JP2008142809A - Part positioning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a part positioning device never to cause positional misalignment between a part assembling object and a part in positioning the part on the part assembling object. <P>SOLUTION: The part positioning device to position a side curtain air bag on a car body is furnished with: a setting tool 2 to set the air bag; an assist carrier means 4 to carry the setting tool 2; and a floating mechanism 6 to connect the assist carrier means 4 and the setting tool 2 to each other. There are provided on the setting tool 2: a positioning mechanism 5 to fit a positioning pin in a reference hole of the car body; a holding means 31 to pressurize in a direction roughly opposite to the inserting direction of the positioning pin against the car body; and a pushing-in means 32 to push a specific portion of the air bag in a mounting hole of the car body The floating mechanism 6 is locked by expanding an air damper and is floated by contracting the air damper, making the both states free to be changed over to each other. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a component positioning device for attaching a component such as a side curtain airbag to a component assembly target such as a car body of an automobile.

  Conventionally, as a part positioning device that attaches a part supported by a self-propelled machine to a part assembly target such as a car body of an automobile, a target marker is provided at the tip of a wire that can be pulled out and wound on the self-propelled machine side. The target marker is attached to a predetermined part of the vehicle body, the length of the wire and the position of the wire are detected by the first and second sensors, and the self-propelled aircraft so that the detected value matches the reference value. Is known to position a part at a predetermined position on the vehicle body (see, for example, Patent Document 1).

JP 2005-224894 A

  However, in the prior art, since the sensor that detects the presence position of the wire detects the position of the wire that passes through a certain plane area, the position of the target marker with respect to the self-propelled aircraft is limited. Therefore, there is a problem that the position of the self-propelled aircraft that can be corrected for position is restricted. In addition, since the positioning operation is only to insert a clip or the like of the part into the hole of the vehicle body, there is a problem that a positional shift occurs between the vehicle body and the part due to an insertion reaction force of the clip or the like, and the part cannot be attached to the vehicle body. .

  The present invention has been made in view of such problems of the prior art, and the object of the present invention is to position a component assembly object and a component when positioning the component on the component assembly target object. It is an object of the present invention to provide a component positioning device that does not cause misalignment between the two.

  In order to solve the above-mentioned problem, the invention according to claim 1 is a component positioning device for positioning a component with respect to a component assembly object, a gripping means for gripping the component, and a transporting means for transporting the gripping means. And a floating mechanism for connecting the conveying means and the gripping means, and the gripping means includes a positioning means for fitting a positioning pin into a reference hole of the component assembly target, and the component assembly target with respect to the component assembly target There are provided clamping means for pressing in a direction substantially opposite to the insertion direction of the positioning pin, and pressing means for pressing a specific part of the component into the mounting hole of the component assembly target.

  According to a second aspect of the present invention, in the component positioning apparatus according to the first aspect, the floating mechanism is in a locked state by inflating the air damper, and in a floating state by contracting the air damper, so that they can be switched.

  According to the invention which concerns on Claim 1, the floating mechanism can absorb the position shift within the tolerance of the hole position of a component assembly | attachment target object. Further, the clamping means and the pushing means can be combined to reliably position the component on the component assembly target.

  According to the invention which concerns on Claim 2, a locked state and a floating state can be switched easily. Moreover, since air pressure is utilized, a flexible locked state and a floating state can be comprised.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. Here, FIG. 1 is a plan view of an automobile assembly process to which a component positioning device according to the present invention is applied, FIG. 2 is a perspective view of a right side curtain airbag attached state, and FIG. 3 is a side curtain airbag attachment in a vehicle body. FIG. 4 is an explanatory view of a side curtain airbag, FIG. 5 is a side view showing a state in which a side curtain airbag is attached to a vehicle body, and FIG. 6 is a schematic view of a component positioning device according to the present invention.

  As shown in FIG. 1, in the process of attaching the side curtain airbag S to the vehicle body B, the component positioning devices 1 according to the present invention are arranged on both the left and right sides of the conveyance line L of the vehicle body B, respectively. As shown in FIG. 2, the component positioning device 1 is provided along the longitudinal direction and includes a setting jig 2 that holds the side curtain airbag S, and is suspended from, for example, a hanger-type rail 3. It can move in synchronization with the transport speed of B. The component positioning device 1 controls the positioning of the set jig 2 to position the side curtain airbag S held by the set jig 2 at the assembly position of the vehicle body B.

