A three-axis horizontal rotation positioner

Abstract

The utility model discloses a three-axis horizontal rotary positioner, including a rotary frame, on which two groups of single-axis flip tool fixture assemblies are arranged, and the single-axis flip tool fixture assemblies include a left fixed position, a right fixed position, a power unit and a driven unit, the left fixed position includes a main turntable, a left plate, two locking pins 1 and a left positioning pin, the left plate is fixed on the main turntable, a positioning pin circular hole is arranged at the center of the left plate, the left positioning pin is inserted in the positioning pin circular hole, two locking pins 1 are hinged at one end on the left plate, and a pressure plate 1 is threadedly connected at the other end of each locking pin 1, the right fixed position includes a slave turntable, a right plate, two locking pins 2 and a right positioning pin, the right plate is fixed on the slave turntable, an elliptical through groove is arranged at the center of the right plate, the right positioning pin is inserted in the elliptical through groove, one end of two locking pins 2 is hinged on the right plate, and a pressure plate 2 is threadedly connected at the other end of each locking pin 2. This structure realizes the adaptive adjustment and installation of a tool body with a slightly deviated size.

Description

Technical Field

[0001] The utility model belongs to the relevant technical field of air tightness detection fixtures, in particular to a three-axis horizontal rotary positioner. Background Art

[0002] The robot welding tooling station is mainly composed of welding robots and welding positioners. The welding positioner is an indispensable equipment for semi-automatic or fully automatic welding in the welding production of the manufacturing industry. It is classified as a welding auxiliary machine in the welding field. In recent years, welding positioners have made great progress in various equipment manufacturing fields in my country, and have been widely used. The demand is increasing day by day, especially in production occasions where robots are used for automatic welding. The welding positioner has become an indispensable production tool that cooperates with robots.

[0003] However, the existing three-axis positioner, for example, patent number: 202321739412.8, the patent name is an inverted robot welding tooling station, which includes a welding workshop, a welding robot and a three-axis horizontal positioner, the three-axis horizontal positioner includes a rotating frame and two tooling frame fixing positions rotatably fixed on the rotating frame, the tooling frame fixing position includes a welding tool, a set of tooling shaft drive boxes, a set of turntables and a set of zero-point positioning systems; the turntable is connected to the drive shaft of the tooling shaft drive box, and a fixed plate is horizontally installed on the circular surface of the turntable; the welding tool includes a tooling body and fixed ear plates arranged at both ends of the tooling body in the length direction; the chuck of the zero-point positioning system The part is fixed under the fixed ear plate, and the rivet part of the zero-point positioning system is fixed on the fixed plate to realize the connection and disassembly of the welding tool and the tool shaft drive box. However, since the position between the two tool frame fixing positions on the same side of this structure is not adjustable, when processing the tool body (the tool body is a square table), it is necessary to ensure that the length of the tool body can be just stuck on the two zero-point positioning systems. Once the length of the tool body deviates slightly (the tool body is shorter than the actual requirement), it cannot be installed and is scrapped, which ultimately leads to excessively high requirements for the processing accuracy and installation of the tool body. In addition, this structure adopts the zero-point positioning system for positioning and installation, which leads to relatively high cost, so it needs to be improved. Utility Model Content

[0004] The utility model aims to provide a three-axis horizontal rotary positioner, which solves the problem that the existing positioner adopts a zero-point positioning system for positioning and installation, resulting in relatively high cost and excessively high requirements on the processing accuracy and installation of the tooling body.

[0005] In order to solve the above technical problems, the utility model is implemented through the following technical solutions.

[0006] The utility model is a three-axis horizontal rotary positioner, comprising a rotary frame, wherein a group of single-axis flip tool fixture components are respectively arranged at the front and rear of the rotary frame, and each group of single-axis flip tool fixture components comprises a left fixed position, a right fixed position, a power unit for driving the left fixed position to rotate, and a driven unit connected to the right fixed position for rotation. The left fixed position comprises a main turntable, a left plate, two locking pins and a left positioning pin. The left plate is fixed on the main turntable, and a positioning pin circular hole is arranged at the center of the left plate. The left positioning pin penetrates the tool body and then the pin is inserted into the positioning pin circular hole. One end of two locking pins is hinged on the left plate, and the other end of each locking pin is threadedly connected with a pressure plate 1 for pressing one side of the tooling body against the left plate. The right fixed position includes a slave turntable, a right plate, two locking pins 2 and a right positioning pin. The right plate is fixed on the slave turntable, and an elliptical through groove is provided in the center of the right plate. The right positioning pin passes through the tooling body and the pin is inserted in the elliptical through groove. One end of two locking pins 2 is hinged on the right plate, and the other end of each locking pin 2 is threadedly connected with a pressure plate 2 for pressing the other side of the tooling body against the right plate.

