Clamping centering device

Abstract

The utility model discloses a clamping and centering device, and belongs to the field of clamping and positioning. The clamping and centering device comprises a supporting assembly and a clamping and centering assembly. The supporting assembly comprises a base, a workbench and a support. The clamping centering assembly comprises a driving part and a plurality of connecting rod mechanisms, the driving part is located on the base, each connecting rod mechanism comprises a driving rocker, a driven rocker, a connecting rod and a transmission rod, one end of each driving rocker is fixedly connected with the corresponding transmission rod and hinged to the base through a first hinge shaft, and the other end of each transmission rod is hinged to an output shaft of the driving part; the other end of the driving rocker is hinged to the middle of the connecting rod through a second hinge shaft, one end of the driven rocker is hinged to the base through a third hinge shaft, and the other end of the driven rocker is hinged to one end of the connecting rod through a fourth hinge shaft. According to the clamping and centering device provided by the embodiment of the utility model, synchronous clamping of a product by multiple connecting rods can be realized, so that the clamping and centering efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the field of clamping and positioning, and in particular relates to a clamping and centering device. Background Art

[0002] In sheet production and processing, such as solar cell processing, especially before grabbing and transporting, it is often necessary to align the center of the product on a plane to ensure that the grabbing structure can grab accurately.

[0003] At present, there are many mechanisms that can achieve plane centering, such as using four cylinders to push from the outside to the middle, or using two parallel opening and closing air claws arranged vertically, which can complete four-sided centering clamping. In addition, the existing plane centering mechanism is easy to interfere with the grasping structure above the product during the clamping process. However, the above-mentioned multiple cylinders and multiple air claws have synchronization problems, which reduces the efficiency of clamping and centering. Utility Model Content

[0004] In view of the above defects or improvement needs of the prior art, the utility model provides a clamping and centering device, the purpose of which is to achieve synchronous clamping of products by multiple links, thereby improving the efficiency of clamping and centering.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a clamping and centering device, which comprises a supporting assembly and a clamping and centering assembly;

[0006] The support assembly includes a base, a workbench and a bracket, the base and the workbench are arranged in an upper and lower space, and the two ends of the bracket are respectively connected to the base and the workbench;

[0007] The clamping and centering assembly includes a driving member and a plurality of connecting rod mechanisms, the driving member is located on the base, each of the connecting rod mechanisms includes an active rocker, a driven rocker, a connecting rod and a transmission rod, one end of the active rocker is fixedly connected to one end of the transmission rod, and both are hinged to the base through a first hinge axis, the other end of each transmission rod is hinged to the output shaft of the driving member to drive the other end of each transmission rod to rise and fall relative to the base, the other end of the active rocker is hinged to the middle part of the connecting rod through a second hinge axis, one end of the driven rocker is hinged to the base through a third hinge axis, the other end of the driven rocker is hinged to one end of the connecting rod through a fourth hinge axis, the first hinge axis, the second hinge axis, the third hinge axis and the fourth hinge axis are parallel and distributed in a parallelogram, the other end of the connecting rod is evenly spaced along the circumference of the workbench, and the other end of the connecting rod is perpendicular to the workbench to clamp the product on the workbench.

[0008] Optionally, the walking trajectory of the connecting rod satisfies the following formula:

[0009]

[0010]

[0011]

[0012] Wherein, θ is the rotation angle of the active rocker, X(θ) is the displacement function of the connecting rod in the horizontal direction, Y(θ) is the displacement function of the connecting rod in the vertical direction, and X a (θ) is the acceleration function of the connecting rod in the horizontal direction;

[0013] The walking track includes a lifting section and an approximate horizontal pushing section, the approximate horizontal pushing section is symmetrical along the vertical direction, the length of the approximate horizontal pushing section in the horizontal direction is a, the length of the lifting section in the horizontal direction is b, the length of the walking track in the vertical direction is c, and 1<(a+b) / c.

[0014] Optionally, the connecting rod is configured such that when the connecting rod is in a first state, the connecting rod is located below the workbench, and when the connecting rod is in a second state, the other end of the connecting rod is located above the workbench and clamps the product.

[0015] Optionally, each of the active rockers, each of the slave rockers and each of the transmission rods are located below the workbench.

[0016] Optionally, the driving member is located below the workbench, and the output shaft of the driving member is facing the center of the workbench and is arranged upward.

