TWI830569B - Clamping and positioning device and method thereof - Google Patents

Abstract

A clamping and positioning device includes a carrier and a lifting mechanism. The carrier includes a clamping mechanism for clamping an object. The lifting mechanism is arranged on one side of the carrier, wherein when the lifting mechanism lifts up and pushes against the clamping mechanism, the clamping mechanism is pushed away to a release position to release the object; when the lifting mechanism descends, the clamping mechanism returns to a clamping position to clamp the object.

Description

Clamping and positioning device and method

The present invention relates to a positioning device, and in particular to a clamping and positioning device and a method thereof.

In traditional automated production lines, there are still slight gaps in the product in the carrier. During the transfer process of the carrier or physical contact in the workstation, the product may be displaced/tilted, and when the product crosses As the products become smaller and smaller, the assembly accuracy becomes higher and higher, and the product geometry is beautiful, the planes become fewer and smaller, and other factors, it is difficult to improve the assembly yield.

The present invention relates to a clamping and positioning device and a method thereof to improve the assembly yield.

According to one aspect of the present invention, a clamping and positioning device is proposed, which includes a carrier and a lifting mechanism. The carrier includes a clamping mechanism, and the clamping mechanism is used to clamp an object. The lifting mechanism is provided on one side of the carrier to position the carrier. The lifting mechanism rises, the lifting mechanism presses against the clamping mechanism, and the clamping mechanism is pushed to a release position to release the object; lifting The mechanism descends, and the clamping mechanism returns to a clamping position to clamp the object.

According to one aspect of the present invention, a clamping and positioning method is proposed, including the following steps. An object is placed on a carrier. The carrier includes a clamping mechanism, and the clamping mechanism is used to clamp the object. The carrier is moved to a workstation. The workstation is provided with a lifting mechanism, and the lifting mechanism is arranged on one side of the carrier. Among them, the jacking mechanism rises, the jacking mechanism presses against the clamping mechanism, and the clamping mechanism is pushed to a release position to release the object; the jacking mechanism descends, and the clamping mechanism resets to a clamping position to clamp the object. the object.

In order to have a better understanding of the above and other aspects of the present invention, examples are given below and are described in detail with reference to the accompanying drawings:

100: Clamping and positioning device

101:Object

102:Production line

103: Direction

104:Workstation

110:Vehicle

111: Clamping mechanism

112:Plywood assembly

113:Roller

114:Clamp

1141:arm

1142:Block

1143: Upper part

115:Slide rail

116:Reply

117:Block

118:Vacuum suction cup

119: base body

1191:First part

1192:Second part

1193:The first opening

1194: First receiving tank

1195:Second trench

1196: Second accommodation slot

1197: The second opening

1198: The second upper opening

1199: The first time you speak

120: Jacking mechanism

121: Airtight components

122: Vacuum components

123:Suction nozzle

124: Tracheal joint

125:Sealing ring

126:First elastic member

127:First body

128:First positioning rod

130: Positioning component

132: Rod

134:Top

136:Second elastic member

137:Second body

138:Second positioning rod

B: Bump

C: Air chamber

P: Positioning hole

P1: end

1291:Top surface

1292: Incline

1293: Bottom

1271:First hollow part

1371:Second hollow part

1272: First positioning slot

1372: Second positioning slot

150:Platform

151:Opening

Figure 1 shows a schematic diagram of a clamping and positioning device and a workstation according to an embodiment of the present invention; Figure 2A shows a schematic diagram of a clamping and positioning device according to an embodiment of the present invention; Figures 2B and 2C respectively illustrate a clamping and positioning device according to an embodiment of the present invention. An exploded schematic diagram of a carrier and a lifting mechanism according to an embodiment of the invention; Figure 3 shows a schematic diagram of the lifting mechanism moving upward to the first height (i.e., the carrier positioning position) and positioning the carrier using the positioning component; Figure 4 shows The schematic diagram showing that the jacking mechanism continues to move upward to the second height (i.e., the negative pressure establishment position) and uses air-tight components to establish a negative pressure air chamber; Figure 5 shows that the jacking mechanism continues to move upward to the third height (i.e., the carrier Claw opening position), a schematic diagram of using an inclined surface to push up the clamping mechanism to open the claws; Figures 6A and 6B respectively illustrate the closing claws of the clamping mechanism according to an embodiment of the present invention. and a top view of the opening claw; Figures 7A and 7B respectively illustrate a schematic side view of the clamping and positioning device according to an embodiment of the present invention; Figure 8 illustrates a cross-section of the carrier and the clamping claw after assembly according to an embodiment of the present invention. Schematic diagram; Figure 9 shows a schematic diagram of the lifting mechanism moving downward to the second height (i.e., the carrier claw position); Figure 10 shows a schematic diagram of the lifting mechanism continuing to move downward to the first height (i.e., the negative pressure cancellation position) schematic diagram; and Figure 11 shows the schematic diagram of the lifting mechanism continuing to move downward to the initial height (i.e., the positioning cancellation position).

