An annular pneumatic positioning system and method

Abstract

This invention relates to a ring-shaped pneumatic positioning system and method. The positioning system includes a base plate, a ring-shaped platform mounted on the base plate, and a pneumatic tray disposed inside the ring-shaped platform. The product to be inspected is placed inside the pneumatic tray. The inner wall of the ring-shaped platform is provided with several first telescopic tubes, and the base plate is provided with several second telescopic tubes. Both the first and second telescopic tubes are connected to a control component and have several throttling orifices. Both the first and second telescopic tubes are connected to an air supply component. The first and second telescopic tubes drive the movement of the pneumatic tray through extension and retraction. This invention allows the product inside the pneumatic tray to move freely within the ring-shaped pneumatic positioning system, without contact between the positioning system and the product, avoiding damage to the product surface caused by clamping. Furthermore, it uses pollution-free gas, offers high flexibility, and requires no large amounts of electricity or mechanical energy, making it energy-saving and environmentally friendly.

Description

Technical Field

[0001] This invention relates to the field of positioning system technology, and in particular to a ring-shaped pneumatic positioning system and method. Background Technology

[0002] With the development of society, whether it is the manufacturing of large equipment, instruments and meters, or the process and manufacturing of micro products such as semiconductors, more and more attention is being paid to the precision of the products. However, the inspection of finished products and the periodic calibration of instruments and meters during use are even more important for precision. The precision of the equipment determines the accuracy of the inspection, which in turn determines the competitiveness with peers. However, the inspection process of precision instruments cannot be separated from precision positioning devices and systems.

[0003] Most existing positioning systems are contact-based, using grippers or other positioning components to fix the product to be inspected at the inspection position. However, the hard contact between the positioning component and the product can easily damage the product's surface. Alternatively, products can be fixed at the processing position using adhesives, but adhesives or other sticky substances can easily remain on the product's surface, affecting surface accuracy. At the same time, the moving device often uses multi-axis positioning, requiring multiple sets of motion mechanisms to work together. This requires power and generates friction during movement, which reduces the moving accuracy to some extent.

[0004] Therefore, there is a need for a ring pneumatic positioning system that is non-contact with the product, has high movement accuracy, and is energy-saving and environmentally friendly. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a ring-shaped pneumatic positioning system and method.

[0006] The technical solution of this invention is as follows:

[0007] A ring-shaped pneumatic positioning system includes a base plate, a ring-shaped platform disposed on the base plate, and a pneumatic tray disposed inside the ring-shaped platform. A product to be inspected is placed inside the pneumatic tray. The inner wall of the ring-shaped platform is provided with several first telescopic tubes that move radially along the ring-shaped platform. The base plate is provided with several second telescopic tubes that move axially along the ring-shaped platform. Both the first and second telescopic tubes are connected to a control component for controlling their extension and retraction. Each of the first and second telescopic tubes has several throttling orifices at its end near the pneumatic tray, and each of the first and second telescopic tubes is connected to a gas supply component at its end away from the pneumatic tray. The extension and retraction of the first and second telescopic tubes drive the movement of the pneumatic tray. A first air film is formed between the first telescopic tube and the pneumatic tray, and a second air film is formed between the second telescopic tube and the pneumatic tray.

[0008] As a further improvement of the present invention, the first telescopic tubes are arranged in an array on the inner wall; the second telescopic tubes are arranged in an array on the base plate.

[0009] As a further improvement of the present invention, the distance between the first air film and the second air film is 8-12 μm.

[0010] As a further improvement of the present invention, the pneumatic tray includes a bottom surface and a plurality of side surfaces disposed at the edge of the bottom surface, and the cross-section of the pneumatic tray is a regular polygon.

[0011] As a further improvement of the present invention, the number of the sides is the same as the number of the first telescopic tubes per revolution.

[0012] As a further improvement of the present invention, the number of the first telescopic tubes in each loop is 36, and the cross-section of the pneumatic tray is a regular 36-sided polygon.