[0007] Preferably, for the convenience of operation, the locking pin 2 and the locking pin 1 have the same structure, both including a connecting rod body, a ball joint portion is provided at the bottom of the connecting rod body, and a threaded portion is provided at the top of the connecting rod body, and a corresponding pressure plate is threadedly connected to the threaded portion. The right plate and the left plate are both inverted L-shaped structures, and a notch 1 is provided at the front and back of the transverse plates of the right plate and the left plate, and a rotating shaft is inserted into each notch, and the ball joint portion is inserted outside the rotating shaft and can rotate 180 degrees around the rotating shaft, and when the ball joint portion rotates to the transverse plate of the connecting rod body perpendicular to the right plate and the left plate, a clamp for clamping the tooling body is formed between the corresponding pressure plate above and the corresponding transverse plate.

[0008] Preferably, in order to facilitate driving, the power unit includes a motor 1 and a reducer 1, the output shaft of the motor 1 is connected to the input of the reducer 1, the output shaft of the reducer 1 is connected to the center of the main turntable, the motor 1 and the reducer 1 are fixed on the active frame, the active frame is fixed on the rotating frame, the driven unit includes a driven shaft and a driven frame, the driven shaft is rotatably connected to the driven frame, and the driven frame is fixed on the rotating frame.

[0009] Preferably, in order to ensure that the conductive ring and the conductive friction ring are always in contact and play a conductive role during operation, a conductive component is further provided in the driven frame, and the conductive component includes a conductive ring, a conductive friction ring, a guide column, a bracket and a compression spring. The conductive ring is sleeved outside the driven shaft and rotates synchronously with the driven shaft. The bracket is fixed in the driven frame, and two guide columns are provided on the bracket. One end of the conductive friction ring is slidably connected to the two guide columns, and the other end of the conductive friction ring is provided with an arc groove, and the arc groove contacts with the conductive ring to achieve conductivity. A compression spring with one end abutting against the bracket and the other end abutting against the conductive friction ring is connected outside each guide column, and the compression spring always abuts the conductive friction ring against the conductive ring.

[0010] Preferably, in order to make the structure simpler, it also includes a fixed base and a driving mechanism for driving the rotating frame to rotate, the driving mechanism includes motor 2, reducer 2 and turntable 1, the turntable 1 is rotatably connected to the fixed base, the output shaft of motor 2 is connected to the input of reducer 2, and the output of reducer 2 is connected to turntable 1.

[0011] Preferably, in order to facilitate later maintenance, shielding plates are provided above and below the center of the rotating frame, and a mounting groove is provided inside the rotating frame. The motor 2 and the reducer 2 are installed in the mounting groove, and the output of the reducer 2 passes through the bottom of the mounting groove and is connected to the turntable 1 below. A notch 2 connected to the mounting groove is provided in the center of the upper shielding plate, and a mounting cover for sealing the notch is fixed in front and behind the notch 2 by one or more screws.

[0012] Preferably, in order to provide a safety protection function, safety handrails are provided on both sides of the rotating frame.

[0013] Preferably, the positioning function is realized during the rotation of the rotating frame to ensure that after the rotation is in place, there is always a tooling main body located on the welding station. A limit frame is arranged on the fixed base, and a limit plate is arranged on the left and right sides of the bottom of the rotating frame relative to the turntable one to cooperate with the limit frame to limit the rotation position of the rotating frame.

