Clamping and positioning device

Abstract

The utility model relates to a clamping and positioning device. The clamping and positioning device comprises a carrier and a quick-change structure, and the carrier is assembled on the quick-change structure; the carrier comprises a carrier plate, a first mounting plate, a positioning pin and a pneumatic clamping jaw, the carrier plate is fixedly assembled on the first mounting plate and used for bearing a loaded object, the positioning pin is fixed to one side of the carrier plate, and the pneumatic clamping jaw is movably assembled on the first mounting plate and located on the other side of the carrier plate; a first air channel is formed in the quick-change structure and can be used for enabling the pneumatic clamping jaw to move in the direction close to or away from the positioning pin. The clamping and positioning device provided by the utility model is convenient to move, and an air path of the carrier is not influenced.

Description

Technical Field

[0001] The utility model relates to the technical field of tooling devices, and more specifically, to a clamping and positioning device. Background Art

[0002] Mechanical positioning devices in the prior art usually use pneumatic grippers to clamp the object. However, when dynamic operations such as rotation of the object are required, the air path connecting the pneumatic grippers is usually limited by external structures or space, which is not conducive to dynamic operations. Utility Model Content

[0003] One purpose of the utility model is to provide a clamping positioning device.

[0004] According to one aspect of the utility model, a clamping positioning device is provided, comprising:

[0005] A carrier and a quick-change structure, wherein the carrier is assembled on the quick-change structure;

[0006] The carrier comprises a carrier plate, a first mounting plate, a positioning pin and a pneumatic clamp, wherein the carrier plate is fixedly mounted on the first mounting plate, the carrier plate is used to carry the object, the positioning pin is fixed on one side of the carrier plate, and the pneumatic clamp is movably mounted on the first mounting plate and is located on the other side of the carrier plate;

[0007] A first air passage is disposed inside the quick-change structure, and the first air passage can be used to move the pneumatic clamp in a direction close to or away from the positioning pin.

[0008] Optionally, the clamping and positioning device also includes a pneumatic part, and the pneumatic clamp is movably assembled on the first mounting plate through the pneumatic part. The pneumatic part can be connected to an air source through the first air path to drive the pneumatic clamp to move in a direction close to or away from the positioning pin.

[0009] Optionally, the carrier plate is provided with a plurality of vacuum nozzles on a side away from the first mounting plate;

[0010] A second air path is also provided inside the quick-change structure, and the plurality of vacuum suction nozzles can be connected to an air source through the second air path to adsorb the carried objects.

[0011] Optionally, the carrier further includes an elastic member, two ends of which are respectively connected to the pneumatic clamp and the first mounting plate, and when the pneumatic clamp moves in a direction away from the positioning pin, the elastic member is in a stretched state.

[0012] Optionally, a notch is provided at the other side edge of the carrier plate, and the notch is used to accommodate the pneumatic clamp.

[0013] Optionally, two groups of the positioning pins and the pneumatic clamps are provided, the two groups of the positioning pins are respectively provided at two adjacent side edges of the carrier plate, and the two groups of the pneumatic clamps are respectively and movably provided at the other two side edges of the carrier plate.

[0014] Optionally, the clamping positioning device also includes a base, and the quick-change structure includes a first connecting block and a second connecting block, the first connecting block is fixedly assembled on the first mounting plate, the second connecting block is fixed on the base, and the second connecting block can be plugged into the first connecting block.

[0015] Optionally, the first connection block is provided with a first groove, and the second connection block is provided with a protrusion, and the first connection block and the second connection block can be plugged into each other through the cooperation between the first groove and the protrusion;

[0016] A second groove is arranged on the side wall of the first groove, and a receiving channel for receiving the clamping member is arranged in the protruding portion. The clamping member can extend out of or retract into the receiving channel to be engaged with or separated from the second groove.

[0017] Optionally, a third gas path channel and a fourth gas path channel are provided on the second connecting block, and the third gas path channel and the fourth gas path channel are both connected to the accommodating channel and are respectively used to control the extension or retraction of the clamping member.