[0017] Optionally, the driving member is configured such that when the driving member is in a first state, the output shaft of the driving member is located at a low point and the product is in a clamped state; when the driving member is in a second state, the output shaft of the driving member is located at a high point and the product is in a released state.

[0018] Optionally, a drive ring is detachably mounted on the output shaft of the drive member, an annular groove is provided on the outer wall of the drive ring, a plurality of bearings arranged at intervals are inserted in the annular groove, and the other end of each transmission rod is hinged to the corresponding bearing.

[0019] Optionally, a guide wheel is movably provided at the other end of each connecting rod.

[0020] Optionally, the active rocker and the transmission rod are integrally formed.

[0021] Optionally, each of the slave rockers is located between the corresponding master rocker and the driving member.

[0022] The above-mentioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0023] In general, compared with the prior art, the above technical solutions conceived by the utility model have the following beneficial effects:

[0024] For a clamping and centering device provided in an embodiment of the utility model, when clamping and centering a product to the center of a workbench, first, roughly place the product on the workbench (at this time, there is a certain deviation between the center of the product and the center of the workbench, and the workbench is arranged horizontally). Then, the driving member drives one end of each transmission rod to move upward, and each transmission rod will rotate by belting the corresponding active rocker, thereby synchronously belting the connecting rod mechanism to rotate, and then multiple connecting rods are clamped synchronously, and finally the centering of the product is achieved. In addition, because the first hinge axis, the second hinge axis, the third hinge axis and the second hinge axis are parallel and distributed in a parallelogram, the connecting rod can move horizontally (ensuring that its posture remains unchanged during movement), ensuring that the other end of the connecting rod can clamp the product in the horizontal direction during the process of clamping the product, and will not damage the product. Moreover, due to the translational motion of the connecting rod, when its trajectory moves to the highest point, its top surface is horizontal, which is also the highest point. Therefore, the grasping structure can pick up and release materials without waiting for the connecting rod mechanism to complete the action (for example, the grasping structure can be at the highest point in advance and wait for the material to be picked up through a slightly higher suction cup, and the connecting rod will not fluctuate near the highest point of the trajectory to interfere with the material picking mechanism), which is beneficial to improving the work rhythm.

[0025] That is to say, the clamping and centering device provided by the embodiment of the utility model can realize the synchronous clamping and installation of the product by multiple links, thereby improving the efficiency of clamping and centering. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a clamping and centering device provided by an embodiment of the utility model;

[0027] Figure 2 It is a schematic diagram of the walking track of the second hinge shaft provided in the embodiment of the utility model;

[0028] Figure 3 It is a schematic diagram of the displacement curve of the second hinge axis in the horizontal direction and the vertical direction provided by the embodiment of the utility model;

[0029] Figure 4 is a schematic diagram of a displacement curve of the second hinge axis in the vertical direction provided by an embodiment of the utility model;

[0030] Figure 5 A schematic diagram of an acceleration curve of a second hinge axis in the horizontal direction provided by an embodiment of the utility model.

[0031] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0032] 1. Support assembly; 11. Base; 111. Bottom plate; 112. Base; 113. Locking bolt; 114. Bolt seat; 115. Adjusting bolt; 116. Mounting bolt; 12. Workbench; 13. Bracket; 131. Column; 132. Support plate; 2. Clamping and centering assembly; 21. Driving member; 211. Driving ring; 22. Connecting rod mechanism; 221. Active rocker; 222. Slave rocker; 223. Connecting rod; 2231. Guide wheel; 224. Transmission rod; 100. Walking track; 101. Lifting section; 102. Approximate push section. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0034] In the description of the present invention, it should be understood that, unless otherwise specified, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] Example:

[0039] Figure 1 Schematic diagram of a clamping and centering device provided by an embodiment of the utility model. Figure 1 As shown, the clamping and centering device includes a supporting component 1 and a clamping and centering component 2.

[0040] The support assembly 1 includes a base 11 , a workbench 12 and a bracket 13 . The base 11 and the workbench 12 are arranged vertically with an interval, and two ends of the bracket 13 are connected to the base 11 and the workbench 12 respectively.