[0013] As a further improvement of the present invention, the inner surface of the annular platform includes a plurality of regions distributed along the vertical direction; the number of the first telescopic tubes in at least one of the regions is different from the number of the first telescopic tubes in other regions.

[0014] As a further improvement of the present invention, the gas supply assembly includes a gas source, a pipeline splitter, a main gas supply pipe connecting the gas source and the pipeline splitter, and a plurality of gas supply branch pipes; one end of the gas supply branch pipe is connected to the pipeline splitter, and the other end is connected to the first telescopic pipe or the second telescopic pipe; a gas control valve is provided on the main gas supply pipe.

[0015] As a further improvement of the present invention, the inner wall is provided with an annular grating and a sensor for detecting the position of the pneumatic tray.

[0016] A positioning method, comprising:

[0017] S1: Place the product to be tested in the pneumatic tray, place the pneumatic tray into the annular stage, and support the pneumatic tray on the second telescopic tube.

[0018] S2: Open the air supply assembly, the first telescopic tube and the second telescopic tube release gas through the throttle orifice at the same time, the second air film lifts the pneumatic tray, and proceed to step S4; or open the air supply assembly, the second telescopic tube releases gas through the throttle orifice, the second air film lifts the pneumatic tray, and proceed to step S3.

[0019] S3: After the pneumatic tray stabilizes, the first telescopic tube releases gas through the throttle orifice;

[0020] S4: The control component controls the extension of the first telescopic tube to fix the pneumatic tray;

[0021] S5: The control component controls the extension or retraction of the first and second telescopic tubes, driving the pneumatic tray and product to move to the designated position.

[0022] As a further improvement of the present invention, in step S5, the control component independently controls all the first telescopic tubes and all the second telescopic tubes.

[0023] According to the above-described solution, the beneficial effects of this invention are as follows:

[0024] This invention provides a ring-shaped pneumatic positioning system and method, which enables products in a pneumatic tray to move freely within the ring-shaped pneumatic positioning system along with the pneumatic tray. The positioning system does not contact the product, avoiding damage to the product surface caused by clamping. Furthermore, the system uses pollution-free gas, is highly flexible, and does not require a large amount of electricity or mechanical energy, making it energy-saving and environmentally friendly. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of the present invention from a first angle;

[0026] Figure 2 This is a structural schematic diagram of the invention from a second angle;

[0027] Figure 3 This is a cross-sectional view of the structure of the annular platform of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the first telescopic tube of the present invention;

[0029] Figure 5 This is a graph showing the relationship between the air pressure released from the throttling orifice, the air film thickness, and the load-bearing capacity of the present invention.

[0030] In the diagram: 1. Base plate; 2. Circular platform; 3. Pneumatic tray; 4. First telescopic pipe; 5. Second telescopic pipe; 6. Throttling orifice; 71. Air source; 72. Pipeline distributor; 73. Main air supply pipe; 74. Branch air supply pipe. Detailed Implementation

[0031] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0034] See Figure 1-4This invention provides a ring-shaped pneumatic positioning system, including a base plate 1, a ring-shaped platform 2 disposed on the base plate 1, and a pneumatic tray 3 disposed inside the ring-shaped platform 2. The product to be inspected is placed inside the pneumatic tray 3. The inner wall of the ring-shaped platform 2 is provided with several first telescopic tubes 4 that move radially along the ring-shaped platform 2. The base plate 1 is provided with several second telescopic tubes 5 that move axially along the ring-shaped platform 2. Both the first and second telescopic tubes 4 and 5 are connected to a control component for controlling their extension and retraction. Each of the first and second telescopic tubes 4 and 5 has several throttling holes 6 at the end near the pneumatic tray 3. Preferably, the first and second telescopic tubes 4 and 5 have the same structure. The ends of both the first and second telescopic tubes 4 and 5 away from the pneumatic tray 3 are connected to a gas supply component. The telescopic tube 5 drives the pneumatic tray 3 to move via airflow. A first air film is formed between the first telescopic tube 4 and the pneumatic tray 3, which positions the pneumatic tray 3 horizontally. A second air film is formed between the second telescopic tube 5 and the pneumatic tray 3, which provides upward load-bearing force to the pneumatic tray 3. This invention can move the pneumatic tray 3 by extending and retracting the first telescopic tube 4 and the second telescopic tube 5, allowing the product inside the pneumatic tray 3 to move freely within the annular pneumatic positioning system. The positioning system does not contact the product, and the product is placed directly inside the pneumatic tray 3. There are no other fixing parts between the product and the pneumatic tray 3, avoiding damage to the product surface caused by clamping. Furthermore, it uses gas to provide thrust, resulting in no pollution, high flexibility, and no need for large amounts of electricity and mechanical energy, making it energy-saving and environmentally friendly.

