High-precision positioning platform

Abstract

The invention discloses a high-precision positioning platform which mainly comprises a driving motor, a roll shaft, a rope, a main sliding table and a main guide rail, the output end of the driving motor is connected with the roll shaft through a coupler, the rope is wound on the roll shaft, one end of the rope is wound on the roll shaft, and the other end of the rope is connected with the main sliding table. The main sliding table is connected with the main guide rail in a sliding mode, the main guide rail is fixedly installed on the machine frame, and the positioning platform can drive the roller shaft to rotate through the driving motor, so that the rope is wound on the roller shaft, and then an operation device on the main sliding table is driven to achieve submicron and nanometer precision single-shaft movement. The method can be used for precise control of micro-nano biological particles such as single cells and unicellular vesicles.

Description

Technical Field

[0001] The present invention relates to a positioning platform, and in particular to a high-precision micro-nanoscale positioning platform, which can be applied to the precise manipulation of single cells and single extracellular vesicles. Background Art

[0002] In the prior art, the positioning platform is mainly achieved by combining the guide rail slider structure with belt drive, precision ball screw, linear motor, piezoelectric ceramic motor, etc. The positioning platform of the belt drive type generally has low precision, while the precision of the precision ball screw is high, and the positioning accuracy can reach within 10 microns, and the repeated positioning accuracy can reach within 1 micron, but it is limited by the processing accuracy of the screw lead and the gap between the ball and the screw and the nut. The positioning accuracy of this type of linear platform is difficult to reach the 1 micron level, and the repeated positioning accuracy cannot reach the submicron level. It is difficult to meet the needs of single cell and extracellular vesicle manipulation. The linear motor can reach the submicron level by cooperating with the accuracy of the grating ruler, but it depends on the accuracy of the grating ruler, and the high-precision grating ruler is expensive. Although the piezoelectric ceramic linear motor has high precision, it also faces the disadvantage of being expensive. Summary of the invention

[0003] In order to solve the above problems, the inventors conducted intensive research and designed a high-precision positioning platform, which can achieve sub-micron or nanometer-level positioning accuracy and can be applied to the precise manipulation of single cells and single extracellular vesicles.

[0004] The positioning platform mainly includes a driving motor, a roller shaft, a rope, a main slide and a main guide rail, wherein the output end of the driving motor is connected to the roller shaft through a coupling, a rope is wound around the roller shaft, one end of the rope is wound around the roller shaft, and the other end of the rope is connected to the main slide, the main slide is slidably connected to the main guide rail, and the main guide rail is fixedly mounted on the frame.

[0005] The positioning platform also includes a motor motion guide rail, a motor slide, a drive motor, a motor follower slider, and a motor positioning wedge, wherein the motor motion guide rail is fixedly installed on the frame, the motor slide is slidably installed on the motor motion guide rail, the drive motor is fixedly installed on the motor slide, the lower end of the motor slide is fixedly connected to the motor follower slider, the side of the main slide opposite to the motor follower slider is fixedly connected to the motor positioning wedge, and the motor follower slider is in contact with the motor positioning wedge.

[0006] The surface where the motor follower sliding block contacts the motor positioning wedge is an inclined surface.

[0007] The positioning platform also includes a spring and a spring mounting seat, one end of the spring is fixedly mounted on the right side of the motor slide, the other end of the spring is fixedly mounted on the spring mounting seat, and the spring mounting seat is fixedly mounted on the motor motion guide rail.

[0008] Preferably, the spring is a tension spring.

[0009] The positioning platform further comprises a constant force spring 12 , one end of which is fixedly mounted on the motor positioning wedge 5 , and the other end of which is fixedly mounted on the frame via a spring seat 13 .

[0010] An adjusting plate is also arranged between the motor follower slider and the motor positioning wedge, one end of the adjusting plate is hinged to the motor slide table, and the other end of the adjusting plate is fixedly connected to the motor follower slider through bolts.

[0011] The motor positioning wedge is in contact with the adjustment plate.

[0012] A plurality of gaskets are sleeved on the bolts between the adjusting plate and the motor follower slide block.

[0013] The beneficial effects of the present invention include:

[0014] 1) The present invention can drive the roller to rotate by driving the motor, so that the rope is wound around the roller, and then drive the operating device on the main slide to achieve sub-micron and nanometer precision single-axis movement;

[0015] 2) The constant force spring can provide a constant pulling force to the main slide, and can pre-tighten the rope and the winding rope. The constant force spring is used for pre-tightening, so that the elastic deformation of the rope is only related to its length, and the linear deformation of the rope is easy to correct the position.