[0014] The utility model has the following beneficial effects: the entire structure adopts hinged positioning pins and pressure plates to press the tooling body, and there is no need to position and install through a zero-point positioning system, which makes the overall structural cost lower. At the same time, the installation can be adapted according to the tooling body, further reducing the processing accuracy requirements for the tooling body, making the entire assembly simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure of a three-axis horizontal rotation positioner in Example 1 is shown in FIG. Figure 1 ;

[0016] Figure 2 The structure of a three-axis horizontal rotation positioner in Example 1 is shown in FIG. Figure 2 ;

[0017] Figure 3 for Figure 2 Enlarged view of point C;

[0018] Figure 4 The structure of a three-axis horizontal rotation positioner in Example 1 is shown in FIG. Figure 3 ;

[0019] Figure 5 for Figure 4 A magnified image of point A;

[0020] Figure 6 for Figure 4 The enlarged view of point B;

[0021] Figure 7 This is a schematic structural diagram of a three-axis horizontal rotary positioner in Example 1 when the active frame and the driven frame at the front end are separated from other components;

[0022] Figure 8 This is a schematic structural diagram of a three-axis horizontal rotary positioner in Example 1 without an installation cover;

[0023] Fig. 9 This is a schematic diagram of the connection structure between the right side slave turntable and the right plate in Example 1;

[0024] Fig.10 This is a schematic diagram of the connection structure between the locking pin 2 and the pressing plate 2 in Example 1;

[0025] Fig.11 This is a schematic diagram of the connection structure between the right driven shaft and the conductive component in Example 1;

[0026] Fig.12 Schematic diagram of the structure of the conductive component in Example 1.

[0027] Reference numerals:

[0028] Rotating frame 1, left fixed position 2, main rotating disk 201, left plate 202, locking pin 1 203, left positioning pin 204, positioning pin circular hole 205, pressing plate 1 206, right fixed position 3, slave rotating disk 301, right plate 302, locking pin 2 303, right positioning pin 304, elliptical through groove 305, pressing plate 2 306, power unit 4, motor 1 401, reducer 1 402, active frame 403, driven unit 5, driven shaft 501, driven frame 502, connecting rod body 6 , ball joint 7, threaded portion 8, notch 1 9, rotating shaft 10, horizontal plate 11, conductive component 12, conductive ring 121, conductive friction ring 122, guide column 123, bracket 124, compression spring 125, arc groove 126, fixed base 13, driving mechanism 14, motor 2 141, reducer 2 142, turntable 1 143, baffle plate 15, installation groove 16, notch 2 17, screw 18, installation cover 19, safety handrail 20, limit frame 21, limit plate 22. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Example 1

[0031] See also Figure 1-12As shown, a three-axis horizontal rotary positioner disclosed in this embodiment includes a rotary frame 1, and a group of single-axis flip fixture assemblies are respectively provided at the front and rear of the rotary frame 1, and each group of single-axis flip fixture assemblies includes a left fixed position 2, a right fixed position 3, a power unit 4 for driving the left fixed position 2 to rotate, and a driven unit 5 rotatably connected to the right fixed position 3. The left fixed position 2 includes a main turntable 201, a left plate 202, two locking pins 203 and a left positioning pin 204. The left plate 202 is fixed on the main turntable 201, and a positioning pin circular hole 205 is provided at the center of the left plate 202. The left positioning pin 204 passes through the tooling body and then is inserted into the positioning pin circular hole 205. The two locking pins 203 One end is hinged on the left plate 202, and the other end of each locking pin 203 is threadedly connected with a pressure plate 206 that presses one side of the tooling body on the left plate 202. The right fixed position 3 includes a slave rotating disk 301, a right plate 302, two locking pins 2 303 and a right positioning pin 304. The right plate 302 is fixed on the slave rotating disk 301, and an elliptical through groove 305 is arranged at the center of the right plate 302. The right positioning pin 304 penetrates the tooling body and then is inserted into the elliptical through groove 305. One end of the two locking pins 2 303 is hinged on the right plate 302, and the other end of each locking pin 2 303 is threadedly connected with a pressure plate 2 306 that presses the other side of the tooling body on the right plate 302. In this embodiment, a copper ring is arranged in the positioning pin circular hole 205 to clamp the locking pin 1 203.