[0018] Optionally, the base includes a second mounting plate, an air slip ring and a fixing block, and a plurality of main air path interfaces are provided on the outer wall of the air slip ring, and the main air path interfaces are used to connect to an air source;

[0019] The air slip ring comprises a rotor and a stator, wherein the stator is fixed on the fixed block, the second connecting block is fixed on the second mounting plate, and the second mounting plate is connected to the rotor so that the carrier can rotate relative to the fixed block.

[0020] Optionally, the base also includes a DD motor and a third mounting plate, the second mounting plate is fixed to the third mounting plate, the third mounting plate is fixed to the DD motor having a hollow structure, the air slip ring passes through the hollow structure and is connected to the third mounting plate through the rotor, and the DD motor can drive the third mounting plate to rotate.

[0021] Optionally, a protruding portion and a third groove that can be plugged into each other are respectively provided on the matching surfaces of the first connecting block and the second connecting block, so that the first connecting block and the second connecting block can rotate synchronously.

[0022] One technical effect of the utility model is that the utility model provides a quick-change structure on the carrier, so that the carrier can be detachably assembled on other specific structures, and at the same time, by providing positioning pins and pneumatic clamps, the carrier can clamp the carried object to prevent it from falling. At the same time, the first air path is provided inside the quick-change structure, so that when the carrier is rotating or performing other operations, the air path for connecting the pneumatic clamps can be unaffected by external factors, thereby improving the space utilization rate of the device.

[0023] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present utility model and, together with the description, are used to explain the principles of the present utility model.

[0025] Figure 1 This is one of the structural schematic diagrams of a carrier provided by the utility model.

[0026] Figure 2 This is the second structural schematic diagram of a carrier provided by the utility model.

[0027] Figure 3 The utility model is a structural schematic diagram of a clamping positioning device provided by the utility model.

[0028] Figure 4 It is a structural schematic diagram of a base provided by the utility model.

[0029] Figure 5 It is a side structural schematic diagram of a base provided by the utility model.

[0030] Figure 6 It is a schematic diagram of the connection between the second connecting block and the gas slip ring provided by the utility model.

[0031] Description of reference numerals:

[0032] 1. Carrier plate; 2. First mounting plate; 21. First air path interface Ⅰ; 3. Vacuum nozzle; 4. Positioning pin; 5. Pneumatic clamp; 6. Elastic member; 7. Second mounting plate; 71. Third air path interface; 72. Fourth air path interface; 8. First connecting block; 81. First groove; 82. Extension; 83. Second air path passage Ⅰ; ​​84. First air path interface Ⅱ; 85. First air path passage Ⅰ; ​​9. Second connecting block; 91. Protrusion; 92. Accommodating channel; 93. Third groove; 94. First air path passage Ⅱ; 95. Second air path passage Ⅱ; 10. Air slip ring; 101. Stator; 102. Rotor; 103. Total air path interface; 11. Fixing block; 12. DD motor; 13. Third mounting plate. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Techniques and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the techniques and equipment should be considered part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] like Figures 1 to 6 As shown, according to one aspect of the utility model, a clamping and positioning device is provided, comprising: a carrier and a quick-change structure, the carrier is assembled on the quick-change structure; the carrier comprises a carrier plate 1, a first mounting plate 2, a positioning pin 4 and a pneumatic clamp 5, the carrier plate 1 is fixedly mounted on the first mounting plate 2, the carrier plate 1 is used to carry the carried object, the positioning pin 4 is fixed on one side of the carrier plate 1, the pneumatic clamp 5 is movably mounted on the first mounting plate 2, and is located on the other side of the carrier plate 1; a first air path channel is provided inside the quick-change structure, and the first air path channel can be used to move the pneumatic clamp 5 in a direction close to or away from the positioning pin 4.