  The side curtain airbag S held by the setting jig 2 is finally assembled at an assembly position (portion indicated by hatching) on the upper side surface inside the vehicle body B as shown in FIG. Further, as shown in FIGS. 4 and 5, the side curtain airbag S is formed by integrating a single bag body Sa and three brackets Sb that hold the bag body Sa, and a predetermined portion of each bracket Sb. Are provided with a plurality of clips c for temporary fixing in the longitudinal direction. In the embodiment of the present invention, the shape or the like of the clip c is varied depending on its position. In addition, a mounting hole h for inserting a clip is provided on the vehicle body B side in accordance with the positions of the plurality of clips c.

  As shown in FIG. 6, the component positioning device 1 includes, in addition to the set jig 2 that holds the side curtain airbag S, the assist conveyance means 4 that conveys the set jig 2, the set jig 2, and the assist A floating mechanism 6 for connecting the conveying means 4 and an auto tool changer (ATC) 25 for automatically exchanging and holding the same two set jigs 2 mounted on the floating mechanism 6 alternately at their original positions are provided. The two setting jigs 2 are each placed on a work table provided at the original position. The operator prepares for the next vehicle body B to be transported by setting the side curtain airbag S on the setting jig 2 placed on the work table while the component positioning device 1 is in automatic operation. can do.

  The set jig 2 is provided in a pair along the longitudinal direction and includes a positioning mechanism 5 that fits the positioning pins 7 and 7 into the reference holes Ha and Hb of the vehicle body B, and the positioning jigs 7 and 7 with respect to the vehicle body B. The base member 2a is provided with a plurality of clamping means 31 for pressing in a direction substantially opposite to the insertion direction, and a plurality of pushing means 32 for pushing the plurality of clips c provided on the side curtain airbag S into the mounting holes h of the vehicle body B, respectively. Yes. As shown in FIG. 2, the setting jig 2 is carried into the vehicle by the assist conveyance means 4, for example, from the windshield mounting portion of the vehicle body B (the windshield is not mounted at this stage). .

  As shown in FIG. 1, the assist conveyance means 4 includes a slider 4a engaged with the rail 3, a first arm 4c connected to the slider 4a via a first joint 4b, and a second joint 4d connected to the first arm 4c. A second arm 4e coupled via the third arm 4e, a third arm 4g coupled to the second arm 4e via a third joint 4f, a handle 4h supported by the slider 4a, and an operation switch provided in the vicinity of the handle 4h. 4i. The slider 4a, the first joint 4b, the second joint 4d, and the third joint 4f are provided with actuators (not shown), respectively, and the setting jig 2 is positioned at a desired position by controlling these actuators. be able to.

  Then, when the operator operates the handle 4h, the load on the operator when the set jig 2 is conveyed can be reduced (power assist), and the set jig 2 can be conveyed (manual mode). Further, the assist conveyance means 4 uses a positioning mechanism 5 to be described later so that the set jig 2 that holds the side curtain airbag S follows the vehicle body B that moves on the conveyance line L in accordance with teaching. Can be automatically positioned at the correct assembly position (automatic mode). The control device for the assist conveyance unit 4 is also provided with a control unit for the floating mechanism 6, the clamping unit 31, the pushing unit 32, and the positioning mechanism 5 described later.

  As shown in FIGS. 7 and 8, the positioning mechanism 5 includes a positioning pin 7 as a positioning portion fixed to the setting jig 2 side, and an engaging member (target marker) 10 that can be connected to the positioning pin 7. The wire 8 as a linear member is connected between the engaging member 10 and the set jig 2 side.

  Reference holes Ha and Hb for mounting the engaging members 10 of the positioning mechanism 5 are provided in the vicinity of the mounting position (the portion indicated by hatching) of the side curtain airbag S shown in FIG. 10 is installed in each of the reference holes Ha and Hb, the wire 8 is pulled out, and by detecting the drawing length and the drawing direction of the wire 8, the set jig 2 side is automatically moved to the reference position and engaged. The member 10 and the positioning pin 7 are connected. In order to control the movement on the setting jig 2 side, a deviation from the reference position of the setting jig 2 with respect to the engaging member 10 is measured, and this deviation is controlled to zero.