[0032] Preferably, for the convenience of operation, the locking pin 2 303 and the locking pin 1 203 have the same structure, both including a connecting rod body 6, a ball joint 7 is provided below the connecting rod body 6, a threaded portion 8 is provided above the connecting rod body 6, and a corresponding pressing plate is threadedly connected to the threaded portion 8. The right plate 302 and the left plate 202 are both inverted L-shaped structures, and a notch 9 is provided at the front and rear of the transverse plate 11 of the right plate 302 and the left plate 202, and a rotating shaft is inserted at each notch 9. 10, the ball joint 7 is inserted outside the rotating shaft 10 and can rotate 180 degrees around the rotating shaft 10, and when the ball joint 7 rotates to the horizontal plate 11 of the connecting rod body 6 perpendicular to the right plate 302 and the left plate 202, the corresponding pressure plate above and the corresponding horizontal plate 11 form a clamping opening D for clamping the tooling body. Since the connection structure of the locking pin 1 203 and the pressure plate 1 206 is consistent with the connection structure of the locking pin 2 303 and the pressure plate 2 306, the connection method of the locking pin 1 203 and the pressure plate 1 206 can refer to Fig.10 shown.

[0033] Preferably, for the convenience of driving, the power unit 4 includes a motor 401 and a reducer 402, the output shaft of the motor 401 is connected to the input of the reducer 402, the output shaft of the reducer 402 is connected to the center of the main turntable 201, the motor 401 and the reducer 402 are fixed on the active frame 403, the active frame 403 is fixed on the rotating frame 1, the driven unit 5 includes a driven shaft 501 and a driven frame 502, the driven shaft 501 is rotatably connected to the driven frame 502, the driven frame 502 is fixed on the rotating frame 1, when working, the motor 401 drives the reducer 402 to decelerate and then drives the main turntable 201 to rotate, and synchronously drives the driven shaft 501 to rotate.

[0034] Preferably, in order to ensure that the conductive ring 121 and the conductive friction ring 122 are always in contact and play a conductive role during operation, a conductive component 12 is further provided in the driven frame 502, and the conductive component 12 includes a conductive ring 121, a conductive friction ring 122, a guide column 123, a bracket 124 and a compression spring 125. The conductive ring 121 is sleeved on the outside of the driven shaft 501 and rotates synchronously with the driven shaft 501. The bracket 124 is fixed in the driven frame 502, and two guide columns 123 are provided on the bracket 124. One end of the conductive friction ring 122 is slidably connected to the two guide columns 123. On the other end of the conductive friction ring 122, an arc groove 126 is provided, and the arc groove 126 contacts the conductive ring 121 to realize conductivity. A compression spring 125 with one end abutting against the bracket 124 and the other end abutting against the conductive friction ring 122 is connected to the outer shell of each guide column 123. The compression spring 125 always abuts the conductive friction ring 122 against the conductive ring 121. This structure realizes the conductive effect when the device is working by movably plugging the conductive friction ring 122 on the two guide columns 123 and using the compression spring 125 to always abut the other side of the conductive friction ring 122 against the circumference of the conductive ring 121.

[0035] Preferably, in order to make the structure simpler, it also includes a fixed base 13 and a driving mechanism 14 for driving the rotating frame 1 to rotate, the driving mechanism 14 includes a motor 141, a reducer 142 and a turntable 143, the turntable 143 is rotatably connected to the fixed base 13, the output shaft of the motor 141 is connected to the input of the reducer 142, the output of the reducer 142 is connected to the turntable 143, when working, the motor 141 drives the reducer 142 to decelerate and then drives the turntable 143 to rotate on the fixed base 13, and finally drives the rotating frame 13 to rotate 360 ​​degrees.

[0036] Preferably, in order to facilitate later maintenance, baffle plates 15 are provided at the upper and lower parts of the center of the rotating frame 1, and a mounting groove 16 is provided in the rotating frame 1. The motor 141 and the reducer 142 are installed in the mounting groove 16, and the output of the reducer 142 passes through the bottom of the mounting groove 16 and is connected to the turntable 143 below. A notch 17 connected to the mounting groove 16 is provided in the center of the upper baffle plate 15, and a mounting cover 19 for sealing the notch 17 is fixed by more than one screw 18 in front and behind the notch 17. The mounting cover 19 in this structure is locked on the notch 17 by the screws 18. The mounting cover 19 can be quickly disassembled later to expose the notch 17 for convenient maintenance of the motor 141 and the reducer 142. In order to play a safety protection role, safety handrails 20 are provided on both sides of the rotating frame 1.