[0039] Specifically, in the present embodiment, the carrier plate 1 is used to carry the carried object. By arranging the positioning pins 4 on the carrier plate 1, the carried object can be positioned against the positioning pins 4 when placed, thereby improving the positioning accuracy of the carried object. The pneumatic clamp 5 is arranged so that when the carried object is positioned, the pneumatic clamp 5 is moved toward the positioning pin 4 or away from the positioning pin 4, so that the pneumatic clamp 5 can cooperate with the positioning pin 4 to clamp or release the carried object, thereby preventing the carried object from shaking on the carrier plate 1.

[0040] In the above structure, the pneumatic gripper 5 is controlled to move by a pneumatic part, and the driving of the pneumatic part can be achieved by connecting to an air source. In this embodiment, by setting a first air path channel inside the quick-release structure, on the one hand, it is convenient to realize the movement of the pneumatic gripper 5, and on the other hand, when the entire carrier performs actions such as rotation or movement, it can avoid its air path from being affected by the external structure or space limitation, thereby improving the integration and space utilization of the entire setting. Among them, the setting of the quick-release structure facilitates the detachable assembly of the carrier on the external structure, such as assembly on the rotating R axis of the detection equipment, or assembly on the rotating base, thereby improving the adaptability and disassembly efficiency of the carrier.

[0041] In addition, in the above structure, the shape of the carrier plate 1 can be designed according to the actual shape or structure of the object being carried, and the number and location of the positioning pins 4 and the pneumatic clamping jaws 5 can also be designed according to actual needs, and the present application does not impose any restrictions on this. It should be noted that the pneumatic clamping jaws 5 and the positioning pins 4 are usually arranged in pairs, and when the pneumatic clamping jaws 5 approach the direction of the corresponding positioning pins 4, the object being carried is clamped and positioned, and when the pneumatic clamping jaws 5 move away from the direction of the corresponding positioning pins 4, the object being carried is released.

[0042] Alternatively, if Figures 1 to 3 As shown, the clamping and positioning device also includes a pneumatic part, and the pneumatic clamp 5 is movably assembled on the first mounting plate 2 through the pneumatic part. The pneumatic part can be connected to the air source through the first air path to drive the pneumatic clamp 5 to move in a direction close to or away from the positioning pin 4.

[0043] Specifically, the movement of the pneumatic clamp 5 is realized by a pneumatic part, and the pneumatic clamp 5 may include a connecting part and a clamping part. In this embodiment, the connecting part of the pneumatic clamp 5 is installed on the first mounting plate 2 through a pneumatic part, and the clamping part is located at the side of the carrier plate 1. The pneumatic part can push the connecting part to move outward or inward, so that the clamping jaw is opened or clamped. Among them, the pneumatic part can be a needle-shaped cylinder, which has a fast action speed and high precision, and is small in size, simple in structure, and highly adaptable. It is particularly suitable for use in clamping devices such as the pneumatic clamp 5 mentioned in this application.

[0044] Furthermore, in the above structure, the connection between the pneumatic part and the first air path channel can be achieved in the following manner. For example, a first air path interface II84 connected to the first air path channel is provided on the quick-release structure, and a first air path interface I21 connected to the pneumatic part is provided on the first mounting plate 2, and the first air path interface I21 and the first air path interface II84 are connected through a pipeline, and the first air path channel can be connected to an external air source, so that when it is necessary to drive the pneumatic clamp 5 to move, the air source can pass through the first air path channel, the first air path interface II84, and the first air path interface I21 in sequence, and then control the cylinder activity, so as to achieve the purpose of driving the pneumatic clamp 5 to move by the cylinder. Since the entire air path is arranged inside the quick-release structure, and the quick-release structure can rotate synchronously relative to the carrier plate 1 and the first mounting plate 2, when the entire carrier rotates relative to the external structure, the air path can be free from the influence and restriction of the external structure and space.

[0045] Alternatively, if Figures 1 to 3 As shown, a plurality of vacuum suction nozzles 3 are provided on a side of the carrier plate 1 away from the first mounting plate 2; a second air path is also provided inside the quick-change structure, and the plurality of vacuum suction nozzles 3 can be connected to an air source through the second air path to adsorb the carried objects.