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments that can be easily understood by a person with ordinary skill in the art shall fall within the scope of protection of this application. The following description uses the same/similar symbols to indicate the same/similar components.

Please refer to Figures 1, 2A, 2B and 2C. Figure 1 illustrates a schematic diagram of the clamping and positioning device 100 and the workstation 104 according to an embodiment of the present invention. Figure 2A illustrates a clamping device 100 and a workstation 104 according to an embodiment of the present invention. Schematic assembly diagram of the positioning device 100. Figures 2B and 2C respectively illustrate the carrier 110 and the lifting mechanism according to an embodiment of the present invention. 120 decomposition diagram. The operation process of the clamping and positioning device 100 and the detailed action relationships between the components will be described in subsequent content and drawings. Currently, Figures 2A to 2C only illustrate the structure and position of each component.

As shown in Figure 1, the carrier 110 is placed on a production line 102, and the production line 102 is used to drive the carrier 110 to move along a direction 103. A plurality of workstations 104 are disposed on one side of the production line 102 to sequentially perform at least one automated process on the objects clamped on the carrier 110 . Generally speaking, the production line 102 is driven by, for example, a belt or a roller, and the workstation 104 is disposed on one side of the production line 102 . Every time the carrier 110 arrives at a workstation 104, the carrier 110 must be positioned first, and then at least one process is performed on the object 101. Common processes include, for example, feeding, unloading, cleaning, gluing, pressurizing, gluing and other steps. In order to prevent the clamped objects from being displaced, tilted or offset during the manufacturing process, each workstation 104 of the production line 102 is preferably provided with a lifting mechanism 120 for positioning the carrier 110 and performing subsequent operations.

As shown in Figures 2A and 2B, the carrier 110 may include a base 119 (carrier) and a clamping structure (clamping structure) 111 disposed on opposite sides of the base 119. The object 101 may be disposed on the base 119 and The clamping mechanism 111 clamps. The clamping mechanism 111 includes two blocks 117, two gripper assemblies 112 and two return pieces 116. The two blocks 117 are respectively provided on both sides of the base 119 to block the displacement of the two gripper assemblies 112. Restoring parts 116 (such as springs) are respectively disposed between the clamping plate assembly 112 and the stopper 117 to provide the clamping plate assembly 112 with a restoring force, so that the clamping plate assembly 112 can be in the clamping position (as shown in Figure 6A) and the release position (as shown in Figure 6B) ). Each splint assembly 112 includes an upper part 1143, a connecting upper part The clamping jaws 114 of 1143, and the roller 113 disposed between the clamping jaws 114. In more detail, the clamping jaw 114 includes two arms 1141 , and the roller 113 is pivoted between the two arms 1141 . The splint assembly 112 may also include a block 1142 and a slide rail 115 located within the block 1142. The block 1142 is disposed within the two plywood assemblies 112. For example, the block 1142 is connected to the upper part 1143 and is located between the two arms 1141. When the slide rail 115 is disposed on the base 119 and extends along the X-X direction and is connected to the corresponding stopper 117, the two splint assemblies 112 move back and forth in the X-axis direction through the slide rail 115.