[0037] like Figure 2 , Figure 3 As shown, as a preferred embodiment, the positioning function of the rotating frame 1 during rotation is realized to ensure that after the rotation is in place, there is always a tooling body located at the welding station. A limit frame 21 is arranged on the fixed base 13, and a limit piece 22 is arranged on the left and right sides of the bottom of the rotating frame 1 relative to the turntable 143 to cooperate with the limit frame 21 to limit the rotation position of the rotating frame 1. In order to ensure that the rotating frame 1 can rotate left and right, the front and rear single-axis flip tooling fixture assemblies can be rotated to the welding station. When working, Figure 2 As shown, when the limiting plate 22 on the left side contacts the back of the limiting frame 21, it indicates that a group of single-axis flip fixture assemblies at the rear have been rotated to the welding position, and the products on the single-axis flip fixture assemblies at the rear can be welded. As the driving mechanism 14 works, the rotating frame 1 is driven to rotate. When the limiting plate 22 on the right side contacts the front of the limiting frame 21, it indicates that a group of single-axis flip fixture assemblies at the front have been rotated to the welding position, and the products on the single-axis flip fixture assemblies at the front can be welded. Therefore, the limiting plate 22 is provided in cooperation with the limiting frame 21 to realize the limiting effect on the rotation position of the rotating frame 1.

[0038] The specific working principle of this structure is as follows: first, rotate the locking pin 1 203 and the right locating pin 304 on each set of single-axis flip fixture assembly downward, then place the left side of the fixture body on the left plate 202, and place the right side of the fixture body on the right plate 302, and ensure that the through hole on the left side of the fixture body is aligned with the locating pin circular hole 205, and the right side of the fixture body is aligned with the elliptical through groove 305, and insert the left locating pin 204 through the through hole on the left side of the fixture body into the locating pin circular hole 205, and insert the right locating pin 304 through the through hole on the right side of the fixture body into the elliptical through groove 305, and rotate the locking pins 1 203 and the locking pins 2 303 on both sides to be located above the fixture body, and by pressing the corresponding pressure plate 1 20 6 and the pressure plate 206 rotate downward, the tool body is pressed between the left plate 202 and the right plate 302. At this time, since the elliptical through groove 305 is elliptical, if the size of the tool body is deviated (too short), the position of the right locating pin 304 in the elliptical through groove 305 can be appropriately adjusted to solve the problem of unsuccessful assembly due to the deviation of the size of the tool body causing the installation position to be not in place. The entire structure uses a hinged locating pin to cooperate with the pressure plate to press the tool body, and there is no need to position and install through the zero-point positioning system, which makes the overall structural cost lower. At the same time, the installation can be adapted according to the tool body, further reducing the processing accuracy requirements for the tool body, making the entire assembly simpler.

[0039] The above are only preferred embodiments of the present invention and do not limit the present invention. Any modification to the technical solutions recorded in the aforementioned embodiments and any equivalent replacement of some of the technical features therein, any modification, equivalent replacement, and improvement made are all within the protection scope of the present invention.

Claims

1. A three-axis horizontal rotary positioner, comprising a rotary frame (1), wherein a set of single-axis turning fixture assemblies are respectively arranged at the front and rear of the rotary frame (1), characterized in that: Each set of single-axis flip fixture assembly comprises a left fixed position (2), a right fixed position (3), a power unit (4) for driving the left fixed position (2) to rotate, and a driven unit (5) connected to the right fixed position (3) for rotation. The left fixed position (2) comprises a main turntable (201), a left plate (202), two locking pins (203) and a left positioning pin (204). The left plate (202) is fixed on the main turntable (201). A positioning pin circular hole (205) is provided at the center of the left plate (202). The left positioning pin (204) penetrates the fixture body and is inserted into the positioning pin circular hole (205). One end of the two locking pins (203) is hinged on the left plate (202). At the center of each locking pin (203), a locking pin (203) is provided. The other end is threadedly connected to a pressure plate 1 (206) for pressing one side of the tooling body onto the left plate (202); the right fixed position (3) comprises a slave turntable (301), a right plate (302), two locking pins 2 (303) and a right positioning pin (304); the right plate (302) is fixed on the slave turntable (301); an elliptical through groove (305) is provided at the center of the right plate (302); the right positioning pin (304) penetrates the tooling body and is inserted into the elliptical through groove (305); one end of the two locking pins 2 (303) is hinged on the right plate (302); the other end of each locking pin 2 (303) is threadedly connected to a pressure plate 2 (306) for pressing the other side of the tooling body onto the right plate (302).