[0035] Preferably, the first telescopic tubes 4 are arranged in an array on the inner wall; the second telescopic tubes 5 are arranged in an array on the base plate 1; the pneumatic tray 3 includes a bottom surface and several side surfaces disposed at the edge of the bottom surface. Through the arrayed first telescopic tubes 4, multiple first air films are formed between them and the pneumatic tray 3, providing multi-directional thrust to the pneumatic tray 3. The thrust in multiple directions works together to clamp and fix the pneumatic tray 3, thereby achieving horizontal positioning of the pneumatic tray 3; the end faces of all the second telescopic tubes 5 near the pneumatic tray 3 are parallel to the bottom surface of the pneumatic tray 3, and a second air film is formed between each second telescopic tube 5 and the pneumatic tray 3. All the second air films form a whole, providing upward load-bearing force to the pneumatic tray 3. When the pneumatic tray 3 needs to rise, the control component controls the second telescopic tubes 5 to extend. When the pneumatic tray 3 needs to descend, the control component retracts the second telescopic tube 5. When the pneumatic tray 3 needs to move, the first telescopic tube 4 extends when the angle between the provided airflow direction and the required movement direction of the pneumatic tray 3 is less than 90°, thus increasing the thrust on the pneumatic tray 3 in the required movement direction. Conversely, when the angle between the provided airflow direction and the required movement direction of the pneumatic tray 3 is greater than 90°, the first telescopic tube 4 retracts, thus reducing the resistance on the pneumatic tray 3 in the required movement direction. At this time, the first telescopic tube does not extend or retract when the angle between the provided airflow direction and the required movement direction of the pneumatic tray 3 is equal to 90°, thus ensuring that the pneumatic tray 3 is in dynamic equilibrium under the force perpendicular to the direction of movement. The movement control of the pneumatic tray 3 is achieved through the extension or retraction of the first telescopic tube 4.

[0036] Scenario 1: When the pneumatic tray 3 needs to move to the right, the control component controls the first telescopic tube 4 located on the left side of the pneumatic tray 3 to extend, the first telescopic tube 4 located on the right side of the pneumatic tray 3 to retract, and the first telescopic tube 4 located in front of and behind the pneumatic tray 3 to remain unchanged, allowing for linear movement.

[0037] Scenario 2: When the pneumatic tray 3 needs to move to the right and forward, the control component controls the first telescopic tube 4 located on the left and rear of the pneumatic tray 3 to extend, and the first telescopic tube 4 located on the right and front of the pneumatic tray 3 to retract, which can perform linear or curved movement.

[0038] The pneumatic tray 3 can move linearly, or in a curved line, or in a broken line, or in any other regular or irregular motion within the ring table 2. These motions are controlled by a combination of the above two scenarios.

