Micro linear slide stage

Abstract

The present invention relates to the field of medical device technology, and discloses a miniature linear sliding platform. The miniature linear sliding platform includes a sliding platform, a guide rail, a drive assembly and a distance sensor, and the guide rail is provided on the sliding platform. The drive assembly is provided on the sliding platform, and the output end of the drive assembly can be connected to the guide rail for transmission to drive the sliding platform to slide along the guide rail. Therefore, the guide rail can play both a guiding role and a transmission role, avoiding the use of a complex intermediate transmission mechanism, making the overall structure compact, which is conducive to reducing the volume and weight of the equipment, and further conducive to the miniaturization design of the device. The distance sensor is provided on the sliding platform, and is used to detect the displacement of the sliding platform relative to the guide rail. The operating speed and position information of the sliding platform can be obtained through the displacement, and the distance sensor and the drive assembly form a closed-loop control system, thereby ensuring the motion accuracy and stability of the sliding platform.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a miniature linear sliding platform. Background Art

[0002] Intravascular ultrasound (IVUS) is an emerging technology used in the clinical diagnosis and interventional treatment of coronary artery disease. It primarily uses an interventional catheter to insert a miniature ultrasonic transducer into the human cardiovascular cavity, emitting ultrasound waves and collecting echoes. After signal processing, it displays the cross-sectional shape, size, and blood flow information of the blood vessels in real time, assisting in the diagnosis and treatment of vascular lesions such as calcification, fibrosis, and lipid pools.

[0003] The linear sliding platform is an important component in the intravascular ultrasound imaging system. When intravascular ultrasound is working, it is generally necessary to use a drive device that can be both manually operated and automatically controlled to drive the sliding platform to move, so that the transducer in the ultrasound catheter rotates at a specific frequency while moving linearly at a certain speed (also known as retraction), thereby collecting image information of the target blood vessel segment. In the existing technology, the linear sliding platform module of intravascular ultrasound is generally complex in structure. The driving assembly needs to use a complex transmission mechanism composed of components such as a lead screw, a nut, and a sleeve to drive the sliding platform to slide along the slide rail. It involves too many parts and a large overall size. It has high requirements for processing and assembly precision, high overall cost, and poor smoothness during manual operation, which affects the user experience.

[0004] Therefore, there is an urgent need to provide a miniature linear sliding platform to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a miniature linear sliding platform with a compact structure and high integration, which is conducive to reducing the size and weight of the equipment, while reducing friction resistance and improving motion control accuracy, thereby improving the user experience and ensuring the quality of images captured by the device.

[0006] To achieve the above object, the present invention is implemented through the following technical solutions:

[0007] Miniature linear slide stage, including:

[0008] Sliding platform;

[0009] A guide rail is provided on the sliding platform;

[0010] A driving assembly is provided on the sliding platform, wherein an output end of the driving assembly can be transmission-connected to the guide rail to drive the sliding platform to slide along the guide rail;

[0011] A distance sensor is provided on the sliding platform, and is used to detect the displacement of the sliding platform relative to the guide rail.

[0012] As a preferred solution of the micro linear sliding platform, the guide rail includes:

[0013] A transmission guide shaft is provided through the sliding platform and is in transmission connection with the driving assembly;

[0014] A positioning guide shaft is provided on the sliding platform, wherein the positioning guide shaft is parallel to the transmission guide shaft and spaced apart from the transmission guide shaft;

[0015] Two fixed end blocks are respectively arranged at both ends of the transmission guide shaft and the positioning guide shaft, and the fixed end blocks are used to connect the transmission guide shaft and the positioning guide shaft.

[0016] As a preferred solution for the micro linear sliding platform, the ends of the transmission guide shaft and the positioning guide shaft are both provided with stop pins, and the stop end faces of the stop pins cooperate with the corresponding stop planes on the transmission guide shaft and the positioning guide shaft, and the stop pins are passed through and connected to the fixed end block.

[0017] As a preferred solution of the micro linear sliding platform, the driving assembly includes a driving member and a gear, the driving member is fixed to the sliding platform, the gear is connected to the output end of the driving member, and the driving member can drive the gear to rotate;

[0018] The transmission guide shaft is provided with a rack arranged along its axial direction, and the gear meshes with the rack for transmission.

[0019] As a preferred solution for the miniature linear sliding platform, the outer ring surfaces of the axial ends of the gear are respectively fixedly sleeved with an upper rolling bearing and a lower rolling bearing, and the upper rolling bearing and the lower rolling bearing are both connected to the sliding platform.

[0020] As a preferred solution of the micro linear sliding platform, a receiving cavity is provided in the sliding platform, the rack faces the receiving cavity, and the gear is located in the receiving cavity and meshes with the rack.

