0092] For example, the bases of the single-axis robots are mounted in parallel on the seat component 110, enabling the two single-axis robots to move in the same direction, i.e., along a direction perpendicular to the aforementioned axis of symmetry. Furthermore, the single-axis robot is equipped with a linkage seat 173, with one end of a link 174 hinged to the linkage seat 173 and the other end hinged to either the first pull rod 130 or the second pull rod 150. This allows the first drive structure 171 to drive the first pull rod 130, and the second drive structure 172 to drive the second pull rod 150. Correspondingly, since the single-axis robots independently provide power to the first pull rod 130 and the second pull rod 150, the positions of the first pull rod 130 and the second pull rod 150 can be adjusted independently, i.e., the expansion angle between the first pull rod 130 and the second pull rod 150 can be adjusted.

[0093] Figure 4 This is a schematic diagram of the structure of a first positioning component 180 according to one embodiment of the present disclosure.

[0094] like Figure 4 As shown, a first positioning component 180 is provided on the pull rod seat 120, which is used to position the part in at least one direction.

[0095] In a preferred embodiment, the first positioning component 180 includes a suction cup base 181, which is fixed to the pull rod base 120 or to the base component 110; and the suction cup base 181 is disposed inside the receiving space formed by the pull rod base 120; a suction cup 182 is disposed on the suction cup base 181, thereby the suction cup 182 is also located inside the receiving space, and the position of the part is fixed by adsorbing the part through the suction cup 182.

[0096] In other words, once at least a portion (front end) of the part enters the receiving space, the suction cup 182 can hold the front end of the part. At this time, the expansion drive device can be controlled to adjust the opening angle of the first pull rod 130 and the second pull rod 150, so that the part enters the first pull claw 140 and the second pull claw 160, providing conditions for the subsequent clamping of the part.

[0097] On the other hand, the suction cup base 181 is also provided with a shock-absorbing block 183. In this disclosure, the shock-absorbing block 183 is formed in the shape of a column and is arranged around the suction cup 182. Thus, by setting the shock-absorbing block 183, the suction cup 182 can ensure the parallelism of the suction plane when adsorbing the parts, that is, ensure the position of the parts.

[0098] Figure 5 This is a schematic diagram of the structure of a second positioning component 190 according to one embodiment of the present disclosure.

[0099] like Figure 5 As shown in this disclosure, the pull rod seat 120 is provided with a second positioning component 190, which is used to cooperate with the first pull claw 140 and the second pull claw 160 to position the part in at least one direction.

[0100] like Figure 1 and Figure 5 As shown, the second positioning component 190 includes a second gripper 191, which includes a first gripper finger 192 and a second gripper finger 193 that can approach or move away from each other. The first gripper finger 192 has a first recess 1921 formed on the lower end portion near the second gripper finger 193, and the second gripper finger 193 has a second recess 1931 formed on the lower end portion near the first gripper finger 192.

[0101] That is, the first recess 1921 and the second recess 1931 are respectively formed on adjacent surfaces of the first finger 192 and the second finger 193. More specifically, as Figure 5 As shown, the first recess 1921 is formed at the lower end of the first gripper finger 192 near the opening of the receiving space, i.e., at a corner of the first gripper finger 192; similarly, the second recess 1931 is formed at the lower end of the second gripper finger 193 near the opening of the receiving space, i.e., at a corner of the second gripper finger 193. More preferably, both the first recess 1921 and the second recess 1931 include an arcuate surface, so that when the first gripper finger 192 and the second gripper finger 193 move in a direction approaching each other, the arcuate surface can engage with the outer surface of the part and apply downward pressure to the part, thereby achieving the positioning of the part.

[0102] At this point, the arc-shaped surface can be designed to have the same or approximately the same shape as the outer surface of the part, thereby enabling more precise positioning of the part.

[0103] More preferably, such as Figure 1 and Figure 5 As shown, the first gripper 192 is provided with a first pressure plate 196, and correspondingly, the second gripper 193 is provided with a second pressure plate 197. The first pressure plate 196 and the second pressure plate 197 both move in a direction close to the first pull claw 140 and the second pull claw 160, and terminate near the first pull claw 140 and the second pull claw 160, thereby achieving the positioning of the other end of the part through the first pressure plate 196 and the second pressure plate 197.

[0104] In a preferred embodiment, one end of the first pressure plate 196 is fixed to the first clamping finger 192, and one end of the second pressure plate 197 is fixed to the second clamping finger 193; the other ends of the first pressure plate 196 and the other ends of the second pressure plate 197 are both free ends. At this time, the free end of the first pressure plate 196 is provided with a first pressing finger 198; and / or, the free end of the second pressure plate 197 is provided with a second pressing finger 199; when the first pressure plate 196 and the second pressure plate 197 move in a direction that approaches each other, a downward force can be applied to the part through the first pressing finger 198 and the second pressing finger 199, thereby realizing the positioning of the part.

[0105] In other words, considering that the part has a curved surface, the first pressure plate 196 and the second pressure plate 197 can be located on both sides of the highest position of the part. When the first pressure plate 196 and the second pressure plate 197 approach each other, since the free state positions of the first pressure plate 196 and the second pressure plate 197 are both lower than the highest position of the part, the first pressure plate 196 and the second pressure plate 197 can apply a downward force to the part and position the part.

