An internal expanding positioning and clamping device comprise a guide sleeve and a positioning device, wherein the guide sleeve comprises a sleeve and a flange part, a sleeving hole is formed in the sleeve, a through hole is formed in the center axis of the flange part, the sleeve is connected with the flange part, the sleeving hole is coaxially communicated with the through hole, a plurality of pin holes are formed at intervals in the circumferential wall of the flange part and perpendicular to the center axis of the flange part, and the pin holes are respectively communicated with the through hole; the positioning device comprises a screwing threaded rod, a steel ball and a plurality of positioning pins, the steel ball is contained in the through hole, the screwing threaded rod penetrates through the sleeving hole, the screwing-in end of the screwing threaded rod stretches into the through hole and is pressed on the steel ball in an abutting-against mode, the positioning pins penetrates through the pin holes respectively, a first end of each positioning pin is in a wedge shape and provided with a wedged face, the first ends of the positioning pins stretch into the through hole, the wedged faces support the steel ball, and the second ends of the positioning pins are pushed through the steel ball to move along the outside of the flange part, so that the screwing threaded rod can abut against the wall of an inner hole of a component when the screwing threaded rod is screwed down.