  As shown in FIGS. 7 and 8, the engaging member 10 is housed in the first casing 12 and can be expanded and contracted in the radial direction from the cutout hole 13 c of the small-diameter cylindrical portion 13 at the tip. And a cam roller 16 for swinging the claw member 14 and a cam pin 17 that can be freely engaged with and disengaged from the cam roller 16. The cam pin 17 moves with respect to the first casing 12 by a predetermined stroke along the pin axial direction. It is provided on the possible second casing 18 side. Then, when the first casing 12 and the second casing 18 come into contact with each other (FIG. 7A), the claw member 14 projects to the outside from the notch hole 13c by the action of the cam pin 17 and the cam roller 16, and the first casing 12 When the second casing 18 is separated from the second casing 18 by a predetermined distance (FIG. 7B), the claw member 14 is inserted into the notch hole 13c by the action of the cam pin 17 and the cam roller 16.

  The mutual spacing when the second casing 18 and the first casing 12 are separated is controlled by the cam pins 17 so that they are not separated by a certain amount or more. In addition, a groove m is provided in the outer peripheral portion of the second casing 18 along the circumferential direction, and a distal end portion of the plunger 21 of the annular member 20 on the positioning pin 7 side described below is fitted in the groove m. It is made freely.

  That is, an annular portion 20 is formed on the outer peripheral portion of the positioning pin 7 with a gap in which the one end side cylindrical portion of the second casing 18 can be fitted, and a plurality of plungers 21 are screwed into the annular portion 20. As shown in FIG. 7A, when the positioning pin 7 and the engaging member 10 are connected, the plunger 21 is fitted in the groove m, and as shown in FIG. When the positioning pin 7 is retracted in the direction of detachment from the engaging member 10, the second casing 18 can be moved slightly in the direction of detachment from the first casing 12. The tip of the claw member 14 is immersed in the small diameter cylindrical portion 13 by the retreat of the positioning pin 7.

  Further, as shown in FIGS. 9 and 10, the wire 8 can be drawn out and wound up by a wire winding device 11, and the wire winding device 11 measures a drawing length of the wire 8. A first sensor (not shown) that can do this is built in, and a force sensor 9 as a second sensor is provided in the vicinity of the wire winding device 11. The wire 8 unwound from the wire winding device 11 is extended via the force sensor 9, and the tension applied to the wire 8 is divided into component forces in three axial directions by the force sensor 9. Can be measured.

  Next, the engaging member 10 is attached to the vehicle body B side, and the displacement of the engaging member 10 and the positioning pin 7 is detected from the drawing length and the drawing direction of the wire 8 in a state where the wire 8 is drawn to some extent. A specific measure for eliminating the displacement and connecting the two will be described with reference to FIGS.

  As shown in FIG. 10, when the pin axis direction is the X direction, the horizontal horizontal direction perpendicular to the X direction is the Y direction, and the vertical direction perpendicular thereto is the Z direction, the pin of the engaging member 10 and the positioning pin 7 The axes are matched (the offset amount in the Y direction is zero), and the position of the offset amount L in the X direction and the offset amount H in the Z direction is set as the primary positioning completion position. FIG. 10A is a side view of the primary positioning completion position, and FIG. 10B is a plan view thereof.

  On the other hand, at the initial stage, the relative positions of the engaging member 10 and the positioning pin 7 are usually shifted in all X, Y, and Z directions. 11A and 11B are explanatory views of the actual position of the positioning pin 7 with respect to the primary positioning completion position (indicated by a dotted line). FIG. 11A is a side view of the state, and FIG. 11 (c) and 11 (d) are explanatory views of the component force applied to the wire. In this state, the wire length is W, the wire angle in the Z direction (vertical direction) is θ2, and the Y direction. When the wire angle in the (horizontal direction) is θ3, the component force in the X direction applied to the wire is Fx, the component force in the Y direction is Fy, and the component force in the Z direction is Fz, the wire drawing angles θ2 and θ3 are From the component forces Fx to Fz, the mathematical formulas shown in FIGS.

