A positioner
By designing an independent braking device in the positioner, the accuracy and lifespan issues caused by the integration of tilting drive and braking were resolved, resulting in higher drive reliability and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- STUAA
- Filing Date
- 2025-06-27
- Publication Date
- 2026-07-31
AI Technical Summary
The existing positioner integrates the flip drive and braking functions on the same motor, which results in compromised drive accuracy and service life, and the brake function is limited, failing to meet the enterprise's need for safe braking.
The braking device is designed specifically for braking, independent of the overturning drive device. It performs overturning and braking actions separately by setting up a braking drive gear and a braking driven gear. It uses a power failure brake to achieve power-off locking and reduce rotation speed.
It improves the accuracy and reliability of the positioner's flip drive, extends its service life, and enhances the flexibility and safety of braking control.
Smart Images
Figure CN224575018U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of automatic welding equipment, specifically, it relates to a positioner. Background Technology
[0002] With the vigorous promotion of robotic welding technology in enterprises, more and more companies are beginning to use flexible robotic welding systems to weld workpieces. Positioners, as an effective device to expand the application range of robots, are widely used. Consequently, the issue of positioner motion protection is receiving increasing attention from enterprises. Currently, the common approach is to utilize the braking function built into the positioner motor to achieve power-off braking.
[0003] However, the integrated brake of the positioner motor can negatively impact its driving accuracy and lifespan. Specifically: the rotating drive gear, providing both driving and braking functions, is prone to damage to its tooth surface and root, negatively affecting its accuracy and lifespan; similarly, the rotating reducer, also providing both driving and braking functions, is susceptible to damage to its internal planetary gears and spindle, negatively impacting its driving accuracy and lifespan. Furthermore, due to the limitations of the positioner motor's main functions and spatial structure, the integrated brake function is limited and cannot fully meet the safety braking requirements of enterprises. Summary of the Invention
[0004] This utility model provides a positioner that, by setting up a dedicated braking device, ensures the accuracy of the flipping drive, improves the reliability and braking safety of the positioner, and extends its service life.
[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A positioner includes a base, a position adjusting component, a tilting device, a tilting arm, and a braking device; The position adjustment component is connected to the base and is adjustable in height and / or longitudinal position relative to the base; The flipping device is connected to the position adjusting component and includes a flipping drive module and a flipping transmission assembly; the flipping drive module is connected to the flipping transmission assembly. The tilting arm is connected to the tilting transmission assembly and can be driven by the tilting drive module to rotate on a fixed axis in the vertical plane. The braking device is connected to the position adjusting member and includes a braking module and a braking transmission assembly; the braking transmission assembly is connected to the braking module and the tilting arm respectively, and is used to forcibly control the tilting arm to stop rotating.
[0006] In some specific embodiments, the flip transmission assembly includes a flip driving gear and a flip driven gear; the flip driving gear is connected to the flip drive module; The braking transmission assembly includes a braking active gear and a braking passive gear; the braking active gear is connected to the braking module; the tilting passive gear and the braking passive gear share a tilting support, which is rotatably connected to the position adjustment component and fixedly connected to the tilting arm.
[0007] In some specific embodiments, the flip drive module includes a flip drive motor and a flip reducer connected to the flip drive motor; the flip reducer is connected to the flip drive gear. The braking module includes a power-off brake and a brake reducer connected thereto; the power-off brake locks up when power is off; the brake reducer is connected to the brake drive gear and is used to reduce the rotational speed of the power-off brake when the tilting arm rotates.
[0008] In some specific embodiments, the flip drive motor, the flip reducer, the power failure brake, and the brake reducer are respectively fixedly connected to the position adjustment component; The flipping drive gear and the braking drive gear are located on both sides of the flipping support and are symmetrical with respect to the center of the flipping support.
[0009] In some specific embodiments, the flipping drive gear and the braking drive gear are equal-diameter, equal-tooth cylindrical gears.
[0010] In some specific embodiments, the power-off brake is an electromagnetic power-off brake.
[0011] In some specific embodiments, the tilting arm includes a connector, which is a plate structure; A plurality of first through holes are formed along the circumference of the flip support; the connector is formed with second through holes corresponding to the positions of the first through holes; the first through holes and the second through holes are connected by screws, so that the flip support and the connector are fixedly connected.