[0016] 3) By increasing or decreasing the number of gaskets, the angle between the adjustment plate 14 and the motor follower slider 4 can be adjusted, thereby adjusting the lead of the rope 9. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a first embodiment of a high-precision positioning platform for single-cell and single-extracellular vesicle manipulation is shown;

[0018] Figure 2 A schematic structural diagram of a second embodiment of a high-precision positioning platform for single-cell and single-extracellular vesicle manipulation is shown;

[0019] Description of Reference Numerals

[0020] 1-motor motion guide rail, 2-motor slide, 3-drive motor, 4-motor follower slider, 5-motor positioning wedge, 6-spring, 7-spring mounting seat, 8-roller, 9-rope, 10-main slide, 11-main rail, 12-constant force spring, 13-spring seat, 14-adjustment plate, 15-bolt. DETAILED DESCRIPTION

[0021] The present invention will be further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present invention will become more clear and distinct.

[0022] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0023] First embodiment

[0024] See attached Figure 1 The present invention provides a high-precision positioning platform, which mainly includes a driving motor 3, a roller 8, a rope 9, a main slide 10 and a main guide rail 11, wherein the output end of the driving motor 3 is connected to the roller 8 through a coupling, a rope 9 is wound around the roller 8, one end of the rope 9 is wound around the roller, and the other end of the rope 9 is connected to the main slide 10, the main slide 10 is slidably connected to the main guide rail 11, and the main guide rail 11 is fixedly installed on a frame (not shown in the figure), wherein the main slide 10 can be used to install an operating device, such as a robot.

[0025] According to the present invention, the positioning accuracy of the positioning platform depends on the positioning accuracy of the rotation of the drive motor 3, the diameter and roundness of the roller 8, and the material of the rope 9. In the present invention, the drive motor 3 adopts a high-precision servo motor, wherein the encoder accuracy on the drive motor 3 can reach 26 bits (2^26 scale lines), with high resolution and high positioning accuracy; the roller 8 is processed by a high-precision lathe or grinder, which has the advantages of high accuracy and low cost; the rope 9 is made of a high-rigidity polymer, such as carbon fiber, so that the elastic deformation of the rope 9 is small, which is convenient for high-precision position control. The rope 9 is evenly wound by the drive motor 3, thereby driving the operating device on the main slide 10 to achieve sub-micron and nanometer precision uniaxial motion.

[0026] As a preferred embodiment, the positioning platform also includes a motor motion guide rail 1, a motor slide 2, a drive motor 3, a motor follower slider 4, and a motor positioning wedge 5, wherein the motor motion guide rail 1 is fixedly installed on the frame, the motor slide 2 is slidably installed on the motor motion guide rail 1, the drive motor 3 is fixedly installed on the motor slide 2, the lower end of the motor slide 2 is fixedly connected with the motor follower slider 4, the side of the main slide 10 opposite to the motor follower slider 4 is fixedly connected with the motor positioning wedge 5, and the motor follower slider 4 is in contact with the motor positioning wedge 5.

[0027] As a preferred embodiment, the surface on which the motor follower slider 4 contacts the motor positioning wedge 5 is an inclined surface; through the contact between the inclined surfaces of the motor follower slider 4 and the motor positioning wedge 5, when the rope 9 is wound around the roller 8, the rope 9 drives the main slide 10 to move upward on the main guide rail 11, and at the same time, the motor positioning wedge 5 on the main slide 10 moves upward on the inclined surface on the motor follower slider 4, pushing the motor follower slider 4 to move leftward, thereby driving the motor slide 2 to move leftward on the motor motion guide rail 1, and further driving the drive motor 3 and the roller 8 to move leftward, so that the rope can be evenly wound around the roller 8, avoiding overlapping and crossing of the ropes.

[0028] As a preferred embodiment, the positioning platform also includes a spring 6 and a spring mounting seat 7, one end of the spring 6 is fixedly mounted on the right side of the motor slide 2, the other end of the spring 6 is fixedly mounted on the spring mounting seat 7, the spring mounting seat 7 is fixedly mounted on the motor motion guide rail 1, and the spring 6 is preferably a tension spring; by arranging the spring 6 and the spring mounting seat 7, it is convenient to reset the driving motor 3 when the driving motor 3 releases the rope 9.

[0029] As a preferred embodiment, the positioning platform also includes a constant force spring 12, one end of the constant force spring 12 is fixedly mounted on the motor positioning wedge 5, and the other end of the constant force spring 12 is fixedly mounted on the frame through a spring seat 13; the constant force spring 12 can provide a constant pulling force to the main slide 10, and can pre-tighten the rope 9 and pre-tighten the winding rope; by pre-tightening the constant force spring 12, the elastic deformation of the rope 9 is only related to its length, and the linear deformation of the rope 9 is easy to correct the position (Note: it is necessary to clarify here what the deformation of the rope 9 is related to, and the formula shows that it is related to the stroke).