The base 119 includes a second component 1192 and a first component 1191 located above the second component 1192 . The first component 1191 includes a first upper opening 1193, a first lower opening 1199, and two first receiving grooves 1194 located on opposite sides of the first upper opening 1193 and the first lower opening 1199. The top surface of the first component 1191 is provided with a first upper opening 1193 for accommodating the object 101. The bottom surface of the first component 1191 is provided with a first lower opening 1199. The first lower opening 1199 and the first upper opening 1193 are connected to each other. The first receiving groove 1194 is used to receive the two clamping jaw assemblies 112 (for example, the upper portion 1143 of the two clamping jaw assemblies 112) respectively.

The top surface of the second component 1192 includes two second grooves 1195 and a second upper opening 1198 located between the two second grooves 1195. The bottom surface of the second component 1192 includes a second lower opening 1197, and the second upper opening 1198 is smaller than the second upper opening 1198. There are two lower openings 1197, and the top surface of the second component 1192 also includes two pairs of second receiving grooves 1196. The two pairs of second receiving grooves 1196 are arranged on both sides of the second upper opening 1198 and are symmetrically arranged. In more detail, a second groove 1195 is provided between each pair of second receiving grooves 1196, and the second receiving grooves 1196 are connected to the second lower opening 1197. Therefore, the clamping claws of the two clamping plate components 112 114 (for example, the two arms 1141) are accommodated in two pairs of second receiving grooves 1196, and the roller 113 is rotatably disposed in the second lower opening 1197 (see Figure 8). In addition, the two slide rails 115 of the two plywood components 112 can be disposed in the two second grooves 1195 of the second component 1192, and the two plywood components 112 can move along the X-axis direction through the slide rails 115, so that the clamping jaws 114 are in There is room for movement in the X-axis direction.

In addition, the second upper opening 1198 of the second component 1192 further includes an air chamber C. It is worth noting that the first upper opening 1193, the first lower opening 1199, the second upper opening 1198 and the second lower opening 1197 are connected with each other.

The second component 1192 also includes two positioning holes P, which are disposed on opposite sides of the second upper opening 1198, so that the two positioning holes P and the two pairs of second receiving grooves 1196 are disposed around the second upper opening 1198. The two positioning holes P are formed by The bottom surface of the second component 1192 extends along the Z-axis direction. That is to say, one end P1 of the two positioning holes P is located on the bottom surface of the second component 1192, allowing the positioning component 130 to be described later to be positioned in the positioning hole P. The diameter of the two positioning holes P is slightly smaller than the outer diameter of the rod 132 of the positioning assembly 130 .

As shown in FIGS. 2A and 2C , the lifting mechanism 120 may include a platform 150 (platform), an airtight assembly 121 (airtight assembly) and at least one positioning assembly 130 (positioning assembly) disposed on the platform 150 . The positioning components 130 are located on opposite sides of the airtight component 121 . The airtight component 121 includes a first body 127, a vacuum component 122, a first elastic member 126 (such as a spring) and at least a first positioning rod 128. The first body 127 includes a first hollow portion 1271 and at least one first positioning groove 1272 and is disposed on the platform 150 . The first elastic member 126 is sleeved on the vacuum component 122 and abuts between the vacuum component 122 and the platform 150 between. vacuum group The member 122 and the first elastic member 126 are jointly accommodated in the first hollow portion 1271 of the first body 127 . The first positioning rod 128 passes through the first positioning groove 1272 to position the vacuum assembly 122 at the first hollow portion 1271 of the first body 127 .

The vacuum assembly 122 also includes a suction nozzle 123, a sealing ring 125 and a tracheal joint 124. The suction nozzle 123 and the sealing ring 125 are disposed on the top of the vacuum assembly 122. The sealing ring 125 can be used to seal one side of the second upper opening 1198 (for example, an air pipe). Room C). The air pipe joint 124 is provided at the bottom of the vacuum assembly 122 . The vacuum assembly 122 also includes a vacuum suction cup 118 (see FIG. 2B ). The vacuum suction cup 118 is disposed on the carrier 110 and below the object 101 to fix the object 101 . More specifically, the vacuum suction cup 118 is disposed at the first lower opening 1199 of the first component 1191 , so the vacuum assembly 122 can use the vacuum suction cup 118 , the suction nozzle 123 , the sealing ring 125 and/or the tracheal joint 124 to control the object. 101 for positioning.