[0041] The clamping and centering assembly 2 includes a driving member 21 and a plurality of connecting rod mechanisms 22. The driving member 21 is located on the base 11. The output shaft of the driving member 21 is perpendicular to the workbench 12 and faces the center of the workbench 12. Each connecting rod mechanism 22 includes an active rocker 221, a passive rocker 222, a connecting rod 223 and a transmission rod 224. One end of the active rocker 221 is fixedly connected to one end of the transmission rod 224, and the connecting ends are hinged to the base 11 through a first hinge shaft. The other end of each transmission rod 224 is hinged to the output shaft of the driving member 21 to drive the other end of each transmission rod 224 relative to the base. 11 is lifted and lowered, the other end of the active rocker 221 is hinged to the middle part of the connecting rod 223 through the second hinge axis, one end of the slave rocker 222 is hinged to the base 11 through the third hinge axis, the other end of the slave rocker 222 is hinged to one end of the connecting rod 223 through the fourth hinge axis, the first hinge axis, the second hinge axis, the third hinge axis and the fourth hinge axis are parallel and distributed in a parallelogram, the other end of the connecting rod 223 is evenly spaced along the circumference of the workbench 12, and the other end (i.e., the free end) of the connecting rod 223 is perpendicular to the workbench 12, i.e., it is vertically arranged to clamp the products on the workbench 12.

[0042] For a clamping and centering device provided in an embodiment of the utility model, when clamping and centering a product to the center of a workbench 12, first, place the product on the workbench 12 (at this time, there is a certain deviation between the center of the product and the center of the workbench 12, and the workbench 12 is arranged horizontally). Then, the driving member 21 drives the hinged end of each transmission rod 224 to descend, and each transmission rod 224 will rotate by driving the corresponding active rocker 221, thereby synchronously driving the connecting rod mechanism 22 to rotate, thereby causing the free ends of multiple connecting rods 223 to move in a direction close to the workbench 12, clamping the product on the workbench 12, and finally achieving the centering of the product. In addition, since the first hinge axis, the second hinge axis, the third hinge axis and the second hinge axis are parallel and distributed in a parallelogram, the translation of the connecting rod 223 is achieved (ensuring that its posture remains unchanged during the movement), ensuring that the other end of the connecting rod 223 can clamp the product in the horizontal direction during the clamping process, and will not damage the product. In addition, due to the translation of the connecting rod 223, when its trajectory moves to the highest point, its top surface is horizontal, which is also the highest point, so that the grabbing structure can take and release materials without waiting for the connecting rod mechanism 22 to complete the action, which is conducive to improving the work rhythm.

[0043] That is to say, the clamping and centering device provided by the embodiment of the utility model can realize the synchronous clamping and installation of the product by the multi-link 223, thereby improving the efficiency of clamping and centering.

[0044] In addition, the clamping and centering device provided by the embodiment of the utility model has a simple structure, which reduces costs and also reduces control requirements.

[0045] In one implementation of the present invention, the connecting rod 223 is configured such that when the connecting rod 223 is in the first state, the connecting rod 223 is located below the workbench 12, and when the connecting rod 223 is in the second state, the other end of the connecting rod 223 is located above the workbench 12 and clamps the product. In other words, by controlling the connecting rod 223 to move from the first state to the second state, the connecting rod 223 moves from low to high, and at this time, the grasping structure can grasp at a position slightly higher than the highest point of the connecting rod, so that the problem of interference with the grasping structure will never occur during the movement of the connecting rod 223.

[0046] Preferably, the active rocker 221 , the slave rocker 222 and the transmission rod 224 are all arranged below the workbench 12 , so as to further avoid the active rocker 221 , the slave rocker 222 and the transmission rod 224 from interfering with the grasping structure.

[0047] The driven rocker 222 is arranged closer to the driving member than the driving rocker 221, that is, each driven rocker 222 is located between the corresponding driving rocker 221 and the driving member 21, so as to increase the length of the transmission rod 224. The free end of the connecting rod 223 extends outward from the circumference of the workbench 12.

[0048] Specifically, in the present embodiment, the driving member 21 is disposed below the workbench 12 , and the output shaft of the driving member 21 is directly opposite to the center of the workbench and is disposed upward, so as to reduce the driving stroke of the driving member 21 .