[0012] In some specific embodiments, it also includes a frame and a lifting device; the frame is fixedly connected to the base; the lifting device includes a lifting drive module and a lifting transmission assembly; The lifting drive module includes a lifting drive motor, which is fixedly connected to the frame; the lifting transmission assembly includes a lifting screw and a lifting internal thread component; the lifting screw is rotatably connected to the frame and connected to the shaft of the lifting drive motor; the lifting internal thread component is threadedly connected to the lifting screw and connected to the position adjustment component.
[0013] In some specific embodiments, a longitudinal adjustment device is also included, which includes a longitudinal drive module and a longitudinal transmission assembly; the longitudinal drive module includes a longitudinal drive motor, which is fixedly connected to the lifting internal thread component; the longitudinal transmission assembly includes a longitudinal lead screw and a longitudinal internal thread component; the longitudinal lead screw is connected to the shaft of the longitudinal drive motor and threadedly connected to the longitudinal internal thread component; the longitudinal internal thread component is fixedly connected to the position adjustment component.
[0014] In some specific embodiments, it further includes a first slider and a second slider; the frame is provided with a first guide rail that is vertically adapted to the sliding installation of the first slider; a second guide rail is formed on the first slider that is adapted to the sliding installation of the second slider; The first slider is slidably mounted on the first guide rail; the lifting internal thread component and the longitudinal drive module are respectively fixedly connected to the first slider; the second slider and the longitudinal internal thread component are respectively fixedly connected to the position adjustment component; the second slider is slidably connected to the second guide rail.
[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows: The positioner of this utility model separates the flipping device and the braking device, so that the flipping drive and the braking control are executed by different structures. This solves the problem of loss of drive accuracy when the flipping drive is used to perform braking at the same time in the prior art, improves the reliability of the positioner and extends its service life; and the separate braking device performs separate braking control, which improves the flexibility and reliability of braking control, thereby improving the safety of the positioner. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the positioner proposed in this utility model; Figure 2 This is a top view of an embodiment of the positioner proposed in this utility model; Figure 3 This is a partial perspective structural diagram of the flip drive module of an embodiment of the positioner proposed in this utility model; Figure 4 This is a partial perspective structural diagram of the braking drive module of an embodiment of the positioner proposed in this utility model; Figure 5 This is a schematic diagram of the braking device structure of an embodiment of the positioner proposed in this utility model.
[0018] In the picture, 1. Base; 2. Tilting device; 3. Position adjustment component; 4. Tilting arm; 5. Braking device; 6. Lifting device; 7. Longitudinal adjustment device; 8. Frame; 9. Tilting support component; 211. Tilting drive motor; 212. Tilting reducer; 221. Tilting drive gear; 222. Tilting driven gear; 41. Connector; 51. Braking module; 511. Power failure brake; 512. Braking reducer; 521. Braking drive gear; 522. Braking driven gear; 53. Mounting plate; 61. Lifting drive module; 62. Lifting transmission assembly; 71. Longitudinal drive module. Detailed Implementation
[0019] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.
[0020] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 The present invention provides a positioner comprising a base 1, a position adjustment component 3, a flipping device 2, a flipping arm 4, and a braking device 5.
[0021] The position adjustment component 3 is connected to the base 1 and its height and / or longitudinal position relative to the base 1 are adjustable. It is used to adjust the height and / or longitudinal position of the tilting arm 4 connected to the position adjustment component 3. The tilting arm 4 is used to fix the welded parts.
[0022] The flipping device 2 is connected to the position adjustment component 3 and includes a flipping drive module and a flipping transmission module; the flipping drive module is used to provide torque for rotational action; the flipping transmission component is connected to the flipping drive module and is used to transmit the rotational action to the execution part.
[0023] The flipping arm 4 is the execution part, which is connected to the flipping transmission assembly. It can be driven by the flipping drive module to rotate on a fixed axis in the vertical plane, so that the welding workpiece located on the flipping arm 4 and fixedly connected to the flipping arm 4 can be flipped on a fixed axis in the horizontal direction, and the position and posture of the welding workpiece can be adjusted so as to facilitate automatic welding by the robot.