[0039] Preferably, the cross-section of the pneumatic tray 3 is a regular polygon, and the gas released by the first telescopic tube 4 acts on the plane of the regular polygon, which can not only achieve a better pushing effect, but also facilitate the data processing of the control components; the array arrangement of the first telescopic tube 4 can be adopted in various ways:

[0040] Method 1: The number of first telescopic tubes 4 in each ring is the same, preferably 36; and the number on the side is the same as the number of first telescopic tubes 4 in each ring, that is, the cross-section of the pneumatic tray 3 is a regular 36-sided polygon;

[0041] Method 2: The inner surface of the annular platform 2 includes several regions distributed vertically; the number of first telescopic tubes 4 in at least one region differs from the number of first telescopic tubes 4 in other regions. Taking a pneumatic pallet 3 with a cross-section of a regular 36-sided polygon and the inner surface of the annular platform 2 divided into three regions as an example, the number of first telescopic tubes 4 in region 1 is 36, the number of first telescopic tubes 4 in region 2 is 37, and the number of first telescopic tubes 4 in region 3 is 38, and the number of first telescopic tubes 4 in the three regions is different; or the number of first telescopic tubes 4 in region 1 is 36, the number of first telescopic tubes 4 in region 2 is 37, and the number of first telescopic tubes 4 in region 3 is 36, with only one... The number of first telescopic tubes 4 in one area is different from the number in other areas. When there are many areas, the number of first telescopic tubes 4 in each area can be different, or the number of first telescopic tubes 4 in some areas can be the same, while the number of first telescopic tubes 4 in other areas can be different. Any combination can be used. There is no mutual relationship or influence between the areas. By setting different numbers of first telescopic tubes 4 in different areas, it can be applied to pneumatic pallets 3 of various polygonal shapes. By selecting areas with an equal number of first telescopic tubes 4 and side panels, precise movement and positioning can be performed. Alternatively, areas with unequal numbers of first telescopic tubes 4 and side panels can be selected to enable the pneumatic pallet 3 to turn in the ring pneumatic positioning system.

[0042] Preferably, the air supply assembly includes an air source 71, a pipe splitter 72, a main air supply pipe 73 connecting the air source 71 and the pipe splitter 72, and several branch air supply pipes 74. One end of each branch air supply pipe 74 is connected to the pipe splitter 72, and the other end is connected to either the first telescopic pipe 4 or the second telescopic pipe 5. The air source 71 supplies air to all the first telescopic pipes 4 and all the second telescopic pipes 5. The gas output from the air source 71 enters the pipe splitter 72 through the main air supply pipe 73. The pipe splitter 72 divides the gas into several equal parts, which are then fed into the first telescopic pipes 4 and the second telescopic pipes 5 respectively through the branch air supply pipes 74, ensuring that the air pressure output from all the first telescopic pipes 4 and the second telescopic pipes 5 is the same. While ensuring that the distance between all the first telescopic pipes 4 located in the same loop and the pneumatic tray 3 is the same, each first... The telescopic tube 4 applies the same thrust to the pneumatic tray 3, resulting in uniform force on the pneumatic tray 3 in all directions. This ensures the stability of the first air film and maintains the dynamic balance of the pneumatic tray 3. Similarly, when all the second telescopic tubes 5 are at the same distance from the pneumatic tray 3, each second telescopic tube 5 applies the same thrust to the pneumatic tray 3. The pneumatic tray 3 experiences a uniform upward thrust, ensuring the stability and uniformity of the second air film. This guarantees the stability of the pneumatic tray 3 and prevents it from tilting. The use of a main-distribution air supply assembly ensures the stability of the cooperation between the first telescopic tube 4, the second telescopic tube 5, and the pneumatic tray 3. This not only guarantees the accurate positioning and stability of the pneumatic tray 3 in the annular pneumatic positioning system but also facilitates precise control of the movement of the pneumatic tray 3.

[0043] See Figure 5 The magnitude of the air pressure and the thickness of the air film both affect the load-bearing capacity. Preferably, the main air supply pipe 73 is equipped with an air control valve, which can adjust the air pressure output by the air source 71 according to the usage requirements, thereby adjusting the air pressure of all the first telescopic pipes 4 and the second telescopic pipes 5, so that the pneumatic tray 3 is in the optimal positioning state and the movement of the pneumatic tray 3 is smooth. This avoids insufficient thrust on the pneumatic tray 3 due to too low an air pressure, or excessive pressure on the pneumatic tray 3 due to too high an air pressure, which could cause damage to the pneumatic tray 3. Preferably, the distance between the first air films is 8-12 μm, with an optimal distance of 10 μm; the distance between the second air films is 8-12 μm, with an optimal distance of 10 μm.