  Further, the relationship between the position P of the engaging member and the position Q of the positioning pin is as shown in FIG. 12, and since the following formula 1 is established, the amount of deviation in the X direction is α and the amount of deviation in the Y direction. Is β, and the displacement amount in the Z direction is γ, the displacement amounts α, β, and γ in the respective directions are respectively calculated from the wire drawing length P, the X-direction offset amount L, and the wire drawing angles θ2 and θ3, respectively. It is calculated as shown in Equation 2 below.

  Accordingly, as shown in FIG. 13, the setting jig 2 is positioned in the vehicle body, and the engagement member 10 is detached from the positioning pin 7 while moving the vehicle body B and the setting jig 2 side synchronously, thereby moving the vehicle body B. Are attached to the reference holes Ha and Hb, the length of the wire 8 is measured by the first sensor, and the wire lead-out angles θ2 and θ3 are calculated from the measured values of the force sensor 9, and the deviation amounts (α , Β, γ). Thereafter, movement control of the setting jig 2 is performed so as to make this deviation amount zero, and the engagement member 10 and the positioning pin 7 can be finally connected.

  As shown in FIGS. 14 and 15, the floating mechanism 6 includes three air dampers 61 arranged at equal intervals, a valve (not shown) that controls the supply of air to the air damper 61, and three air dampers. The plate-like members 62 and 63 sandwiching 61, the lock guide member 64 fixed to the three holes 63a formed in the plate-like member 63 and integrated with the plate-like member 63, and the plate-like member 62 are mutually equal. There are provided three stopper members 65 erected at intervals and loosely inserted or fitted into a mortar-shaped through hole 64 a formed in the lock guide member 64. The end of the stopper member 65 is formed in an inverted conical portion 65a.

  One plate-like member 62 is fixed to the third arm 4g of the assist conveyance means 4 via the attachment bracket 66, and the other plate-like member 63 is fixed to the ATC 25 via the attachment bracket 67. FIG. 14B shows the positional relationship between the lock guide member 64 and the stopper member 65 in a state where air is extracted from the air damper 61, which is not normally possible, for convenience of explanation.

  When the floating mechanism 6 is in the locked state, high-pressure air is supplied to the air damper 61 so that the air damper 61 expands, and the upper surface 64b of the lock guide member 64 always presses the lower surface 65c of the boss portion 65b of the inverted conical portion 65a with a predetermined pressure. In addition, the outer peripheral surface 65 d of the inverted conical portion 65 a is in contact with the inner peripheral surface 64 c of the lock guide member 64. In this state, the plate-like member 62 attached to the assist conveyance unit 4 and the plate-like member 63 to which the setting jig 2 is attached via the ATC 25 are integrated.

  On the other hand, when the floating mechanism 6 is in the floating state, the air damper 61 is supplied with a lower pressure than when it is in the locked state. By contracting, the engagement relationship between the lock guide member 64 and the inverted conical portion 65a as described above is released. In this state, the plate-like member 63 to which the setting jig 2 is attached via the ATC 25 is formed within a predetermined range (the lock guide member 64 and the inverted conical portion 65a are formed with respect to the plate-like member 62 attached to the assist conveying means 4. It is possible to move in any direction within the maximum gap).

  Further, when no external force is applied to the side curtain airbag S and the setting jig 2, the lock guide member 64 and the inverted conical portion 65a return to the same positional relationship as in the locked state. That is, the upper surface 64b of the lock guide member 64 is in contact with the lower surface 65c of the boss portion 65b of the reverse cone portion 65a, and the outer peripheral surface 65d of the reverse cone portion 65a is in contact with the inner peripheral surface 64c of the lock guide member 64. .

  As shown in FIG. 16, the clamping means 31 includes an air cylinder 33, a valve (not shown) that controls the supply of air to the air cylinder 33, and a forward end and a backward movement of the air cylinder 33. An arm 34 to be drawn, a pressing member 35 provided at the tip 34a of the arm 34 and pressing the outer plate surface of the vehicle body B with a predetermined surface pressure, and a predetermined distance from the outer plate surface of the vehicle body B pressed by the pressing member 35 It consists of a face contact pin 36 that comes into contact with the inner side surface of the separated vehicle body B.