[0049] In more detail, when the product is in the clamping state, the output shaft of the driving member 21 is at the low point; when the product is in the loosening state, the output shaft of the driving member 21 is at the high point. When the driving end of the driving member 21 moves from the high point to the low point (that is, when the driving member 21 changes from the second state to the first state), the free end of the connecting rod 223 moves from far away to close to the workbench 12, and the whole moves in an arc from low to high, so as to achieve the clamping and centering of the product.

[0050] It should be noted that the clamping and centering device is suitable for circumferentially symmetrical products such as squares or regular polygons.

[0051] As a preferred embodiment, the number of the connecting rod mechanisms 22 is four, and the free ends of the connecting rods 223 are arranged around the workbench 12 .

[0052] Exemplarily, the driving member 21 may be a linear motor or other lifting structures.

[0053] In addition, the active rocker 221 and the transmission rod 224 can be integrally formed, thereby improving assembly efficiency.

[0054] Exemplarily, the active rocker 221 and the transmission rod 224 form a certain angle, and the connection between the two is hinged on the base 11 through a first hinge axis.

[0055] It should be noted that the hinge of each rod in the connecting rod mechanism 22 can be realized by a rotating shaft or a bearing, and the present invention does not impose any limitation on this.

[0056] In this embodiment, the walking trajectory of the connecting rod 223 satisfies the following formula:

[0057]

[0058]

[0059]

[0060] Wherein, θ is the rotation angle of the active rocker 221, X(θ) is the displacement function of the connecting rod 223 in the horizontal direction, Y(θ) is the displacement function of the connecting rod 223 in the vertical direction, and X a (θ) is the acceleration function of the connecting rod 223 in the horizontal direction;

[0061] The walking track 100 includes a lifting section 101 and an approximately horizontal pushing section 102, the approximately horizontal pushing section 102 is symmetrical in the vertical direction, and the length of the approximately horizontal pushing section 102 in the horizontal direction is a, the length of the lifting section 101 in the horizontal direction is b, the length of the walking track 100 in the vertical direction is c, and 1 < (a + b) / c. Preferably, 5 ≤ (a + b) / c ≤ 10, which meets the engineering design and avoids the active rocker 221 from being too long.

[0062] It is easy to understand that since parallelograms are formed in each connecting rod mechanism 22, the trajectories of each point on the connecting rod 223 remain consistent, that is, the walking trajectory 100 of the other end of the connecting rod 223 is the same as the walking trajectory 100 of the second hinge shaft on the active rocker 221.

[0063] Figure 2 Schematic diagram of the walking track of the second hinged shaft provided in the embodiment of the utility model, such as Figure 2 As shown (corresponding to Figure 1 The right middle connecting rod mechanism 22), the position of the first hinge axis is point O, the position of the second hinge axis is point A, R is the length of the main rocker 221, which rotates at a constant speed under the control of the driving member 21. The walking track 100 of the second hinge axis also includes a lifting section 101 and an approximate horizontal push section 102. The approximate horizontal push section 102 is symmetrical along the vertical direction, and the length of the approximate horizontal push section 102 in the horizontal direction is a, the length of the lifting section 101 in the horizontal direction is b, and the length of the walking track in the vertical direction is c. a, b and c are all set values. Therefore, the following equation is satisfied:

[0064]

[0065] According to formula 4, we can get

[0066] Therefore, the horizontal displacement function of the second hinge axis is:

[0067]

[0068] The vertical displacement function of the second hinge axis is:

[0069]

[0070] The horizontal acceleration function of the second articulated axis (i.e., the horizontal displacement function is differentiated twice) is:

[0071]

[0072] Among them, 5≤(a+b) / c≤10.

[0073] For example, when a=5mm, b=20mm, c=5mm, R=53.125 is calculated by formula (5), and θ1 is 64.942°, θ2 is 87.303°, θ3=92.697°, and the rotation angle of the second hinge axis θ=θ3-θ1=27.755°. From θ1-θ2, the walking track 100 corresponds to the lifting section 101, and from θ2-θ3, the walking track 100 corresponds to the approximate flat push section 102.

[0074] Figure 3 is a schematic diagram of the displacement curve of the second hinge axis in the horizontal direction and the vertical direction provided by the embodiment of the utility model, Figure 3 It can be seen that from θ1 to θ3, the displacement of the second hinge axis in the horizontal direction is much greater than the displacement in the vertical direction, that is, the vertical lifting stroke is small and the horizontal stroke is large. The opening of the connecting rod mechanism 22 is relatively large. At the same time, the height direction of the connecting rod 223 gradually increases or decreases during the movement, so that the conveying mechanism can take and put materials without waiting for the connecting rod mechanism 22 to complete the action, which is conducive to improving the work rhythm.