[0021] As a preferred solution for the miniature linear sliding platform, the distance sensor is a light curtain type distance sensor, and a slope and / or a sloped groove are formed on the side of the positioning guide shaft facing the distance sensor. The light curtain emitted by the distance sensor is directed toward the slope and / or the sloped groove. When the sliding platform moves from the first position to the second position, a first measurement calculation and / or a second measurement calculation are performed based on the correspondence between different positions and slopes on the slope and / or the sloped groove to obtain the displacement of the sliding platform relative to the guide rail.

[0022] As a preferred solution for the miniature linear sliding platform, the inclined surface extends along the length direction of the positioning guide shaft, the inclined surface can reflect light, the inclined surface is inclined from one end to the other end of the positioning guide shaft, and the width of the inclined surface changes linearly along the length direction of the positioning guide shaft, and the light curtain emitted by the distance sensor is facing the inclined surface.

[0023] As a preferred solution of the miniature linear sliding platform, the projection of the inclined surface along the horizontal radial direction of the positioning guide axis falls within the range covered by the height of the light curtain.

[0024] As a preferred solution for the micro linear sliding platform, the inclined surface is provided with an inclined groove extending along its length direction. The inclined groove is non-reflective or its reflection intensity is greater than that of the inclined surface. The inclined groove is inclined from the upper edge to the lower edge of the inclined surface.

[0025] As a preferred solution of the micro linear sliding platform, a receiving groove is provided in the sliding platform, the distance sensor is located in the receiving groove, and the inclined surface of the positioning guide shaft faces the receiving groove.

[0026] As a preferred solution of the micro linear sliding platform, the sliding platform includes a sliding support and an adapter plate, the adapter plate is fixed to the upper surface of the sliding support, and the driving assembly is fixed to the adapter plate.

[0027] The beneficial effects of the present invention are:

[0028] The present invention provides a miniature linear sliding platform, comprising a sliding platform, a guide rail, a drive assembly, and a distance sensor. The guide rail is provided on the sliding platform. By integrating the drive assembly into the sliding platform, the output end of the drive assembly can be directly connected to the guide rail for transmission, thereby driving the sliding platform to slide along the guide rail. Therefore, the guide rail can play both a guiding role and a transmission role, avoiding the use of a complex intermediate transmission mechanism, making the overall structure compact, greatly simplifying the size and number of parts of the device, and making it easy to process and assemble, which is conducive to reducing the volume and weight of the device, and thus facilitating the miniaturization of the device. The distance sensor is provided on the sliding platform for real-time detection of the displacement of the sliding platform relative to the guide rail. The displacement can be used to obtain the operating speed and position information of the sliding platform, and the distance sensor and the drive assembly form a closed-loop control system, which is conducive to ensuring the motion accuracy and stability of the sliding platform, thereby ensuring the control accuracy of the device and the quality of the captured image. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly and easily illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. The drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 1 is a schematic structural diagram of a micro linear sliding platform provided by an embodiment of the present invention;

[0031] Figure 2 This is a schematic structural diagram of the micro linear sliding platform provided by an embodiment of the present invention with the driving components hidden;

[0032] Figure 3 This is a schematic diagram of the structure of the micro linear sliding platform provided by the embodiment of the present invention with some structures hidden. Figure 1 ;

[0033] Figure 4 is a side view of a micro linear sliding platform provided by an embodiment of the present invention;

[0034] Figure 5 yes Figure 4 Cross-sectional view at AA in the middle;

[0035] Figure 6 This is a schematic diagram of the structure of the micro linear sliding platform provided by the embodiment of the present invention with some structures hidden. Figure 2 ;

[0036] Figure 7 is a top view of a micro linear sliding platform provided by an embodiment of the present invention;

[0037] Figure 8 yes Figure 7 Cross-sectional view at the middle BB;

[0038] Figure 9 is a top view of a positioning guide shaft provided by an embodiment of the present invention;

[0039] Figure 10 is a side view of a positioning guide shaft provided by an embodiment of the present invention;

[0040] Figure 11 yes Figure 10 A partial enlarged view of point C in the middle.