[0046] Specifically, in the present embodiment, a plurality of vacuum suction nozzles 3 are further arranged on the carrier plate 1, and a second air path channel for connecting the vacuum suction nozzle 3 is arranged inside the quick-insert structure. On the one hand, the adsorption effect of the vacuum suction nozzle 3 can be realized, so that the carried object can be clamped by the pneumatic clamp 5 and the positioning pin 4, and can also be adsorbed and fixed by the vacuum suction nozzle 3, thereby improving the stability of the entire carrier for fixing the carried object and avoiding the shaking of the carried object during the activity of the carrier. On the other hand, an air source is used as a power source to achieve unity with the power source of the starting clamp, which not only simplifies the structural features for fixing the entire carried object, but also achieves the purpose of avoiding the air path channel from being restricted by the external structure or space, thereby improving the integration and space utilization of the device.

[0047] In one embodiment, the carrier board 1 may be designed with multiple air passages that are connected to each suction nozzle in a one-to-one correspondence. A total interface may be provided in the middle of the carrier board 1 for connecting the second air passage to realize the connection between the air source and the vacuum suction nozzle 3 to realize the vacuum adsorption function. In addition, the carrier board 1 may be assembled on the first mounting plate 2 through the air slip ring 10 to ensure the sealing of the air passage when passing through the carrier board 1 and the first mounting plate 2. A hollow metal block may be provided at the multiple air passages on the carrier board 1, and a suction cup may be provided at the outer end of the metal block to realize the adsorption function.

[0048] Alternatively, if Figure 1 to Figure 2As shown, the carrier further includes an elastic member 6 , both ends of which are connected to the pneumatic clamp 5 and the first mounting plate 2 , respectively. When the pneumatic clamp 5 moves in a direction away from the positioning pin 4 , the elastic member 6 is in a stretched state.

[0049] Specifically, in the present embodiment, the elastic member 6 is provided so that when the pneumatic clamp 5 moves in the direction of the positioning pin 4 and cooperates with the positioning pin 4 to clamp the object, the pneumatic clamp 5 can be pulled by the elastic member 6 to clamp the object, and the tensioning force of the elastic member 6 is relatively small, thereby reducing the risk of damage to the object during the clamping process and improving the safety of the positioning and clamping device.

[0050] Alternatively, if Figures 1 to 3 As shown, a notch is provided at the other side edge of the carrier plate 1 , and the notch is used to accommodate the pneumatic clamping jaw 5 .

[0051] Specifically, Figure 1 to Figure 2 As shown, in this embodiment, the edge of the carrier plate 1 is provided with a notch that can accommodate the pneumatic clamping jaw 5, so that the size of the entire carrier plate 1 is reduced and the occupied space is saved. In addition, the design of the notch plays a certain role in limiting the pneumatic clamping jaw 5, making it more accurately matched with the positioning pin 4.

[0052] Alternatively, if Figures 1 to 3 As shown, two groups of positioning pins 4 and pneumatic clamps 5 are provided. The two groups of positioning pins 4 are respectively provided at two adjacent side edges of the carrier plate 1 , and the two groups of pneumatic clamps 5 are respectively and movably provided at the other two side edges of the carrier plate 1 .

[0053] Specifically, in this embodiment, two groups of positioning pins 4 and pneumatic clamps 5 are provided. The number of positioning pins 4 in each group can be one, two or three, etc., which is specifically set according to the size of the carried object. Two groups of pneumatic clamps 5 are correspondingly provided, that is, one group is arranged opposite to the first group of positioning pins 4, and the other group is arranged opposite to the second group of positioning pins 4, so that the carried object can be positioned and clamped more accurately.

[0054] For example, Figure 1 to Figure 2 As shown, when the carrier plate 1 is rectangular, a group of positioning pins 4 are respectively set at the edges of two adjacent sides, and the pneumatic clamps 5 are correspondingly set at the edges of the other two sides. When clamping the object, the two sides of the object are used as positioning sides, and the positioning pins 4 on both sides of the right-angle side of the carrier are used as retaining edges. Then, the object is adsorbed by the vacuum suction nozzle 3, and then the pneumatic clamps 5 are controlled to move in the direction of the positioning pins 4 to achieve positioning and clamping of the object.