[0044] Preferably, the control components include simulation software, a controller, and a drive device. The drive device can be a motor and lead screw slider structure, a motor and gear rack structure, a cylinder, hydraulic cylinder, electric cylinder, or any other type of drive structure. Preferably, the drive device can adopt a one-to-one control method, that is, one drive device controls one first telescopic tube 4 or a second telescopic tube 5, or a group control method, that is, one drive device controls a group of first telescopic tubes 4 or a group of second telescopic tubes 5, or any other type of control method, as long as the pneumatic tray 3 can move to any position in the annular pneumatic positioning system.

[0045] Preferably, the inner wall is provided with an annular grating and sensor for detecting the position of the pneumatic tray 3, which can monitor the position of the pneumatic tray 3 in the annular pneumatic positioning system in real time, thereby facilitating the control of the first telescopic tube 4 and the second telescopic tube 5, so that the pneumatic tray 3 can move to the designated position under the push of gas as needed.

[0046] A positioning method, comprising:

[0047] S1: Place the product to be tested in the pneumatic tray 3, place the pneumatic tray 3 into the annular stage 2, and support the pneumatic tray 3 on the second telescopic tube 5.

[0048] S2: Open the air supply assembly, the first telescopic pipe 4 and the second telescopic pipe 5 release gas through the throttle hole 6 at the same time, the second air film lifts the pneumatic tray 3, and proceed to step S4; or open the air supply assembly, only the second telescopic pipe 5 releases gas through the throttle hole 6, the first telescopic pipe 4 does not release gas, the second air film lifts the pneumatic tray 3, and proceed to step S3.

[0049] S3: After the pneumatic tray 3 stabilizes or reaches the set time, the first telescopic tube 4 releases gas through the throttle hole 6;

[0050] S4: The sensor detects the position of the pneumatic tray 3, the control component calculates the distance that the first telescopic tube 4 needs to extend, and controls the first telescopic tube 4, which is at the same level as the pneumatic tray 3, to extend the calculated distance and fix the pneumatic tray 3.

[0051] S5: The control component independently controls each first telescopic tube 4 to extend or retract according to the requirements, driving the pneumatic tray 3 to move in the horizontal direction. At the same time, it independently controls each second telescopic tube 5 to extend or retract, or controls the second telescopic tubes 5 in groups to extend or retract, driving the pneumatic tray 3 to move in the vertical direction, thereby driving the products in the pneumatic tray 3 to move to the designated position.

[0052] In summary, this invention provides a ring-shaped pneumatic positioning system and method. The system utilizes a first telescopic tube 4 and a second telescopic tube 5 to extend and retract, moving the pneumatic tray 3. This allows the product inside the pneumatic tray 3 to move freely within the ring-shaped pneumatic positioning system. The positioning system does not contact the product, and the product is placed directly within the pneumatic tray 3. There are no other fixing components between the product and the pneumatic tray 3, avoiding damage to the product surface caused by clamping. Furthermore, the system uses gas to provide thrust, resulting in no pollution, high flexibility, and energy efficiency, eliminating the need for large amounts of electricity and mechanical energy. The first telescopic tube... The 4 tubes are arranged in an array to provide multi-directional thrust to the pneumatic tray 3. The thrust from multiple directions works together to clamp and fix the pneumatic tray 3, thus achieving horizontal positioning of the pneumatic tray 3. The air supply assembly with a main-distribution structure ensures the stability of the cooperation between the first telescopic tube 4 and the second telescopic tube 5 and the pneumatic tray 3. This not only ensures the accurate positioning and stability of the pneumatic tray 3 in the ring pneumatic positioning system, but also facilitates precise control of the movement of the pneumatic tray 3. Through the ring grating and sensors, the position of the pneumatic tray 3 in the ring pneumatic positioning system can be monitored in real time.