[0041] In the picture:

[0042] 1. Guide rail; 11. Transmission guide shaft; 12. Positioning guide shaft; 121. Inclined surface; 122. Inclined groove; 13. Fixed end block; 14. Stop pin; 15. Rack;

[0043] 2. Sliding platform; 21. Sliding support; 211. Accommodating cavity; 212. Accommodating groove; 22. Adapter plate; 221. Avoidance hole;

[0044] 3. Drive assembly; 31. Drive member; 32. Gear; 33. Upper rolling bearing; 34. Lower rolling bearing;

[0045] 4. Distance sensor; 41. Light curtain. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0047] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0048] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0049] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0050] like Figure 1As shown, this embodiment provides a miniature linear sliding platform, which is mainly used for the retraction operation of an ultrasound catheter in an intravascular ultrasound imaging system. The miniature linear sliding platform specifically includes a guide rail 1, a sliding platform 2, a drive component 3, and a distance sensor 4. The guide rail 1 is passed through the sliding platform 2, and the drive component 3 is arranged on the sliding platform 2. The output end of the drive component 3 can be connected to the guide rail 1 in a transmission manner to drive the sliding platform 2 to slide along the guide rail 1, that is, in a retraction mode. The distance sensor 4 is arranged on the sliding platform 2 for detecting the displacement of the sliding platform 2 relative to the guide rail 1, and the distance sensor 4 is electrically connected to the drive control module of the drive component 3 to form a closed-loop control system with the drive component 3.

[0051] It should be noted that the miniature linear sliding platform provided in this embodiment integrates the drive component 3 on the sliding platform 2 so that the output end of the drive component 3 can be directly connected to the guide rail 1 for transmission, thereby driving the sliding platform 2 to slide along the guide rail 1. Therefore, the guide rail 1 can play both a guiding role and a transmission role, avoiding the use of a complex intermediate transmission mechanism, making the overall structure compact, greatly simplifying the size and number of parts of the device, and facilitating processing and assembly, which is conducive to reducing the size and weight of the equipment, and thus facilitating the miniaturization of the device. A distance sensor 4 is provided on the sliding platform 2 for real-time detection of the displacement of the sliding platform 2 relative to the guide rail 1. The displacement can be used to obtain the operating speed and position information of the sliding platform 2. The distance sensor 4 and the drive component 3 form a closed-loop control system, which is conducive to ensuring the motion accuracy and stability of the sliding platform 2, thereby improving the quality of the image captured by the device.

[0052] Specifically, if Figure 1 As shown, the guide rail 1 includes a transmission guide shaft 11, a positioning guide shaft 12 and two fixed end blocks 13. The transmission guide shaft 11 is provided through the sliding platform 2 and is connected to the drive assembly 3. The positioning guide shaft 12 is provided through the sliding platform 2. The positioning guide shaft 12 is parallel to the transmission guide shaft 11 and is spaced apart. The two fixed end blocks 13 are respectively provided at both ends of the transmission guide shaft 11 and the positioning guide shaft 12. The fixed end blocks 13 are used to position and connect the transmission guide shaft 11 and the positioning guide shaft 12, thereby forming a stable frame structure, which is conducive to lightweight design. Among them, the guide surfaces of the transmission guide shaft 11 and the positioning guide shaft 12 are both smooth arc surfaces. The mounting holes reserved in the fixed end blocks 13 on both sides can fix the micro linear sliding platform as a whole to the housing of the overall equipment.

[0053] Among them, the output end of the drive assembly 3 can be directly connected to the transmission guide shaft 11, thereby driving the sliding platform 2 to slide along the transmission guide shaft 11 and the positioning guide shaft 12. Therefore, the transmission guide shaft 11 plays both a transmission role and a guiding role, avoiding the use of a complex intermediate transmission mechanism, making the overall structure more compact, and facilitating the miniaturization and lightweight design of the equipment. The positioning guide shaft 12 not only plays a guiding role, but also cooperates with the distance sensor 4 to perform the displacement detection function of the sliding platform 2. The displacement detection process will be described in detail later.

[0054] Preferably, the guide rail 1 is entirely made of hard-oxidized aluminum alloy material, in order to reduce the friction coefficient and weight as much as possible, and to improve the wear resistance of the sliding surface while ensuring a certain structural strength.

[0055] Furthermore, if Figure 1 and Figure 3 As shown, the drive assembly 3 specifically includes a drive member 31 and a gear 32. The drive member 31 is fixed to the sliding platform 2, and the gear 32 is connected to the output end of the drive member 31. The drive member 31 can drive the gear 32 to rotate and connect to the distance sensor 4 to form a closed-loop control system. A rack 15 extending along its axial direction is formed on the transmission guide shaft 11, and the gear 32 meshes with the rack 15 for transmission. Among them, the transmission guide shaft 11 is an incomplete circular shaft. A flat surface is machined on one side of the shaft to facilitate the selection of a smaller module for the gear 32 and to maximize the meshing strength between the gear 32 and the rack 15. The rack 15 is machined on this flat surface, and the width of the groove at the root of the gear 32 does not exceed the diameter of the transmission guide shaft 11. The guide rail 1 is fixed. After the drive member 31 drives the gear 32 to rotate, the gear 32 meshes with the rack 15 for transmission, and at the same time, the gear 32 drives the sliding platform 2 to move linearly along the guide rail 1. Preferably, the gear 32 is made of brass alloy or high-strength engineering plastic to improve the smoothness of the transmission and reduce friction noise.