[0024] The braking device 5 is connected to the position adjusting component 3 and includes a braking module 51 and a braking transmission assembly. The braking module 51 can provide braking power and is connected to the braking transmission assembly. The braking transmission assembly is connected to the tilting arm 4, and the braking module 51 brakes the tilting arm 4 to tilt through the braking transmission assembly. That is, the braking module 51 forcibly controls the tilting arm 4 to stop rotating through the braking transmission assembly.
[0025] The positioner of this utility model separates the flipping device 2 and the braking device 5, so that the flipping drive and braking control are executed by different structures. This solves the problem of loss of drive accuracy when the flipping drive is used to perform braking at the same time in the prior art, improves the reliability of the positioner in changing the position of the welded workpiece and extends its service life. In addition, the separate braking device 5 performs separate braking control, which improves the flexibility and reliability of braking control, thereby improving the safety of the positioner.
[0026] The specific structure and principle of the positioner of this utility model will be described in detail below through specific embodiments.
[0027] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The flip transmission assembly includes a flip driving gear 221 and a flip driven gear 222; the flip driving gear 221 is connected to the flip drive module; the flip driving gear 221 and the flip driven gear 222 are meshed; the flip driven gear 222 is fixedly connected to the flip arm 4; thus enabling the flip drive module to drive the flip arm 4 to flip through the flip transmission assembly.
[0028] The braking transmission assembly includes a braking active gear 521 and a braking passive gear 522; the braking active gear 521 is connected to the braking module 51; the braking active gear 521 and the braking passive gear 522 are meshed; the braking passive gear 522 is fixedly connected to the tilting arm 4; thus, the braking module 51 can forcibly control the tilting arm 4 to stop rotating through the braking transmission assembly.
[0029] The flipping passive gear 222 and the braking passive gear 522 are different gears that are fixedly connected to the flipping arm 4 and are concentrically arranged. They are respectively rotatably connected to the position adjusting member 3.
[0030] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5The flip transmission assembly includes a flip driving gear 221 and a flip driven gear 222; the flip driving gear 221 is connected to the flip drive module; the flip driving gear 221 and the flip driven gear 222 are meshed; the flip driven gear 222 is fixedly connected to the flip arm 4; thus enabling the flip drive module to drive the flip arm 4 to flip through the flip transmission assembly.
[0031] The braking transmission assembly includes a braking active gear 521 and a braking passive gear 522; the braking active gear 521 is connected to the braking module 51; the braking active gear 521 and the braking passive gear 522 are meshed; the braking passive gear 522 is fixedly connected to the tilting arm 4; thus, the braking module 51 can forcibly control the tilting arm 4 to stop rotating through the braking transmission assembly.
[0032] The flipping passive gear 222 and the braking passive gear 522 share a common flipping support 9, which is fixedly connected to the flipping arm 4 and can be rotatably connected to the position adjustment member 3.
[0033] Compared with the prior art, the positioner in this embodiment adds a braking gear, namely, a braking active gear 521, which bears the braking torque and protects the tilting active gear 221. This can effectively ensure the accuracy and service life of the tilting active gear 221, and improve the reliability and lifespan of the positioner.
[0034] In some specific embodiments, the flip drive module includes a flip drive motor 211 and a flip reducer 212 connected to the flip drive motor 211; that is, the flip reducer 212 is connected to the rotating shaft of the flip drive motor 211 and outputs reduced speed. The flip reducer 212 is connected to the flip drive gear 221 and transmits the reduced rotational motion to the flip drive gear 221.
[0035] The braking module 51 includes a power-off brake 511 and a brake reducer 512 connected thereto; the power-off brake 511 locks up when power is off; the brake reducer 512 is connected to the brake drive gear 521 and is used to reduce the rotation speed of the linked power-off brake 511 when the tilting arm 4 rotates.
[0036] In this embodiment, the positioner reduces the rotational speed of the power-off brake 511 when it is activated by a brake reducer 512, thereby reducing the impact on the power-off brake 511 and the brake drive gear 521 when the tilting arm 4 rotates and brakes. That is, the brake reducer 512 shares the braking impact of the power-off brake 511 and the automatic drive gear, thus improving braking safety.
[0037] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5The tilting drive motor 211, tilting reducer 212, power-off brake 511, and brake reducer 512 are fixedly connected to the position adjusting member 3; that is, the tilting drive motor 211, tilting reducer 212, power-off brake 511, and brake reducer 512 are fixedly mounted on the position adjusting member 3. The tilting drive gear 221 and the brake drive gear 521 are located on both sides of the tilting support member 9 and are symmetrical with respect to the center of the tilting support member 9.