[0106] In a preferred embodiment, an arc-shaped support 200 may be provided on the pull rod seat 120, a D-shaped plate 210 is provided above the arc-shaped support 200, a vertical plate 220 is provided on the D-shaped plate 210, and an electric gripper seat 230 is provided above the vertical plate 220. The second gripper 191 is fixed to the electric gripper seat 230, thereby realizing the fixation of the electric gripper seat 230.

[0107] More preferably, the two vertical plates 220 may be provided with reinforcing plates, thereby improving the stability of the electric gripper base 230.

[0108] In a preferred embodiment, the first pressure plate 196 and the second pressure plate 197 are formed in a bent shape, and the opening of the bend is set towards the part. Thus, on the one hand, the first pressure plate 196 and the second pressure plate 197 can have a certain elastic deformation margin, and on the other hand, they can avoid the part and better position the part.

[0109] In the second positioning component 190 described above, the release process of the part can be realized through the opposite movement process, that is, when the first gripper 192 and the second gripper 193 move away from each other.

[0110] The following will combine Figure 2 The first pull claw 140 and the second pull claw 160 of this disclosure will be described in detail.

[0111] like Figure 2As shown, the first pull claw 140 and the second pull claw 160 have the same structure and are symmetrically arranged. That is to say, the part positioning expansion linkage device disclosed herein is formed as a symmetrical structure, for example, it can be symmetrical about a certain vertical plane.

[0112] To ensure the connection strength between the first pull rod 130 and the first pull claw 140, and to ensure the connection strength between the second pull rod 150 and the second pull claw 160, a reinforcing plate can be provided between the first pull rod 130 and the first pull claw 140. Correspondingly, a reinforcing plate can also be provided between the second pull rod 150 and the second pull claw 160.

[0113] The following explanation uses only the structure of the first claw 140 as an example. Figure 2 As shown, the first pull claw 140 includes at least one groove 141, which is used to position the edge component of the part and expand the part. That is, when the part positioning and expansion linkage device of this disclosure is in use, the edge component of the part can be located in the groove 141, and an upward force can be applied to the part through the groove 141.

[0114] Therefore, the part positioning expansion linkage device disclosed herein can meet the needs of quickly clamping different types of parts, and simultaneously position them during the clamping process. By inputting actions, the parts are fully clamped and fixed, while providing sufficient installation space for subsequent installation.

[0115] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0116] 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 at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A part positioning and expansion linkage device, characterized in that, include: Seat components; A pull rod seat, which is fixed to the seat component and includes a first end and a second end spaced apart at a predetermined position; A first pull rod, the middle of which is hinged to the first end; wherein, one end of the first pull rod is provided with a first pull claw; A second pull rod, the middle of which is hinged to the second end; wherein, one end of the second pull rod is provided with a second pull claw; and An expansion drive device is provided to drive a first pull rod and a second pull rod, enabling the first pull claw and the second pull claw to approach or move away from each other. When the first pull claw and the second pull claw move away from each other, the part expands. The pull rod seat is provided with a first positioning component, which is used to position the part in at least one direction. The pull rod seat is provided with a second positioning component, which is used to cooperate with the first pull claw and the second pull claw to position the part in at least one direction. The second positioning component includes a second gripper, which includes a first gripper finger and a second gripper finger that can approach or move away from each other. The lower end portion of the first gripper finger near the second gripper finger has a first recess, and the lower end portion of the second gripper finger near the first gripper finger has a second recess. The first gripper finger is provided with a first pressure plate, and the second gripper finger is provided with a second pressure plate. When the first pressure plate and the second pressure plate move in a direction of approaching each other, the part is positioned.

2. The part positioning expansion linkage device as described in claim 1, characterized in that, The expansion drive device includes a first gripper slidably disposed on the seat component, and the first gripper includes two first gripping fingers and a second gripping finger that can approach or move away from each other, wherein the first gripping finger is hinged to the other end of the first pull rod, and the second gripping finger is hinged to the other end of the second pull rod.

3. The part positioning expansion linkage device as described in claim 1, characterized in that, The expansion drive device includes a first drive structure and a second drive structure, wherein the first drive structure is used to drive the first pull rod, and the second drive structure is used to drive the second pull rod.

4. The part positioning and expansion linkage device as described in claim 3, characterized in that, The first driving structure and the second driving structure are linear motion structures.

5. The part positioning expansion linkage device as described in claim 1, characterized in that, The first positioning component includes a suction cup.

6. The part positioning expansion linkage device as described in claim 1, characterized in that, Both the first recess and the second recess include an arc-shaped surface.

7. The part positioning expansion linkage device as described in claim 1, characterized in that, The free end of the first pressure plate is provided with a first pressure finger; the free end of the second pressure plate is provided with a second pressure finger.

8. The part positioning expansion linkage device as described in claim 1, characterized in that, The first and second pull claws have the same structure and are arranged symmetrically.

9. The part positioning and expansion linkage device as described in claim 8, characterized in that, The first pull claw includes at least one groove for positioning the edge component of the part and for expanding the part.

Images