[0056] Preferably, the drive element 31 is a motor with a gearbox and control circuit. The motor, gear 32, and rack 15 are all highly integrated with the sliding platform 2. The structure is simple, reliable, and maintenance-free, which greatly simplifies the size and number of parts of the device, thereby reducing the volume and weight of the device and facilitating a miniaturized design. It should be noted that in other embodiments, the rack and pinion mechanism can be replaced with a gear-belt mechanism, a pulley-and-rope mechanism, etc., and the motor control circuit can also be separately externalized and connected to the motor via a cable.

[0057] Further, combined with Figure 1 and Figure 3, both ends of the transmission guide shaft 11 and the positioning guide shaft 12 are provided with a stop pin 14, the lower end surface of the stop pin 14 is the stop end surface, and both ends of the transmission guide shaft 11 and the positioning guide shaft 12 are formed with a small plane, which is the stop plane. The stop end surface of the stop pin 14 cooperates with the corresponding stop planes on the transmission guide shaft 11 and the positioning guide shaft 12. After cooperation, the stop end surface and the stop plane are perpendicular to the plane where the rack 15 is located, and the stop pin 14 is passed through and connected to the fixed end block 13. By setting the stop pin 14, the transmission guide shaft 11 can be prevented from rotating, thereby avoiding the fluctuation of the meshing tooth clearance due to the torsion of the rack 15, thereby ensuring the transmission accuracy and the service life of the gear 32 and the rack 15. Secondly, by setting the stop pin 14, the positioning guide shaft 12 can also be prevented from rotating, thereby avoiding the torsion of the inclined surface 121 (which will be introduced in detail later), thereby ensuring the accuracy of the distance sensor 4 measurement.

[0058] Furthermore, if Figure 1 and Figure 2 The sliding platform 2 is a square block structure, specifically comprising a sliding support 21 and an adapter plate 22. The adapter plate 22 is fixed to the upper surface of the sliding support 21. The driving member 31 is fixed to the adapter plate 22 via a fastening screw. The sliding support 21 is inserted through the transmission guide shaft 11 and the positioning guide shaft 12. Driven by the driving assembly 3, the sliding support 21 can drive the adapter plate 22 to perform linear motion along the transmission guide shaft 11 and the positioning guide shaft 12. The threaded holes reserved in the adapter plate 22 can also be used to secure other components that need to slide (such as an operating handle, display panel, control circuit board, and internal cables).

[0059] Preferably, the sliding support 21 is made of a self-lubricating engineering plastic, such as polytetrafluoroethylene (PTFE) or polyetheretherketone (PEEK), to reduce dry friction and eliminate the need for lubricating oil, thereby achieving maintenance-free operation. The adapter plate 22 is made of an aluminum alloy or an engineering plastic (such as polytetrafluoroethylene (PTFE) or polyetheretherketone (PEEK)) to reduce weight while ensuring a certain level of structural strength.

[0060] Preferably, if Figure 4 and Figure 5As shown, the outer ring surfaces of the gear 32 at either axial end are fixedly mounted with an upper rolling bearing 33 and a lower rolling bearing 34, respectively. The outer rings of the upper and lower rolling bearings 33 and 34 are both fixedly connected to the sliding platform 2. Specifically, the inner rings of the upper and lower rolling bearings 33 and 34 are mounted on the outer ring surfaces of the gear 32 at either axial end, allowing them to rotate with the gear 32. The adapter plate 22 and the sliding support 21 are respectively provided with coaxial positioning flanges and positioning grooves. The outer ring of the upper rolling bearing 33 is fixedly connected to the positioning groove of the adapter plate 22, while the outer ring of the lower rolling bearing 34 is fixedly connected to the positioning groove of the sliding support 21. As a result, the upper and lower rolling bearings 33 and 34 provide a supporting connection and maintain coaxiality. When the driving member 31 drives the gear 32 to rotate, the upper and lower rolling bearings 33 and 34 propel the entire sliding platform 2 in linear motion along the guide rail 1.

[0061] Further, combined with Figure 2 and Figure 5 The sliding support 21 defines a receiving cavity 211 whose dimensions match those of the gear 32. After the transmission guide shaft 11 passes through the sliding support 21, the rack 15 faces the receiving cavity 211. The gear 32 is positioned within the receiving cavity 211 and meshes with the rack 15. The adapter plate 22 defines a clearance hole 221. A drive shaft interface is defined at the end of the gear 32 corresponding to the clearance hole 221. The drive shaft of the driver 31 matches the dimensions of the drive shaft interface to ensure that the drive shaft of the driver 31 can be inserted into the drive shaft interface after passing through the clearance hole 221, thereby driving the gear 32 to rotate.