  The air cylinder 33 is supported by a mounting bracket 37 fixed to the base member 2a of the setting jig 2 via a shaft 38a, and the rear end portion 34b of the arm 34 is fixed to the mounting bracket 39 fixed to the base member 2a. The central portion 34c of the arm 34 is supported on the tip of the piston rod 33a via a shaft 38c. Then, the arm 34 is rotated by the forward and backward movement of the air cylinder 33 so that the tip end 34a draws a substantially arc around the shaft 38b.

  Two clamping means 31 are provided to press the vicinity of the two reference holes Ha and Hb (FIG. 16B shows only the reference hole Ha). The pressing force (surface pressure) by the pressing member 35 is set to be equal to the pressing force for pressing the clip c by the pressing means 32 into the mounting hole h of the vehicle body B so as not to impair the quality of the outer plate surface of the vehicle body B. Has been. The pressing member 35 is also formed of a resin material such as urethane so as not to impair the quality of the outer plate surface of the vehicle body B.

  As shown in FIG. 17, the pushing means 32 includes an air cylinder 40, a valve (not shown) that controls the supply of air to the air cylinder 40, a plate-like member 41 that moves forward and backward by driving the air cylinder 40, The plate member 41 includes a pair of guide members 42 and 42 for guiding the forward and backward movement, and a pair of work set members 43 and 44 erected on the plate member 41. A plurality of pushing means 32 are provided to push the plurality of clips c provided on the side curtain airbag S. The work set members 43 and 44 are formed with concave set portions 43a and 44a for setting the clip c.

  The operation of the component positioning device 1 configured as described above will be described. When the vehicle body B is conveyed to the side curtain airbag temporary fixing process along the conveyance line L, the set jig 2 attached to the assist conveyance means 4 by the handle operation of the operator (manual mode) is The vehicle is introduced into the vehicle body B from the direction opposite to the moving direction of the vehicle, and starts moving in synchronization with the vehicle body B. In this state, the operator manually removes the engaging member 10 from the setting jig 2 and inserts it into the respective reference holes Ha and Hb of the vehicle body B and attaches them.

  That is, the first casing 12 and the second casing 18 of the engaging member 10 are separated to a certain extent (the state shown in FIG. 7B), and the claw member 14 is inserted and inserted into the reference holes Ha and Hb. Thereafter, the first casing 12 and the second casing 18 are brought into contact with each other (the state shown in FIG. 7A) so that the claw member 14 protrudes, so that the engaging member 10 does not come out of the vehicle body B. A side curtain airbag S is set on the setting jig 2 in advance by an operator.

  Next, when the operator turns on the operation switch provided on the handle, the assist conveyance means 4 enters the automatic mode, and the wire 8 fixed to the engagement member 10 is pulled out from the set jig 2 side, and the force sensor 9 is used to measure the component force of the pulling force applied to the wire 8 and the wire winding device measures the pull-out length of the wire 8. At this time, the floating mechanism 6 is in a floating state.

  Then, based on the drawing length of the wire 8 and the measured value of the force sensor 9, the amount of displacement of the positioning pin 7 is calculated, and the assist jig 4 moves the set jig 2 to a desired assembly position. The positioning pin 7 and the engaging member 10 are connected. Since the positioning pin 7 is fitted and connected to the fitting member 10 to perform the positioning function when the two are connected, a separate positioning member or the like is unnecessary, and the apparatus configuration is simplified.

  When the positioning pin 7 and the engaging member 10 are connected, the floating mechanism 6 is in a floating state, so that the positional deviation within the tolerance of the reference holes Ha and Hb is absorbed, and the two positioning pins 7 and 7 are absorbed. Can smoothly fit into the reference holes Ha and Hb via the engaging member 10. When the positioning pins 7 and 7 are fitted in the reference holes Ha and Hb, the floating mechanism 6 is switched from the floating state to the locked state. Thereby, positioning with respect to the vehicle body B of the setting jig 2 is completed.

  Next, the clamping means 31 is clamped by the forward movement of the air cylinder 35, and the pressing member 37 presses the vicinity of the two reference holes Ha and Hb with a predetermined surface pressure, and the pressing member 37 presses the vehicle body B. The surface contact pin 38 presses the inner surface of the vehicle body B that is a predetermined distance away from the outer plate surface.