[0038] In this embodiment, the positioner symmetrically positions the flipping drive gear 221 and the braking drive gear 521 on both sides of the flipping support member 9, so that the flipping drive gear 221 and the braking drive gear 521 have a supporting function on both sides of the flipping support member 9, balancing the force on the flipping support member 9, reducing the stress on the rotating shaft of the flipping support member 9, saving costs and improving the safety of flipping.
[0039] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The flipping drive gear 221 and the braking drive gear 521 are cylindrical gears with equal diameter and number of teeth. The flipping support 9 is also a cylindrical gear, which improves rotational safety and transmission efficiency.
[0040] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The power-off brake 511 is an electromagnetic power-off brake 511. When the power is turned off, the electromagnetic force cancels the spring pressure to separate the friction disc. After the power is turned off, the electromagnetic force disappears, the spring returns to its original position, the friction disc closes to generate braking torque, and the power-off locking is achieved. This can stop the tilting arm 4 of the positioner from tilting or brake it in place, thus improving the power-off safety of the positioner.
[0041] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The tilting arm 4 includes a connector 41, which is a plate structure.
[0042] Multiple first through holes are formed along the circumference of the flip support 9; the connector 41 has second through holes corresponding to the positions of the first through holes; each first through hole and the corresponding second through hole are connected by screws, so that the flip support 9 and the connector 41 are fixedly connected.
[0043] In this embodiment, the positioner is connected by screws through multiple first through holes and multiple second through holes, which improves the stability of the connection between the flip support 9 and the connector 41.
[0044] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The side of connector 41 facing the flip support 9 is a flat plate.
[0045] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The positioner also includes a frame 8 and a lifting device 6; the frame 8 is fixedly connected to the base 1; the lifting device 6 includes a lifting drive module 61 and a lifting transmission component 62.
[0046] The lifting drive module 61 includes a lifting drive motor, which is fixedly connected to the frame 8; the lifting transmission assembly 62 includes a lifting screw and a lifting internal thread component; the lifting screw is rotatably connected to the frame 8, and the rotation axis is the axis of the lifting screw; one end of the lifting screw is connected to the rotating shaft of the lifting drive motor and is threadedly connected to the lifting internal thread component; the lifting internal thread component is connected to the position adjustment component 3.
[0047] In this embodiment, the positioner drives the lifting internal thread component to rise or fall by rotating the lifting screw, thereby causing the position adjustment component 3 connected to the internal thread component to rise or fall, adjusting its height position relative to the base 1.
[0048] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The positioner also includes a longitudinal adjustment device 7, which includes a longitudinal drive module 71 and a longitudinal transmission assembly; the longitudinal drive module 71 includes a longitudinal drive motor, which is fixedly connected to the lifting internal thread component; the longitudinal transmission assembly includes a longitudinal lead screw and a longitudinal internal thread component; the longitudinal lead screw is connected to the shaft of the longitudinal drive motor and is threadedly connected to the longitudinal internal thread component; the longitudinal internal thread component is fixedly connected to the position adjustment component 3.
[0049] That is, the position adjustment component 3 is connected to the lifting internal thread component through the longitudinal adjustment device 7 to realize the adjustment of the height position and longitudinal position of the position adjustment component 3.
[0050] In some specific embodiments, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The positioner also includes a first slider and a second slider.
[0051] The frame 8 is equipped with a vertical first guide rail that is adapted to slide the first slider; the first slider is mounted on the first guide rail and fixedly connected to the lifting internal thread component. When the lifting screw drives the lifting internal thread component to rise or fall, it drives the first slider to slide along the first guide rail, improving the smoothness of the lifting action of the tilting arm 4.
[0052] The longitudinal drive module 71 is fixedly connected to the first slider; a second guide rail is formed on the first slider to be slidably mounted to the second slider; the second slider and the longitudinal internal threaded component are fixedly connected to the position adjustment component 3, and the second slider is slidably connected to the second guide rail. When the longitudinal screw drives the longitudinal internal threaded component to move longitudinally, it drives the second slider to slide longitudinally along the second guide rail, improving the stability of the longitudinal movement of the tilting arm 4.