[0062] During assembly in this embodiment, the lower rolling bearing 34 and gear 32 are first inserted into the accommodating cavity 211 of the sliding support 21, and the gear 32 is meshed with the rack 15. The driver 31 and upper rolling bearing 33 are then installed into the adapter plate 22 and mounted as a whole on the sliding support 21. The drive shaft of the driver 31 then automatically engages the drive shaft interface of the gear 32. Compared to the prior art method of first installing the gear 32 on the drive shaft of the driver 31 and then meshing the gear 32 with the rack 15, the assembly method in this embodiment has a pre-set positioning structure, and the accuracy of the positioning structure can be guaranteed by machining precision. Therefore, the requirements for assembly adjustment are lower, and the assembly accuracy and efficiency are relatively high.

[0063] Furthermore, if Figure 6As shown, the distance sensor 4 in this embodiment is a light curtain type distance sensor. A bevel 121 and / or a bevel groove 122 is formed on the side of the positioning guide shaft 12 facing the distance sensor 4. The light curtain 41 emitted by the distance sensor 4 faces the bevel 121 and / or the bevel groove 122. When the sliding platform 2 moves from the first position to the second position, a first measurement calculation and / or a second measurement calculation are performed based on the correspondence between different positions and slopes on the bevel 121 and / or the bevel groove 122 to obtain the displacement of the sliding platform 2 relative to the guide rail 1. Based on the results of the first measurement calculation and / or the results of the second measurement calculation and the preset fixed reference section displacement value, the absolute position information of the sliding platform 2 relative to the guide rail 1 can be obtained. The preset fixed reference section is preferably a position on the positioning guide shaft 12 that is closest to the fixed end block 13, and its corresponding axial absolute position coordinates along the guide rail 1 or the positioning guide shaft 12 are calibrated by the manufacturer after assembly is completed.

[0064] Preferably, if Figure 7 and Figure 8 As shown, a receiving groove 212 is also provided in the sliding support 21, and the distance sensor 4 is located in the receiving groove 212 to form a relatively closed and clean measuring space. The upper end of the distance sensor 4 is connected to the adapter plate 22 by a fastening screw. After the positioning guide shaft 12 is passed through the sliding support 21, the inclined surface 121 of the positioning guide shaft 12 faces the receiving groove 212, which is more compact and convenient in structure, and also facilitates the installation and maintenance of the sensor 4.

[0065] It should be noted that Figure 9 To locate the projection of the guide shaft 12 in the XY plane, during measurement, first select the first position mark section (i.e., the starting point of the target) and the second position mark section (i.e., the ending point of the target) on the positioning guide shaft 12, where X1 is the distance from the first position mark section to the fixed reference section preset on the positioning guide shaft 12, and X2 is the distance from the second position mark section to the fixed reference section preset on the positioning guide shaft 12. The difference between X2 and X1 is the displacement of the sliding platform 2 relative to the positioning guide shaft 12 and the guide rail 1. The first position mark section and the second position mark section can be any non-overlapping sections on the positioning guide shaft 12.

[0066] Specifically, combined Figure 6 and Figure 9The inclined surface 121 is arranged along the length direction of the positioning guide shaft 12 and maintains a fixed inclination dy with the axis of the positioning guide shaft 12. The inclined surface 121 is processed into a flat reflective surface by milling or grinding. The width of the inclined surface 121 changes approximately linearly along the length direction of the positioning guide shaft 12, and its widest point does not exceed the diameter of the positioning guide shaft 12. That is to say, the processing depth of the inclined surface 121 along the Y-axis direction changes monotonically linearly, and the light curtain 41 emitted by the distance sensor 4 is facing the inclined surface 121.

[0067] It is worth noting that if Figure 8 As shown, most of the light emitted by the distance sensor 4 toward the inclined surface 121 will be reflected and received by the distance sensor 4, while most of the light emitted toward the curved surface of the positioning guide shaft 12 will be scattered. Therefore, the intensity of the reflected light from the curved surface received by the distance sensor 4 will be significantly lower than the intensity of the emitted light from the inclined surface 121, and will be considered invalid by the distance sensor 4 and automatically filtered out. Figure 9 and Figure 10 As shown, the distance sensor 4 can measure the distance value Y from the emission section of the light curtain 41 to the inclined surface 121 and the effective light curtain height W reflected back by the inclined surface 121 according to the characteristics of the inclined surface 121, that is, the width value corresponding to the measured section on the inclined surface 121.