In addition, as shown in Figures 2A and 2C, the first body 127 has a top surface 1291 and two inclined surfaces 1292 located on opposite sides of the top surface 1291. The first hollow portion 1271 extends from the top surface 1291 of the first body 127 to the The bottom surface 1293 of a body 127 and the first hollow part 1271 are connected with the opening 151 of the platform 150 so that the external air pipe (not shown) can be connected to the air pipe joint through the first hollow part 1271 and the opening 151 124.

Furthermore, as shown in Figures 2A and 2C, the positioning component 130 includes a second body 137, a rod 132, a second elastic member 136 (such as a spring), and at least a second positioning rod 138. The second body 137 includes a second hollow portion 1371 and at least one second positioning groove 1372 and is disposed on the platform 150 , and the second elastic member 136 It is sleeved on the rod 132 and abuts between the rod 132 and the platform 150 . The rod member 132 and the second elastic member 136 are jointly accommodated in the second hollow portion 1371 of the second body 137 . The second positioning rod 138 passes through the second positioning groove 1372 to position the rod 132 in the second hollow portion 1371 of the second body 137 . The number of positioning components 130 is not limited to two, and may also be one or more. The top 134 of the rod 132 can extend into the positioning hole P described in FIG. 2B to position the carrier 110 .

Please refer to Figures 3 to 5, Figures 6A and 6B, Figures 7A and 7B. Figure 3 shows that the lifting mechanism 120 moves upward to the first height (i.e., the carrier positioning position) and uses the positioning component 130 to position the carrier 110 Figure 4 shows a schematic diagram of the lifting mechanism 120 continuing to move upward to the second height (i.e., the negative pressure establishment position), and using the vacuum assembly 122 to establish a negative pressure air chamber; Figure 5 shows a schematic diagram of the lifting mechanism 120 continuing to move upward Move to the third height (i.e., the carrier's claw opening position), and use the inclined surface 1292 to push the clamping mechanism 111 to open its claws; Figures 6A and 6B respectively illustrate the clamping mechanism 111 according to an embodiment of the present invention. (Clamp assembly 112) A top view of the closing claw and the opening claw. Figures 7A and 7B respectively illustrate a schematic side view of the clamping and positioning device 100 according to an embodiment of the present invention. As shown in Figures 3 to 5, 6A and 6B, 7A and 7B, the positions of the carrier 110 and the lifting mechanism 120 correspond to each other. Please refer to the following for detailed operation instructions.

As shown in Figures 3, 6A and 7A, when the object 101 is placed on the carrier 110 and clamped by the clamping plate assembly 112 of the clamping mechanism 111, the lifting mechanism 120 is driven by a driver (such as a motor or The linear slide rail) moves upward along the Z-Z direction to the carrier positioning position. At this time, the platform 150 is driven to drive the first body 127 and the second body 137 on the platform 150 to the first height, the top of the rod 132 134 can extend into the two positioning holes P of the carrier 110 (see Figure 3) to position the carrier 110. The second positioning rod 138 is located at the first position of the second positioning groove 1372, and the second elastic member 136 Not compressed. In addition, the suction nozzle 123 of the airtight assembly 121 can extend into the air chamber C of the carrier 110 , but the sealing ring 125 has not yet contacted the periphery of the air chamber C. That is to say, the sealing ring 125 of the airtight assembly 121 has not yet been completely sealed with the air chamber C at the bottom of the carrier 110 . At this time, the first positioning rod 128 is located at the first position of the first positioning groove 1272, and the first elastic member 126 is not compressed.

Then, as shown in FIG. 4 , when the lifting mechanism 120 continues to move upward to the second height, the rod 132 of the positioning assembly 130 cannot continue to move upward due to pressing against the carrier 110 and compresses the second elastic member 136 . The elastic member 126 is not compressed. The platform 150 is driven to drive the first body 127 and the second body 137 on the platform 150 to rise from the first height (see Figure 3) to the second height (see Figure 4), and the first positioning rod 128 and the second positioning rod 138 is located at the second position relative to the first positioning groove 1272 and the second positioning groove 1372, so that the sealing ring 125 of the airtight component 121 and the air chamber C of the carrier 110 are completely in tight contact. At this time, the vacuum component 122 is used to evacuate the air in the air chamber C, so that a negative pressure (for example, less than 1 atmosphere) is formed inside the air chamber C. Therefore, the vacuum suction cup 118 connected to the air chamber C can absorb the object 101 to prevent the object 101 from being displaced.