[0053] In some specific embodiments, refer to Figure 4 , Figure 5 The braking device 5 also includes a mounting plate 53, which is fixedly connected to the brake reducer 512 and fixedly connected to the position adjusting member 3 by screws, thereby realizing the fixed connection between the braking device 5 and the position adjusting member 3.
[0054] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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 this utility model.
[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0056] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0057] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0059] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A positioner, characterized by, include: Base; A position adjustment component, which is connected to the base and is adjustable in height and / or longitudinal position relative to the base; A flipping device, connected to the position adjusting component, includes a flipping drive module and a flipping transmission assembly; the flipping drive module is connected to the flipping transmission assembly. The tilting arm, which is connected to the tilting transmission assembly, can be driven by the tilting drive module to rotate on a fixed axis in the vertical plane; A braking device, connected to the position adjusting member, includes a braking module and a braking transmission assembly; the braking transmission assembly is connected to the braking module and the tilting arm respectively, and is used to forcibly control the tilting arm to stop rotating.
2. The positioner according to claim 1, characterized in that The flip transmission assembly includes a flip driving gear and a flip driven gear; the flip driving gear is connected to the flip drive module. The braking transmission assembly includes a braking active gear and a braking passive gear; the braking active gear is connected to the braking module; the tilting passive gear and the braking passive gear share a tilting support, which is rotatably connected to the position adjustment component and fixedly connected to the tilting arm.
3. The positioner according to claim 2, characterized in that, The flip drive module includes a flip drive motor and a flip reducer connected to the flip drive motor; the flip reducer is connected to the flip drive gear. The braking module includes a power-off brake and a brake reducer connected thereto; the power-off brake locks up when power is off; the brake reducer is connected to the brake drive gear and is used to reduce the rotational speed of the power-off brake when the tilting arm rotates.
4. The positioner according to claim 3, characterized in that The tilting drive motor, the tilting reducer, the power failure brake, and the brake reducer are respectively fixedly connected to the position adjusting component; The flipping drive gear and the braking drive gear are located on both sides of the flipping support and are symmetrical with respect to the center of the flipping support.
5. The positioner according to claim 4, characterized in that, The flipping drive gear and the braking drive gear are equal-diameter, equal-tooth cylindrical gears.
6. - Positioner machine according to any of claims 3 to 5, characterized in that, The power failure brake is an electromagnetic power failure brake.
7. - Positioner according to any of claims 2 to 5, characterised in that, The tilting arm includes a connector, which is a plate structure; A plurality of first through holes are formed along the circumference of the flip support; the connector is formed with second through holes corresponding to the positions of the first through holes; the first through holes and the second through holes are connected by screws, so that the flip support and the connector are fixedly connected.
8. The positioner according to claim 7, characterized in that It also includes a frame and a lifting device; the frame is fixedly connected to the base; the lifting device includes a lifting drive module and a lifting transmission assembly; The lifting drive module includes a lifting drive motor, which is fixedly connected to the frame; the lifting transmission assembly includes a lifting screw and a lifting internal thread component; the lifting screw is rotatably connected to the frame and connected to the shaft of the lifting drive motor; the lifting internal thread component is threadedly connected to the lifting screw and connected to the position adjustment component.
9. The positioner according to claim 8, characterized in that It also includes a longitudinal adjustment device, which includes a longitudinal drive module and a longitudinal transmission assembly; the longitudinal drive module includes a longitudinal drive motor, which is fixedly connected to the lifting internal thread component; the longitudinal transmission assembly includes a longitudinal lead screw and a longitudinal internal thread component; the longitudinal lead screw is connected to the shaft of the longitudinal drive motor and threadedly connected to the longitudinal internal thread component; the longitudinal internal thread component is fixedly connected to the position adjustment component.
10. The positioner according to claim 9, characterized in that It also includes a first slider and a second slider; the frame is provided with a first guide rail that is vertically adapted to the sliding installation of the first slider; a second guide rail is formed on the first slider that is adapted to the sliding installation of the second slider; The first slider is slidably mounted on the first guide rail; the lifting internal thread component and the longitudinal drive module are respectively fixedly connected to the first slider; the second slider and the longitudinal internal thread component are respectively fixedly connected to the position adjustment component; the second slider is slidably connected to the second guide rail.