[0068] Furthermore, in combination with the characteristics of the inclined surface 121, the above-mentioned first measurement calculation specifically includes: according to the formula Calculate the displacement of the sliding platform 2 from the first position to the second position relative to the guide rail 1 △ X y Among them, Figure 9 As shown, Y1 is the distance from the emission cross-section of the light curtain 41 to the inclined surface 121 at the first position, Y2 is the distance from the emission cross-section of the light curtain 41 to the inclined surface 121 at the second position, dy is the preset inclination of the inclined surface 121, dy is defined by the design value when the inclined surface 121 is processed, and Y1 and Y2 are both measured by the distance sensor 4 in the Y-axis direction.

[0069] Preferably, the projection of the inclined surface 121 along the horizontal radial direction of the positioning guide shaft 12 falls within the range covered by the height of the light curtain 41, ensuring that the distance sensor 4 can always detect the entire width W of the inclined surface 121. The measurement light curtain 41 outside the inclined surface 121 will be scattered by the arc surface of the positioning guide shaft 12. Furthermore, the distance from the light curtain 41 to any cross-section of the inclined surface 121 should be within the measuring range, that is, the distance sensor 4 can always detect the measurement value Y within the target range.

[0070] Further, combined with Figure 6 、 Figure 10 and Figure 11The inclined surface 121 is provided with an oblique groove 122 extending along its length. The groove 122 is inclined from the upper edge of the wider end of the inclined surface 121 to the lower edge of the narrower end. In other words, the height of the oblique groove 122 along the Z-axis varies monotonically and linearly. The contour of the oblique groove 122 is complete and sharp, and it is non-reflective or its reflection intensity is significantly greater than that of the inclined surface 121. This ensures that the intensity of the light reflected from the oblique groove 122 and the intensity of the light emitted from the inclined surface 121, received by the distance sensor 4, is significantly different from that received by the distance sensor 4. This ensures that the distance sensor 4 can clearly distinguish between the intensity of the light reflected from the oblique groove 122 and the intensity of the light emitted from the inclined surface 121, thereby measuring the distance H from the oblique groove 122 to the lower edge of the inclined surface 121. In other embodiments, the oblique groove 122 can be made sufficiently deep so that the Y-axis measurement value of the distance sensor 4 in its corresponding area is significantly different from the Y-axis measurement value of the inclined surface 121, thus achieving the above-mentioned effect.

[0071] Furthermore, in combination with the characteristics of the inclined surface 121 and the inclined groove 122, the second measurement calculation specifically includes: according to the formula Calculate the displacement of sliding platform 2 △ X z Among them, Figure 10 and Figure 11 As shown, H1 is the distance from the inclined groove 122 to the lower edge of the inclined surface 121 in the first position, W1 is the width of the inclined surface 121 in the first position, H2 is the distance from the inclined groove 122 to the lower edge of the inclined surface 121 in the second position, W2 is the width of the inclined surface 121 in the second position, k is the harmonic coefficient related to the diameter of the positioning guide shaft 12, the inclined surface 121 and the inclined groove 122, and the harmonic coefficient is calibrated by the manufacturer during production. The calibration method is to make the corresponding ends of the maximum stroke △ X y and △ X z The difference is within the allowable error range, dz is the preset inclination of the inclined groove 122, which is defined by the design value when the inclined groove 122 is processed, and H1, W1, H2, and W2 are all measured by the distance sensor 4 in the Z-axis direction. Wherein, Z is a variable and Z=H×W.

[0072] It is worth noting that the accuracy that the light curtain distance sensor can achieve is micron level. In actual operation, when the result of the first measurement calculation is △ X y The result calculated with the second measurement △ X z If different, the result of the first measurement calculation △ X y The result calculated with the second measurement △ X z The selection is divided into three cases.

[0073] For example, in the first case, when △ X y and △ X z If both are within the error range allowed by the distance sensor 4 (for example, the error does not exceed 5%), △ X y and △ X z The value of is very close. △ X y and △ X z The second case is when the result of the first measurement calculation is different from the result of the second measurement calculation and at most one of the measurement calculation results is within the allowable error range, that is, when △ X y and △ X z are different and one of them is not much outside the permissible error range while the other is within the permissible error range (e.g. 4% and 6% respectively), or when △ X y and △ X z When both are beyond the error range allowed by the distance sensor 4 and the excess is not much (for example, 6% or 8%), the result calculated according to the first measurement △ X y The result calculated with the second measurement △ X z The size of the selected. That is, when the result of the first measurement calculation △ X y Greater than the result of the second measurement calculation △ X z When the first measurement result is selected △ X y At this time, the measured Y value change is more obvious than the Z value change, so the result of the first measurement calculation is △ X y The reference value is higher. Or when the result of the second measurement calculation △ X z Greater than the result of the first measurement calculation △ X y When selecting the result of the second measurement calculation △ X z At this time, the measured Z value change is more obvious than the Y value change, so the result of the second measurement calculation is △ X z The third case is when △ X y and △ X zIf both are significantly beyond the allowable error range of the distance sensor 4 (for example, 10% or 20%), it means △ X y and △ X z It is obviously abnormal and has no reference value. At this time, the measurement system may be faulty and requires manual maintenance or calibration.