The object 101 can be temporarily fixed on the carrier 110 through the cooperation of the vacuum component 122 , and at the same time, the object 101 can be more firmly fixed on the carrier 110 by clamping the object 101 through the clamping mechanism 111 . In the above situation, the carrier 110 and the object 101 have been positioned, and the workstation 104 can perform an automated process on the object 101 on the carrier 110 . If the clamping mechanism 111 wants to open the clamping jaw 114, the steps shown in Figure 5, Figure 6B and Figure 6B can be performed. After completing the claw opening step in Figure 7B, return to the claw closing step in Figure 4. If you want to move the carrier 110 to the next workstation 104, you only need to re-input air into the air chamber C, the vacuum suction cup 118 releases the object 101, and then lower the lifting mechanism 120 to the initial position.

Since the production line 102 is driven by belts or rollers 113, it is prone to instability or vibration during the transportation of the carrier 110. Therefore, the object 101 must still be clamped by the clamping mechanism 111. This can prevent the object 101 from being displaced or vibrated during the transportation process. Tilt or offset.

As shown in Figure 5, Figure 6B and Figure 7B, when the clamping jaw 114 needs to be opened, the lifting mechanism 120 continues to move upward along the Z-Z direction to the third height, and the rod 132 of the positioning assembly 130 is pressed against the carrier. 110 cannot continue to move upward and continue to compress the second elastic member 136, and the vacuum component 122 of the airtight component 121 is also unable to continue to move upward and compress the first elastic member 126 because it resists the carrier 110. The platform 150 continues to be driven to drive the first body 127 and the second body 137 on the platform 150 to rise from the second height (see Figure 4) to the third height (see Figure 5), the first positioning rod 128 and the second positioning rod 128. The rod 138 is located at the third position relative to the first positioning groove 1272 and the second positioning groove 1372, and both the first elastic member 126 and the second elastic member 136 are compressed. At this time, the two inclined surfaces 1292 of the first body 127 can respectively touch the bottom of the clamping mechanism 111 (ie, the rollers 113 of each clamping plate assembly 112), so that each clamping claw 114 is pushed from the clamping position (see Figure 6A). Open to the release position (see Figure 6B). When the clamping mechanism 111 closes the clamping jaws 114, the lifting mechanism 120 drops to the carrier closing jaw position in Figure 9, and the two inclined surfaces 1292 Move away from the two plywood assemblies 112 to return the two plywood assemblies 112 to the clamping position (refer to Figure 6A).

As shown in Figures 5, 6A and 6B, since the object 101 is still adsorbed and fixed on the carrier 110 by the vacuum suction cup 118, even if the two plywood components 112 are pushed apart by the inclined plane 1292 and the object 101 is released, the object 101 Still no shifting, tilting or deflection. At the same time, the edge of the object 101 is exposed because the two plywood components 112 are pushed apart by the bevel 1292. Therefore, an automated process (such as cleaning or gluing) can be performed on the edge (or frame) of the object 101. After completing the process, the lifting mechanism 120 drops to the second height (ie, the carrier claw closing position), and the two clamping plate assemblies 112 are reset to clamp the object 101 again.

Please refer to Figure 5, Figure 6A and Figure 6B. Each slope 1292 includes a first position H1 and a second position H2. The height of the first position H1 is higher than the height of the second position H2. When each roller 113 rolls from the first position H1 to the second position H2 of the slope 1292, the clamping plate assembly 112 is pushed from a clamping position to a release position; when each roller 113 rolls from the second position H2 to the first In position H1, the clamping plate assembly 112 is reset from the release position to the clamping position. Therefore, when the lifting mechanism 120 rises or falls, the roller 113 can correspondingly contact the inclined surface 1292, so that the roller 113 rolls along the inclined surface 1292 to open or close the claws of the clamping mechanism 111.