[0055] Alternatively, if Figures 3 to 6As shown, the clamping positioning device also includes a base, and the quick-change structure includes a first connecting block 8 and a second connecting block 9. The first connecting block 8 is fixedly assembled on the first mounting plate 2, and the second connecting block 9 is fixed on the base, and the second connecting block 9 can be plugged into the first connecting block 8.

[0056] Specifically, in this embodiment, the carrier is detachably arranged on the base, and the purpose of quick disassembly is achieved by the mutual insertion of the first connecting block 8 and the second connecting block 9. This design is more convenient for use and maintenance. In addition, when the types of the objects to be carried are different, different types of carriers can be replaced, which reduces the production cost. In addition, the detachable form of the mutual insertion of the first connecting block 8 and the second connecting block 9 allows the carrier to be fixed on the base, improving the stability of the carrier, and at the same time can be quickly disassembled, improving production efficiency.

[0057] Alternatively, if Figures 3 to 6 As shown, the first connecting block 8 is provided with a first groove 81, and the second connecting block 9 is provided with a protrusion 91. The first connecting block 8 and the second connecting block 9 can be inserted into each other through the cooperation of the first groove 81 and the protrusion 91; a second groove is provided on the side wall of the first groove 81, and a receiving channel 92 for accommodating a clip is provided in the protrusion 91. The clip can extend out of or retract into the receiving channel 92 to be interlocked with or separated from the second groove.

[0058] Specifically, in this embodiment, the insertion and disassembly between the first connection block 8 and the second connection block 9 is achieved by the mutual cooperation of the first groove 81 and the protrusion 91. For example, the first groove 81 can be designed as a circular groove structure, and the protrusion 91 can be designed as a cylindrical structure, and the two are respectively arranged at the center of the first connection block 8 and the second connection block 9 to improve the stability of the insertion.

[0059] In addition, when the carrier needs to be placed on the base for use, the clamping member is controlled to extend out of the accommodating channel 92 to engage with the second groove, so that the first connection block 8 and the second connection block 9 can be mutually locked to prevent the first connection block 8 and the second connection block 9 from being separated from each other. When the carrier needs to be replaced, the clamping member can be controlled to retract into the accommodating channel 92 to separate from the second groove, thereby achieving the separation of the first connection block 8 and the second connection block 9. The activity of the clamping member (i.e. extending out of the accommodating channel 92 or retracting into the accommodating channel 92) can be driven by an air source or by other means, and the utility model does not limit this.

[0060] Alternatively, if Figures 3 to 6 As shown, the second connecting block 9 is provided with a third gas path channel and a fourth gas path channel, both of which are connected to the accommodating channel 92 and are respectively used to control the extension or retraction of the clamping member.

[0061] In one embodiment, the third and fourth air channels are provided on the second connection block 9, so that the movement of the clamping member can be driven by an air source, that is, the third and fourth air channels are respectively connected to the accommodating channel 92, so as to adsorb the clamping member so that it can be retracted into the accommodating channel 92, or blow air to the clamping member so that it can be extended out of the accommodating channel 92. The pneumatic drive of the clamping member can be consistent with the drive mode of the vacuum air nozzle and the starting clamp, simplifying the structure of the entire device.

[0062] In one embodiment, the clamping member can be set in the form of a metal ball to facilitate pneumatic driving. The number of metal balls can also be set to be multiple to improve the reliability of locking the first connecting block 8 and the second connecting block 9, and avoid the risk of separation or shaking of the carrier and the base when one clamping member fails.

[0063] Alternatively, if Figures 3 to 6 As shown, the base includes a second mounting plate 7, an air slip ring 10 and a fixed block 11. A plurality of total air path interfaces 103 are provided on the outer wall of the air slip ring 10. The total air path interface 103 is used to connect the air source. The air slip ring 10 includes a rotor 102 and a stator 101. The stator 101 is fixed on the fixed block 11. The second connecting block 9 is fixed on the second mounting plate 7. The second mounting plate 7 is connected to the rotor 102, so that the carrier can rotate relative to the fixed block 11.