[0053] It should be emphasized that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A ring-shaped pneumatic positioning system, characterized in that, The device includes a base plate (1), an annular platform (2) mounted on the base plate (1), and a pneumatic tray (3) disposed inside the annular platform (2). The product to be tested is placed in the pneumatic tray (3). The inner wall of the annular platform (2) is provided with several first telescopic tubes (4) that move radially along the annular platform (2). The base plate (1) is provided with several second telescopic tubes (5) that move axially along the annular platform (2). Both the first telescopic tubes (4) and the second telescopic tubes (5) are connected to control the extension and retraction of the first telescopic tubes (4) and the second telescopic tubes (5). The control component has several throttling holes (6) at the end of the first telescopic tube (4) and the second telescopic tube (5) near the pneumatic tray (3). The ends of the first telescopic tube (4) and the second telescopic tube (5) away from the pneumatic tray (3) are connected to a gas supply component. The first telescopic tube (4) and the second telescopic tube (5) drive the pneumatic tray (3) to move by telescoping. A first air film is formed between the first telescopic tube (4) and the pneumatic tray (3), and a second air film is formed between the second telescopic tube (5) and the pneumatic tray (3).

2. The annular pneumatic positioning system according to claim 1, characterized in that, The first telescopic tube (4) is arranged in an array on the inner wall; the second telescopic tube (5) is arranged in an array on the base plate (1).

3. The annular pneumatic positioning system according to claim 1, characterized in that, The distance between the first air film and the second air film is 8-12 μm.

4. The annular pneumatic positioning system according to claim 1, characterized in that, The pneumatic tray (3) includes a bottom surface and several side surfaces disposed at the edge of the bottom surface, and the cross-section of the pneumatic tray (3) is a regular polygon.

5. The annular pneumatic positioning system according to claim 4, characterized in that, The number of the sides is the same as the number of the first telescopic tubes (4) per revolution.

6. The annular pneumatic positioning system according to claim 5, characterized in that, The number of the first telescopic tubes (4) per revolution is 36, and the cross-section of the pneumatic tray (3) is a regular 36-sided polygon.

7. The annular pneumatic positioning system according to claim 4, characterized in that, The inner surface of the annular platform (2) includes several regions distributed along the vertical direction; the number of the first telescopic tubes (4) in at least one of the regions is different from the number of the first telescopic tubes (4) in other regions.

8. The annular pneumatic positioning system according to claim 1, characterized in that, The gas supply assembly includes a gas source (71), a pipeline splitter (72), a main gas supply pipe (73) connecting the gas source (71) and the pipeline splitter (72), and several gas supply branch pipes (74); one end of the gas supply branch pipe (74) is connected to the pipeline splitter (72), and the other end is connected to the first telescopic pipe (4) or the second telescopic pipe (5); a gas control valve is provided on the main gas supply pipe (73).

9. The annular pneumatic positioning system according to claim 1, characterized in that, The inner wall is provided with an annular grating and a sensor for detecting the position of the pneumatic tray (3).

10. A positioning method based on the annular pneumatic positioning system as described in claim 1, characterized in that, The positioning method includes: S1: Place the product to be tested in the pneumatic tray (3), place the pneumatic tray (3) into the ring stage (2), and support the pneumatic tray (3) on the second telescopic tube (5); S2: Open the gas supply assembly, the first telescopic tube (4) and the second telescopic tube (5) release gas through the throttle hole (6) at the same time, the second air film lifts the pneumatic tray (3), and proceed to step S4; or open the gas supply assembly, the second telescopic tube (5) releases gas through the throttle hole (6), the second air film lifts the pneumatic tray (3), and proceed to step S3. S3: After the pneumatic tray (3) is stable, the first telescopic tube (4) releases gas through the throttle hole (6); S4: The control component controls the first telescopic tube (4) to extend and fix the pneumatic tray (3); S5: The control component controls the extension or retraction of the first telescopic tube (4) and the second telescopic tube (5), thereby moving the pneumatic tray (3) and the product to the designated position.

11. The positioning method according to claim 10, characterized in that, In step S5, the control component independently controls all the first telescopic tubes (4) and all the second telescopic tubes (5).

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