Please refer to Figures 9, 10 and 11. Figure 9 shows a schematic diagram of the lifting mechanism 120 moving downward to the second height (i.e., the carrier claw position). Figure 10 shows a schematic diagram of the lifting mechanism 120. A schematic diagram of continuing to move downward to the first height (i.e., the negative pressure cancellation position). Figure 11 shows that the lifting mechanism 120 continues to move downward to the initial position. Schematic diagram of height (i.e. positioning cancellation position). In Figure 9, when the lifting mechanism 120 moves downward to a carrier claw position, the platform 150 is driven to drive the first body 127 and the second body 137 on the platform 150 to descend from the third height (Figure 5). When reaching the second height (Fig. 9), the first positioning rod 128 and the second positioning rod 138 are in the second position relative to the first positioning groove 1272 and the second positioning groove 1372, and the two clamping plate components 112 are reset from the release position to the clamping position. Hold position. Next, in Figure 10, when the lifting mechanism 120 continues to move downward to a negative pressure cancellation position, the platform 150 is driven to drive the first body 127 and the second body 137 on the platform 150 from the second height (th 9) drops to the first height (Fig. 10), the first positioning rod 128 and the second positioning rod 138 are in the first position relative to the first positioning groove 1272 and the second positioning groove 1372, and the airtight assembly 121 cancels the air Room C has negative pressure. Then, in Figure 11, the lifting mechanism 120 continues to move downward to a positioning cancellation position, and the platform 150 is driven to drive the first body 127 and the second body 137 on the platform 150 from the first height (Figure 10) When descending to an initial height lower than the first height (FIG. 11), the positioning assembly 130 cancels the positioning carrier 110.

The operation process of the clamping and positioning device and its method according to the above embodiment of the present invention includes raising the lifting mechanism after the carrier is in place (refer to Figure 2A), positioning the carrier (refer to Figure 3), and establishing a negative pressure air chamber (refer to Figure 4), the clamping mechanism opens the claws (refer to Figures 5, 6B, and 7B). When the lifting mechanism subsequently descends, the operating procedures are: the clamping mechanism closes the claws (refer to Figure 9), cancels Negative pressure air chamber (refer to Figure 10), cancel positioning (refer to Figure 11), etc., since each workstation has its own independent lifting mechanism under the production line, so only the carrier can be moved to the next workstation. In addition, during the lifting process of the lifting mechanism, the airtight component and the positioning component continue to push against the carrier through the contraction of the elastic member. The subsequent clamping mechanism can open the clamping claws to meet the needs of the corresponding process in the workstation. If the process does not require it, the jaws can not be opened, so that the jaws can continue to be clamped during work. In addition, when the product is fed into the carrier or unloaded from the carrier, the jaws need to be opened to achieve the action, so the open jaws can be Determine whether to open the claws according to the needs of the workstation. Since the airtight components and positioning components are both installed on the platform of the jacking mechanism, as long as the jacking mechanism is adjusted to rise/fall, the vehicle positioning/claw opening/resetting work can be completed, making the operation more convenient and thus improving the efficiency of the vehicle. Product assembly yield.

In summary, although the present invention has been disclosed above through embodiments, they are not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention belongs can make various modifications and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the appended patent application scope.

100: Clamping and positioning device

101:Object

110:Vehicle

111: Clamping mechanism

112:Plywood assembly

113:Roller

114:Clamp

115:Slide rail

116:Reply

117:Block

118:Vacuum suction cup

119: base body

1197: The second opening

120: Jacking mechanism

122: Vacuum components

123:Suction nozzle

125:Sealing ring

127:First body

132: Rod

134:Top

137:Second body

138:Second positioning rod

1292: Incline

150:Platform

C: Air chamber

Claims (12)