[0075] Figure 4 is a schematic diagram of a displacement curve of the second hinge axis in the vertical direction provided by an embodiment of the utility model, Figure 4 It can be seen that when the second hinge axis moves from θ2 to θ3, the displacement of the approximately horizontal push section 102 in the vertical direction remains approximately unchanged, which is equivalent to horizontal push.

[0076] Figure 5 The schematic diagram of the acceleration curve of the second hinge axis in the horizontal direction provided by the embodiment of the utility model is as follows: Figure 5 It can be seen that when moving from θ2 to θ3, the acceleration of the approximate push section 102 in the horizontal direction is close to zero.

[0077] That is to say, according to the above formulas (1)-(3), the connecting rod 223 is approximately pushed horizontally at the end section of the walking trajectory 100 (i.e., the approximate horizontal pushing section 102). When it is located in the vertical direction in the approximate horizontal pushing section, the corresponding acceleration is 0, and the other places in the approximate horizontal pushing section are close to 0. The acceleration value is very small, which can effectively reduce the impact of the connecting rod 223 on the product and reduce the fragmentation rate.

[0078] In addition, since the transmission rod 224 is fixedly connected to the active rocker 221 and both are hinged on the first hinge axis, the rotation angle of the transmission rod 224 is also θ=27.755, and the length of the transmission rod 224 is r=d / sinθ=53.684, where d is the displacement stroke of the driving member 21 in the vertical direction and the transmission rod 224 in the vertical direction. Therefore, the length r of the transmission rod 224 corresponds to the walking track 100.

[0079] Continue to see Figure 1 The base 11 includes a bottom plate 111 and a plurality of bases 112. The bottom plate 111 has a plurality of threaded holes arranged at intervals. Each base 112 can be movably arranged on the bottom plate 111. Each base 112 is provided with a waist-shaped hole, and one end of each waist-shaped hole extends away from the direction of the driving member 21. A locking bolt 113 is inserted in each waist-shaped hole, and the locking bolt 113 is inserted in the corresponding waist-shaped hole.

[0080] It is easy to understand that after loosening the locking bolt 113, the position of the connecting rod mechanism 22 can be easily adjusted by moving the base 112 along the waist-shaped hole on the bottom plate 111, thereby adjusting the spacing between the multiple connecting rods 223, thereby achieving the centering of the clamping of products of different sizes, thereby increasing the application range of the device. In addition, after the adjustment is completed, the locking bolt 113 can be tightened.

[0081] Furthermore, a plurality of adjustment mechanisms are arranged at intervals on the bottom plate 111, each of which includes a bolt seat 114 and an adjustment bolt 115. The bolt seat 114 is fixed on the bottom plate 111, and the adjustment bolt 115 is parallel to the corresponding waist-shaped hole. Each adjustment bolt 115 cooperates with the corresponding bolt seat 114 and penetrates the bolt seat 114 to drive the base 112 to move.

[0082] In the above embodiment, on the basis of loosening the locking bolt 113 , the base 112 can be easily pushed to move along the waist-shaped hole direction by adjusting the bolt 115 , thereby realizing precise adjustment of the position of the base 112 .

[0083] In one implementation of the utility model, a drive ring 211 is detachably mounted on the output shaft of the drive member 21, and an annular groove is provided on the outer wall of the drive ring 211. A plurality of bearings arranged at intervals are inserted in the annular groove, and the other end of each transmission rod 224 is hinged to the corresponding bearing.

[0084] It is easy to understand that when the position of the base 112 is adjusted, the distance between the first hinge shaft and the output shaft of the driving member 21 changes. At this time, the length of the transmission rod 224 needs to be changed when the driving member 21 remains unchanged. Therefore, the position adjustment of the base 112 can be adapted by replacing the driving ring 211 of different sizes, and the replacement of the transmission rod 224 is avoided.

[0085] In this embodiment, the support 13 includes a plurality of parallel and spaced columns 131, and the two ends of each column 131 are respectively vertically connected to the base 11 and the workbench 12. The plurality of columns 131 play a role in uniformly supporting the workbench 12, ensuring the stability of the workbench 12 when supporting the product.