2. A three-axis horizontal rotary positioner according to claim 1, characterized in that: The locking pin 2 (303) and the locking pin 1 (203) have the same structure, both comprising a connecting rod body (6), a ball joint (7) is provided below the connecting rod body (6), a threaded portion (8) is provided above the connecting rod body (6), a corresponding pressing plate is threadedly connected to the threaded portion (8), the right plate (302) and the left plate (202) are both inverted L-shaped structures, and the transverse plates (11) of the right plate (302) and the left plate (202) are A notch (9) is provided at the front and rear, and a rotating shaft (10) is inserted into each notch (9). The ball joint (7) is inserted outside the rotating shaft (10) and can rotate 180 degrees around the rotating shaft (10). When the ball joint (7) rotates to the horizontal plate (11) of the connecting rod body (6) perpendicular to the right plate (302) and the left plate (202), a clamping opening D for clamping the tooling body is formed between the corresponding pressure plate above and the corresponding horizontal plate (11).

3. A three-axis horizontal rotary positioner according to claim 1 or 2, characterized in that: The power unit (4) comprises a motor (401) and a reducer (402), wherein the output shaft of the motor (401) is connected to the input of the reducer (402), and the output shaft of the reducer (402) is connected to the center of the main turntable (201). The motor (401) and the reducer (402) are fixed on an active frame (403), and the active frame (403) is fixed on the rotating frame (1). The driven unit (5) comprises a driven shaft (501) and a driven frame (502), and the driven shaft (501) is rotatably connected to the driven frame (502), and the driven frame (502) is fixed on the rotating frame (1).

4. A three-axis horizontal rotary positioner according to claim 3, characterized in that: A conductive component (12) is also arranged in the driven frame (502), and the conductive component (12) includes a conductive ring (121), a conductive friction ring (122), a guide column (123), a bracket (124) and a compression spring (125). The conductive ring (121) is sleeved outside the driven shaft (501) and rotates synchronously with the driven shaft (501). The bracket (124) is fixed in the driven frame (502). Two guide columns (123) are arranged on the bracket (124). One end of the electric friction ring (122) is slidably connected to two guide pillars (123); the other end of the conductive friction ring (122) is provided with an arc groove (126); the arc groove (126) contacts the conductive ring (121) to achieve conduction; a compression spring (125) is connected to the outer shell of each guide pillar (123); one end of the compression spring (125) is against the bracket (124) and the other end is against the conductive friction ring (122); the compression spring (125) always presses the conductive friction ring (122) against the conductive ring (121).

5. A three-axis horizontal rotary positioner according to claim 1 or 2, characterized in that: The invention also comprises a fixed base (13) and a driving mechanism (14) for driving the rotating frame (1) to rotate, wherein the driving mechanism (14) comprises a second motor (141), a second reducer (142) and a first turntable (143), wherein the first turntable (143) is rotatably connected to the fixed base (13), an output shaft of the second motor (141) is connected to an input of the second reducer (142), and an output of the second reducer (142) is connected to the first turntable (143).

6. A three-axis horizontal rotary positioner according to claim 5, characterized in that: The center of the rotating frame (1) is provided with shielding plates (15) above and below, and a mounting groove (16) is provided in the rotating frame (1). The second motor (141) and the second reducer (142) are installed in the mounting groove (16), and the output of the second reducer (142) passes through the bottom of the mounting groove (16) and is connected to the first turntable (143) below. A second notch (17) connected to the mounting groove (16) is provided in the center of the upper shielding plate (15), and a mounting cover (19) for sealing the notch (17) is fixed by one or more screws (18) at the front and rear of the second notch (17).

7. A three-axis horizontal rotary positioner according to claim 6, characterized in that: Safety handrails (20) are arranged on both sides of the rotating frame (1).

8. The three-axis horizontal rotary positioner according to claim 5, characterized in that: A limiting frame (21) is arranged on the fixed base (13), and a limiting piece (22) is arranged on both sides of the bottom of the rotating frame (1) relative to the left and right sides of the rotating disk (143) for cooperating with the limiting frame (21) to limit the rotation position of the rotating frame (1).

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