A clamping and positioning device includes: a carrier, including a clamping mechanism used to clamp an object; and a lifting mechanism provided on one side of the carrier to position the carrier , wherein the lifting mechanism rises, the lifting mechanism presses against the clamping mechanism, and the clamping mechanism is pushed to a release position to release the object; the lifting mechanism descends, and the clamping mechanism resets to a clamping position. The holding position is used to hold the object, wherein the holding mechanism further includes two blocks, two return pieces and two splint assemblies arranged in sequence. The two blocks are respectively provided on both sides of the carrier to block The displacement of the two plywood assemblies, the two return pieces are respectively disposed between the two plywood assemblies and the two blocks to provide the restoring force of the two plywood assemblies, so that the two plywood assemblies can be in the clamping position and the release position. Convert between. The clamping and positioning device of claim 1, wherein the lifting mechanism includes a platform and an airtight component disposed on the platform. The airtight component includes a first body, a vacuum component, and a first elastic member. And a first positioning rod, the first body is provided on the platform and includes a first hollow part and a first positioning groove, the first elastic member is sleeved on the vacuum component and abuts between the vacuum component and the platform space, and the vacuum component and the first elastic member are disposed in the first hollow part of the first body, and the first positioning rod is disposed on the vacuum component through the first positioning slot to position the vacuum component Within the first body, when the platform is driven by a When the first body is driven to rise, the vacuum component presses against the carrier and compresses the first elastic member. The clamping and positioning device of claim 2, wherein the vacuum component includes a suction nozzle and a sealing ring, the carrier includes an air chamber located below the object, and when the lifting mechanism rises, the suction nozzle extends into In the air chamber, the sealing ring is used to seal the air chamber. The clamping and positioning device of claim 3, wherein the vacuum component further includes a vacuum suction cup, which is disposed in the carrier and located below the object. The vacuum suction cup is connected to the air chamber. When the air in the air chamber Being pulled away by the vacuum component, a negative pressure is formed inside the air chamber, and the vacuum component absorbs the object through the vacuum suction cup. The clamping and positioning device of claim 2, wherein the first body has a top surface and two inclined surfaces located on opposite sides, the two inclined surfaces are correspondingly provided below the clamping mechanism, and each of the inclined surfaces includes a first A position and a second position, the height of the first position is higher than the height of the second position, the clamping mechanism includes two clamping plate assemblies, each of the clamping plate assemblies includes a roller; wherein, when each of the rollers moves from the third When one position rolls to the second position, the two plywood assemblies are pushed from the clamping position to the release position; wherein, when each of the rollers rolls from the second position to the first position, the two plywood assemblies Return from the release position to the clamping position. The clamping and positioning device of claim 5, wherein the carrier includes a base, the base includes a first component and a second component disposed below the first component, the first component includes two opposite The first receiving groove, the second component includes two opposite second receiving grooves, each of the splint components includes an upper part and a connecting part connected to the upper part. A clamping jaw at the bottom, the clamping jaw includes two arms, the roller is disposed between the two arms, and each of the first receiving groove and the two second receiving grooves are used to receive the upper part and the two of each clamping claw. arm. The clamping and positioning device of claim 1, wherein the lifting mechanism includes a platform and at least one positioning component provided on the platform, the positioning component includes a second body, a rod, a second elastic component, and A second positioning rod, the second body is provided on the platform and has a second hollow part and a second positioning groove, the second elastic member is sleeved on one end of the rod and abuts on the rod and the Between the platforms, the rod and the second elastic member are disposed in the second hollow part, and the second positioning rod is disposed on the rod through the second positioning groove to position the rod in the second position. In the body, when the platform is driven to raise the second body, the rod abuts the carrier and compresses the second elastic member. A clamping and positioning method includes: placing an object on a carrier, the carrier including a clamping mechanism for clamping the object; and arranging a lifting mechanism on one side of the carrier ; Among them, when the lifting mechanism rises, the lifting mechanism presses against the clamping mechanism, and the clamping mechanism is pushed to a release position to release the object; when the lifting mechanism descends, the clamping mechanism The mechanism is reset to a clamping position to clamp the object. When the lifting mechanism moves upward from an initial height to a first height, a positioning component is used to position the carrier; Wherein, when the lifting mechanism moves upward from the first height to a second height, an airtight component is used to establish a negative pressure air chamber. The clamping and positioning method as described in claim 8, wherein when the lifting mechanism moves upward from the second height to a third height, the clamping mechanism is pushed open by the airtight component, and the clamping mechanism moves from the clamping Move the holding position to the release position. The clamping and positioning method of claim 9, wherein when the lifting mechanism moves downward from the third height to the second height, the clamping mechanism is reset from the release position to the clamping position. The clamping and positioning method of claim 10, wherein when the lifting mechanism moves downward from the second height to the first height, the airtight component cancels the negative pressure. The clamping and positioning method of claim 11, wherein when the lifting mechanism moves downward from the first height to the initial height, the positioning component cancels positioning of the carrier.

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