[0086] Furthermore, a support plate 132 is provided at the top of each column 131 , and the diameter of the support plate 132 is larger than the diameter of the column 131 . The workbench 12 is fixed on multiple support plates 132 , so that the support plate 132 is used to support the workbench 12 , thereby increasing the support area of ​​the column 131 .

[0087] In addition, a guide wheel 2231 is movably provided at the other end of each connecting rod 223. The guide wheel 2231 can reduce the friction force when the connecting rod 223 contacts the product, thereby avoiding product wear.

[0088] Exemplarily, a plurality of spaced mounting bolts 116 are inserted into the base 11 to fix the base 11 and facilitate fixing the base 11 on the support platform.

[0089] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A clamping and centering device, characterized in that: The clamping and centering device comprises a supporting assembly and a clamping and centering assembly; The support assembly includes a base, a workbench and a bracket, the base and the workbench are arranged in an upper and lower space, and the two ends of the bracket are respectively connected to the base and the workbench; The clamping and centering assembly includes a driving member and a plurality of connecting rod mechanisms, the driving member is located on the base, each of the connecting rod mechanisms includes an active rocker, a driven rocker, a connecting rod and a transmission rod, one end of the active rocker is fixedly connected to one end of the transmission rod, and both are hinged to the base through a first hinge axis, the other end of each transmission rod is hinged to the output shaft of the driving member to drive the other end of each transmission rod to rise and fall relative to the base, the other end of the active rocker is hinged to the middle part of the connecting rod through a second hinge axis, one end of the driven rocker is hinged to the base through a third hinge axis, the other end of the driven rocker is hinged to one end of the connecting rod through a fourth hinge axis, the first hinge axis, the second hinge axis, the third hinge axis and the fourth hinge axis are parallel and distributed in a parallelogram, the other end of the connecting rod is evenly spaced along the circumference of the workbench, and the other end of the connecting rod is perpendicular to the workbench to clamp the product on the workbench.

2. A clamping and centering device according to claim 1, characterized in that: The walking trajectory of the connecting rod satisfies the following formula: Wherein, θ is the rotation angle of the active rocker, X(θ) is the displacement function of the connecting rod in the horizontal direction, Y(θ) is the displacement function of the connecting rod in the vertical direction, and X a (θ) is the acceleration function of the connecting rod in the horizontal direction; The walking track includes a lifting section and an approximate horizontal pushing section, the approximate horizontal pushing section is symmetrical along the vertical direction, the length of the approximate horizontal pushing section in the horizontal direction is a, the length of the lifting section in the horizontal direction is b, the length of the walking track in the vertical direction is c, and 1<(a+b) / c.

3. A clamping and centering device according to claim 1, characterized in that: The connecting rod is configured such that when the connecting rod is in a first state, the connecting rod is located below the workbench, and when the connecting rod is in a second state, the other end of the connecting rod is located above the workbench and clamps the product.

4. A clamping and centering device according to claim 3, characterized in that: Each of the active rockers, each of the slave rockers and each of the transmission rods are located below the workbench.

5. A clamping and centering device according to claim 1, characterized in that: The driving member is located below the workbench, and the output shaft of the driving member is directly facing the center of the workbench and is arranged upward.

6. A clamping and centering device according to claim 5, characterized in that: The driving member is configured such that when the driving member is in a first state, the output shaft of the driving member is located at a low point and the product is in a clamped state, and when the driving member is in a second state, the output shaft of the driving member is located at a high point and the product is in a released state.

7. A clamping and centering device according to any one of claims 1 to 6, characterized in that: A driving ring is detachably sleeved on the output shaft of the driving member, and an annular groove is provided on the outer wall of the driving ring. A plurality of bearings arranged at intervals are inserted in the annular groove, and the other end of each transmission rod is hinged on the corresponding bearing.

8. A clamping and centering device according to any one of claims 1 to 6, characterized in that: The other end of each connecting rod is movably provided with a guide wheel.

9. A clamping and centering device according to any one of claims 1 to 6, characterized in that: The active rocker and the transmission rod are integrally formed.

10. A clamping and centering device according to any one of claims 1 to 6, characterized in that: Each of the slave rockers is located between the corresponding master rocker and the driving member.

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