[0074] Furthermore, the displacement of the sliding platform 2 is determined based on the results of the selected measurement calculation, and the actual operating speed of the sliding platform 2 is obtained based on the displacement of the sliding platform 2 and the sampling time provided by the light curtain distance sensor 4; the actual operating speed of the sliding platform 2 is compared with the theoretical linear movement speed converted by the drive component 3. If it is within the allowable error range, the drive component 3 maintains the current drive parameters; if it is outside the allowable error range, the drive component 3 is accelerated or decelerated according to the preset control parameters.

[0075] Specifically, after determining the optimal measurement and calculation result, the displacement of the sliding platform 2 is determined based on the selected optimal calculation result. The light curtain distance sensor can provide a clock signal, i.e., the sampling time (the sampling time is equal to the sampling frequency multiplied by the number of samples), for the movement of the sliding platform 2 from the first position to the second position. The actual operating speed of the sliding platform 2 can be obtained by comparing the displacement of the sliding platform 2 with the sampling time provided by the light curtain distance sensor 4. The preset rotational speed of the driver 31 is known and can be converted into a corresponding theoretical linear motion speed. The actual operating speed of the sliding platform 2 is then compared with the theoretical linear motion speed obtained by the driver 31. If the actual speed is within the allowable error range, the movement of the sliding platform 2 is relatively stable, and the driver 31 can maintain the current drive parameters. If the actual speed is within the allowable error range, the driver assembly 3 is accelerated or decelerated according to the preset control parameters, followed by retesting and / or re-intervention. If the speed remains within the error range after several interventions, it indicates that there is a problem with the driver, and manual maintenance is required.

[0076] It should be noted that when the sliding platform 2 moves to the physical endpoint of the positioning guide shaft 12, the drive member 31 is controlled to decelerate or stop driving in accordance with the absolute position information of the sliding platform 2. The absolute position information of the sliding platform 2 is obtained based on the optimal result of the first and second measurement calculations and the displacement value of a preset fixed reference section. The preset fixed reference section is preferably a position on the sliding platform 2 closest to the fixed end block 13. The corresponding axial absolute position coordinates along the guide rail 1 or positioning guide shaft 12 are calibrated by the manufacturer after assembly.

[0077] In particular, when the sliding platform 2 retracts to the physical endpoint of the transmission guide shaft 11 (i.e., when the sliding platform 2 contacts the fixed end block 13), the actual operating speed of the sliding platform 2 is always lower than its theoretical linear movement speed. At this time, the absolute position information of the sliding platform 2 can be combined to timely control the driving member 31 to slow down or stop driving, thereby reducing invalid acceleration and the resulting extrusion risk. This allows for real-time detection and closed-loop control of the movement speed and position of the sliding platform 2, thereby ensuring the movement accuracy and stability of the sliding platform 2, and thus ensuring the quality of the images captured by the device.

[0078] It is worth noting that, in principle, the displacement ΔX can be obtained only by using the formula of the first measurement calculation or the formula of the second measurement calculation. However, the positioning guide shaft 12 is generally slender, so the diameter of the positioning guide shaft 12 is limited. In order to ensure the guiding accuracy and mechanical strength of the positioning guide shaft 12, the inclined surface 121 and the inclined groove 122 cannot be processed too obliquely. The actual inclination dy of the inclined surface 121 or the inclination dz of the inclined groove 122 are both limited. When the stroke is short, the change in the Y value or Z value is small, and the accuracy requirements for the distance sensor 4 are also relatively high. Therefore, by combining the first measurement calculation and the second measurement calculation to amplify and cross-check the measured values, the measurement error can be reduced while the accuracy of the distance sensor 4 is constant, thereby improving the accuracy of the measurement system.

[0079] To sum up, the miniature linear sliding platform provided in this embodiment integrates the inclined surface 121 and the inclined groove 122 to be detected on the positioning guide shaft 12, and uses a combination of two different output quantities of the same distance sensor 4 to perform mutual verification, thereby obtaining the displacement information of the sliding platform 2 relative to the guide rail 1. It has the advantages of compact structure, high measurement accuracy and good reliability, which is conducive to miniaturization of equipment and precision motion control.