[0064] Specifically, in this embodiment, the introduction of the air slip ring 10 enables the interfaces of each air path channel and the air source to be integrated on the side wall of the stator 101 of the air slip ring 10, so that the air paths of the external air source are concentrated in the same place of the device, thereby improving the integration of the device. Among them, multiple total air path interfaces 103 can be connected to the second mounting plate 7 and the second connecting block 9 in sequence from the inside of the air slip ring 10, and connected to the corresponding positions through each air path channel on the second connecting block 9.

[0065] For example, two third gas circuit interfaces 71 and two fourth gas circuit interfaces 72 are respectively provided on the second connection plate, and the two third gas circuit interfaces 71 are respectively connected to the third gas circuit channel and the fourth gas circuit channel on the second connection block 9 to control the movement of the clamping part.

[0066] Through the two fourth gas path interfaces 72, they are respectively connected to the first gas path channel II 94 and the second gas path channel II 95 on the second connection block 9, and then through the first gas path channel II 94 and the second gas path channel II 95, they are respectively connected to the first gas path channel I 85 and the second gas path channel I 83 on the first connection block 8, and then respectively connected to the pneumatic clamping jaws 5 and the vacuum suction nozzle 3, to achieve the clamping effect and the vacuum adsorption effect. Among them, the first gas path channel I 85 and the second gas path channel I 83 on the first connection block 8 can be respectively provided with a plurality of them, and correspondingly, the first gas path channel II 94 and the second gas path channel II 95 on the second connection block 9 can also be provided with a plurality of them, and each first gas path channel I 85 and each first gas path channel II 94 are connected to each other, and each second gas path channel I 83 and each second gas path channel II are connected to each other.

[0067] In the above structure, the entire device has fewer external connection pipes and a complete internal gas path, so that each gas path is unobstructed, the integration of the device is improved, and when the carrier rotates relative to the fixed block 11, the gas path will not be affected by the external structure or space, which improves the applicability and space utilization of the device. Among them, the connection between the rotor 102 of the air slip ring 10 and the second mounting plate 7 can be a direct connection or an indirect connection, and the utility model does not limit this.

[0068] Alternatively, if Figures 3 to 6 As shown, the base also includes a DD motor 12 and a third mounting plate 13. The second mounting plate 7 is fixed on the third mounting plate 13. The third mounting plate 13 is fixed on the DD motor 12 with a hollow structure. The air slip ring 10 passes through the hollow structure and is connected to the third mounting plate 13 through the rotor 102. The DD motor 12 can drive the third mounting plate 13 to rotate.

[0069] Specifically, the DD motor 12 is a direct drive motor that eliminates mechanical structures such as a reducer, has a simpler structure, low loss, and low noise, and is widely used in various industries. The utility model assembles the third mounting plate 13 with the DD motor 12, and the second mounting plate 7 is assembled on the third mounting plate 13, so that when the DD motor 12 rotates, it can drive the third mounting plate 13, the second mounting plate 7, and the second connecting block 9 to rotate. When the carrier is assembled on the entire base, it can drive the carrier to rotate, so as to realize various processing operations of the carried object.

[0070] Alternatively, if Figure 2 and Figure 6 As shown, the mating surfaces of the first connecting block 8 and the second connecting block 9 are respectively provided with a protruding portion 82 and a third groove 93 that can be plugged into each other, so that the first connecting block 8 and the second connecting block 9 can rotate synchronously.

[0071] Specifically, in one embodiment, the first connection block 8 may be provided with a protruding portion 82, and corresponding to the protruding portion 82, the second connection block 9 may be provided with a third groove 93 at a corresponding position, so that the first connection block 8 and the second connection block 9 can be better positioned and assembled during assembly, and after assembly, the carrier can rotate with the rotation of the DD motor 12. Among them, a plurality of protruding portions 82 and third grooves 93 may be provided correspondingly.