  Next, the pushing means 32 is brought into a clip pressing state by the forward movement of the air cylinder 40, and the clips c set in the respective set portions 43a, 44a are pushed into the corresponding mounting holes h of the vehicle body B. Then, the side curtain airbag S is temporarily fixed to the vehicle body B. At this time, since the clamping means 31 clamps the vicinity of the reference holes Ha and Hb, the positioning pins 7 and 7 do not float from the vehicle body B when the clip c is pushed into the mounting hole h. Therefore, the clip c can be surely pushed into the mounting hole h.

  When each clip c is pushed into the corresponding mounting hole h of the vehicle body B, the pushing means 32 is brought into the non-pressing state by the backward movement of the air cylinder 40. Further, the clamping means 31 is brought into an unclamped state by the retreating operation of the air cylinder 35, and is separated from the outer plate surface of the vehicle body B that has been pressed by the pressing member 37. Subsequently, the floating mechanism 6 is switched from the locked state to the floating state, and the assist jig 4 separates the setting jig 2 from the vehicle body B.

  When the setting jig 2 is separated from the vehicle body B after the temporary fixing by the clip c is completed, the positioning pin 7 moves backward. Then, as the positioning pin 7 is retracted, the second casing 18 is also retracted in the first stroke, the claw member 14 is immersed in the small diameter cylindrical portion 13 by the action of the cam pin 17 and the cam roller 16, and the engaging member 10 is It becomes possible to detach from B and retreat together while being connected to the set jig 2 side. Then, the setting jig 2 mounted on the assist conveyance means 4 is carried out of the vehicle body B, returns to the original position, and one cycle of the temporary fixing operation of the side curtain airbag S is completed. The regular fixing operation of the side curtain airbag S is performed in a later process.

  The floating mechanism can absorb the positional deviation within the tolerance of the hole position of the part assembly target object, and the clamping means and the pushing means can combine to reliably position the part on the part assembly target object. Therefore, the present invention can be applied to a wide range of fields such as an automobile assembly process in which parts are assembled to a vehicle body.

The top view of the automobile assembly process to which the component positioning device according to the present invention is applied Perspective view of the right side curtain airbag attached Explanatory drawing of the side curtain airbag attachment part in the car body Illustration of side curtain airbag Side view showing a state where the side curtain airbag is attached to the vehicle body Schematic diagram of a component positioning device according to the present invention It is explanatory drawing of the connection state of an engaging member and a positioning pin, (a) is the contact state of a 1st casing and a 2nd casing, (b) is the separation state of a 1st casing and a 2nd casing. The perspective view which shows the connection structure of an engaging member and a positioning pin Explanation of operation of positioning mechanism Part 1 of an explanatory diagram of a method for detecting a positional deviation based on a drawing length and a drawing angle of a linear member. 2 of explanatory drawing of the method of detecting position shift by the drawing length and drawing angle of a linear member 3 of explanatory drawing of the method of detecting position shift by the drawing length and drawing angle of a linear member Flow chart of positioning mechanism It is explanatory drawing of a floating mechanism, (a) is a partial sectional side view, (b) is a principal part enlarged view. A view in the direction of arrow A in FIG. It is explanatory drawing of a clamping means, (a) is a side view, (b) is an effect | action figure. It is a side view of the pushing means, (a) is the set position of the side curtain airbag, (b) is the pushing completion position to the vehicle body of the side curtain airbag

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Component positioning device, 2 ... Setting jig (gripping means), 4 ... Assist conveyance means (conveyance means), 5 ... Positioning mechanism (positioning means), 6 ... Floating mechanism, 7 ... Positioning pin, 10 ... Engagement member , 31 ... clamping means, 32 ... pushing means, 61 ... air damper, B ... vehicle body, Ha, Hb ... reference hole, h ... mounting hole, S ... side curtain airbag.

Claims (2)

A component positioning device for positioning a component with respect to a component assembly target, a gripping means for gripping the component, a transporting means for transporting the gripping means, and a floating mechanism for connecting the transporting means and the gripping means Positioning means for fitting a positioning pin into a reference hole of a component assembly target object, and clamping means for pressing the component assembly target object in a direction substantially opposite to the insertion direction of the positioning pin. And a component positioning device comprising a pushing means for pushing a specific part of the component into a mounting hole of the component assembly target. 2. The component positioning device according to claim 1, wherein the floating mechanism is brought into a locked state by inflating an air damper, and is brought into a floating state by contracting the air damper so that they can be switched.

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