[0080] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Micro linear sliding platform, characterized in that, include: Sliding platform (2); A guide rail (1) is provided on the sliding platform (2); A driving component (3) is arranged on the sliding platform (2), and an output end of the driving component (3) can be transmission-connected to the guide rail (1) to drive the sliding platform (2) to slide along the guide rail (1); A distance sensor (4) is provided on the sliding platform (2), and the distance sensor (4) is used to detect the displacement of the sliding platform (2) relative to the guide rail (1); The guide rail (1) comprises: A transmission guide shaft (11) is provided through the sliding platform (2) and is in transmission connection with the driving assembly (3); A positioning guide shaft (12) is provided through the sliding platform (2), the positioning guide shaft (12) is parallel to and spaced apart from the transmission guide shaft (11), and a stop pin (14) is provided at the end of each of the transmission guide shaft (11) and the positioning guide shaft (12); Two fixed end blocks (13) are respectively provided at both ends of the transmission guide shaft (11) and the positioning guide shaft (12), and the fixed end blocks (13) are used to connect the transmission guide shaft (11) and the positioning guide shaft (12); The distance sensor (4) is a light curtain type distance sensor, and a slant (121) and / or a slant groove (122) are formed on a side of the positioning guide shaft (12) facing the distance sensor (4). The light curtain (41) emitted by the distance sensor (4) faces the slant (121) and / or the slant groove (122). When the sliding platform (2) moves from a first position to a second position, a first measurement calculation and / or a second measurement calculation are performed based on the correspondence between different positions and slopes on the slant (121) and / or the slant groove (122) to obtain the displacement of the sliding platform (2) relative to the guide rail (1).

2. The micro linear sliding platform according to claim 1, characterized in that: The anti-rotation end surface of the anti-rotation pin (14) cooperates with the corresponding anti-rotation planes on the transmission guide shaft (11) and the positioning guide shaft (12), and the anti-rotation pin (14) is passed through and connected to the fixed end block (13).

3. The micro linear sliding platform according to claim 1, characterized in that: The driving assembly (3) includes a driving member (31) and a gear (32), wherein the driving member (31) is fixed on the sliding platform (2), and the gear (32) is connected to the output end of the driving member (31), and the driving member (31) can drive the gear (32) to rotate; The transmission guide shaft (11) is provided with a rack (15) arranged along its axial direction, and the gear (32) is meshed with the rack (15) for transmission.

4. The micro linear sliding platform according to claim 3, characterized in that: An upper rolling bearing (33) and a lower rolling bearing (34) are fixedly sleeved on the outer ring surfaces of the axial ends of the gear (32), and both the upper rolling bearing (33) and the lower rolling bearing (34) are connected to the sliding platform (2).

5. The micro linear sliding platform according to claim 3, characterized in that: An accommodating cavity (211) is provided in the sliding platform (2), the rack (15) faces the accommodating cavity (211), and the gear (32) is located in the accommodating cavity (211) and meshes with the rack (15).

6. The micro linear sliding platform according to claim 1, characterized in that: The inclined surface (121) extends along the length direction of the positioning guide shaft (12), the inclined surface (121) can reflect light, the inclined surface (121) is inclined from one end to the other end of the positioning guide shaft (12), and the width of the inclined surface (121) changes linearly along the length direction of the positioning guide shaft (12), and the light curtain (41) emitted by the distance sensor (4) is facing the inclined surface (121).

7. The micro linear sliding platform according to claim 6, characterized in that: The projection of the inclined surface (121) along the horizontal radial direction of the positioning guide shaft (12) falls within the range covered by the height of the light curtain (41).

8. The micro linear sliding platform according to claim 6, characterized in that: The inclined surface (121) is provided with an inclined groove (122) extending along its length direction. The inclined groove (122) is non-reflective or has a reflection intensity greater than that of the inclined surface (121). The inclined groove (122) is arranged obliquely from the upper edge to the lower edge of the inclined surface (121).

9. The micro linear sliding platform according to claim 1, characterized in that: A receiving groove (212) is provided in the sliding platform (2), the distance sensor (4) is located in the receiving groove (212), and the inclined surface (121) of the positioning guide shaft (12) faces the receiving groove (212).

10. The micro linear sliding platform according to any one of claims 1 to 9, characterized in that: The sliding platform (2) comprises a sliding support (21) and an adapter plate (22), the adapter plate (22) is fixed to the upper surface of the sliding support (21), and the driving assembly (3) is fixed on the adapter plate (22).

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