[0072] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0073] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A clamping and positioning device, characterized in that: include: A carrier and a quick-change structure, wherein the carrier is assembled on the quick-change structure; The carrier comprises a carrier plate, a first mounting plate, a positioning pin and a pneumatic clamp, wherein the carrier plate is fixedly mounted on the first mounting plate, the carrier plate is used to carry the object, the positioning pin is fixed on one side of the carrier plate, and the pneumatic clamp is movably mounted on the first mounting plate and is located on the other side of the carrier plate; A first air passage is disposed inside the quick-change structure, and the first air passage can be used to move the pneumatic clamp in a direction close to or away from the positioning pin.

2. The clamping and positioning device according to claim 1, characterized in that: It also includes a pneumatic part, through which the pneumatic clamp is movably assembled on the first mounting plate, and the pneumatic part can be connected to an air source through the first air path to drive the pneumatic clamp to move in a direction close to or away from the positioning pin.

3. The clamping and positioning device according to claim 1, characterized in that: The carrier plate is provided with a plurality of vacuum nozzles on a side away from the first mounting plate; A second air path is also provided inside the quick-change structure, and the plurality of vacuum suction nozzles can be connected to an air source through the second air path to adsorb the carried objects.

4. The clamping and positioning device according to claim 1, characterized in that: The carrier further comprises an elastic member, two ends of which are respectively connected to the pneumatic clamp and the first mounting plate, and when the pneumatic clamp moves in a direction away from the positioning pin, the elastic member is in a stretched state.

5. The clamping and positioning device according to claim 1, characterized in that: A notch is arranged at the edge of the other side of the carrier plate, and the notch is used to accommodate the pneumatic clamp.

6. The clamping and positioning device according to claim 1, characterized in that: The positioning pins and the pneumatic clamps are both provided in two groups, the two groups of positioning pins are respectively provided at the two adjacent side edges of the carrier plate, and the two groups of pneumatic clamps are respectively and movably provided at the other two side edges of the carrier plate.

7. The clamping and positioning device according to claim 1, characterized in that: It also includes a base, and the quick-change structure includes a first connecting block and a second connecting block, the first connecting block is fixedly assembled on the first mounting plate, the second connecting block is fixed on the base, and the second connecting block can be plugged into the first connecting block.

8. The clamping and positioning device according to claim 7, characterized in that: The first connection block is provided with a first groove, and the second connection block is provided with a protrusion, and the first connection block and the second connection block can be plugged into each other through the cooperation between the first groove and the protrusion; A second groove is arranged on the side wall of the first groove, and a receiving channel for receiving the clamping member is arranged in the protruding portion. The clamping member can extend out of or retract into the receiving channel to be engaged with or separated from the second groove.

9. The clamping and positioning device according to claim 8, characterized in that: The second connecting block is provided with a third gas path channel and a fourth gas path channel, and the third gas path channel and the fourth gas path channel are both connected to the accommodating channel and are respectively used to control the extension or retraction of the clamping member.

10. The clamping and positioning device according to any one of claims 7 to 9, characterized in that: The base comprises a second mounting plate, an air slip ring and a fixing block, and a plurality of main air path interfaces are arranged on the outer wall of the air slip ring, and the main air path interfaces are used to connect the air source; The air slip ring comprises a rotor and a stator, wherein the stator is fixed on the fixed block, the second connecting block is fixed on the second mounting plate, and the second mounting plate is connected to the rotor so that the carrier can rotate relative to the fixed block.

11. The clamping and positioning device according to claim 10, characterized in that: The base also includes a DD motor and a third mounting plate, the second mounting plate is fixed to the third mounting plate, the third mounting plate is fixed to the DD motor with a hollow structure, the air slip ring passes through the hollow structure and is connected to the third mounting plate through the rotor, and the DD motor can drive the third mounting plate to rotate.

12. The clamping and positioning device according to claim 10, characterized in that: The mating surfaces of the first connecting block and the second connecting block are respectively provided with a protruding portion and a third groove that can be plugged into each other, so that the first connecting block and the second connecting block can rotate synchronously.

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