[0030] The resolution of the positioning platform is:

[0031] Wherein, D is the diameter of the roller 8 , d is the diameter of the rope 9 , S is the cross-sectional area of ​​the rope 9 , and Δθ is the rotation resolution of the drive motor 3 .

[0032] The deformation of rope 9 is:

[0033]

[0034] Wherein, L is the stroke (the distance from the slider to the roller 8, you need to determine which figure mark the slider has), F is the tension of the constant force spring 12, E is the elastic modulus of the rope 9, and d is the diameter of the rope 9.

[0035] The deformation of the rope 9 is used to compensate for the positioning accuracy of the platform. The deformation of the rope 9 is linearly related to the stroke L of the main slide, so the position compensation algorithm is simple and convenient for motion control.

[0036] When the diameter of the roller 89 is D=2mm, the rope diameter is 0.2mm, and the motor encoder is 26 bits, Δθ=360 / (2^26), and the positioning resolution of the platform is 10.3nm.

[0037] The working process of the positioning platform is as follows: when the driving motor 3 rotates forward, it drives the roller 8 to rotate forward, so that the rope 9 is wound around the roller 8. At this time, the rope 9 drives the main slide 10 to move upward on the main guide rail 11. At the same time, the motor positioning wedge 5 on the main slide 10 moves upward on the inclined surface on the motor follower slider 4, pushing the motor follower slider 4 to move to the left, and then drives the motor slide 2 to move to the left on the motor motion guide rail 1, and further drives the driving motor 3 and the roller 8 to move to the left, so that the rope can be evenly wound around the roller 8. When the driving motor 3 reverses, it drives the roller shaft 8 to reverse, so that the rope 9 is released on the roller shaft 8. At this time, the constant force spring 12 has a certain pulling force on the main slide 10. Under this pulling force, the main slide 10 moves downward on the main guide rail 11. At the same time, the motor positioning wedge 5 on the main slide 10 moves downward on the inclined surface on the motor follower slider 4. Under the pulling force of the spring 6, the motor follower slider 4 can be driven to move right, and then the motor slide 2 can be driven to move right on the motor motion guide rail 1, and further the driving motor 3 and the roller shaft 8 can be driven to move right. At the same time, the constant force spring 12 can enable the rope to always have a certain pre-tightening force during the release process.

[0038] Second embodiment

[0039] See attached Figure 2 The present invention provides a high-precision positioning platform, the structure of which is similar to that of the positioning platform in the first embodiment, except that: an adjustment plate 14 is provided between the motor follower slider 4 and the motor positioning wedge 5, one end of the adjustment plate 14 is hinged to the motor slide 2, the other end of the adjustment plate 14 is fixedly connected to the motor follower slider 4 by a bolt 15, and the motor positioning wedge 5 is in contact with the adjustment plate 14; a plurality of gaskets are sleeved on the bolts 15 between the adjustment plate 14 and the motor follower slider 4, and by increasing or decreasing the number of gaskets, the angle between the adjustment plate 14 and the motor follower slider 4 can be adjusted, thereby adjusting the lead of the rope 9. (The two formulas in the first embodiment seem to have nothing to do with the lead, confirm whether it is necessary to supplement the lead and accuracy or whether other contents are related)

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, the present invention may be subjected to a variety of substitutions and improvements, all of which fall within the scope of protection of the present invention.

Claims

1. A high-precision positioning platform, characterized in that: The positioning platform mainly includes a driving motor, a roller shaft, a rope, a main slide and a main guide rail, wherein the output end of the driving motor is connected to the roller shaft through a coupling, a rope is wound around the roller shaft, one end of the rope is wound around the roller shaft, and the other end of the rope is connected to the main slide, the main slide is slidably connected to the main guide rail, and the main guide rail is fixedly mounted on the frame.

2. The positioning platform according to claim 1, characterized in that: It also includes a motor motion guide rail, a motor slide, a drive motor, a motor follower slider, and a motor positioning wedge, wherein the motor motion guide rail is fixedly installed on the frame, the motor slide is slidably installed on the motor motion guide rail, the drive motor is fixedly installed on the motor slide, the lower end of the motor slide is fixedly connected to the motor follower slider, the side of the main slide opposite to the motor follower slider is fixedly connected to the motor positioning wedge, and the motor follower slider is in contact with the motor positioning wedge.

3. The positioning platform according to claim 2, characterized in that: The contact surface between the motor follower sliding block and the motor positioning wedge is an inclined surface.

4. The positioning platform according to claim 2, characterized in that: It also includes a spring and a spring mounting seat, one end of the spring is fixedly mounted on the right side of the motor slide, the other end of the spring is fixedly mounted on the spring mounting seat, and the spring mounting seat is fixedly mounted on the motor motion guide rail.

5. The positioning platform according to claim 4, characterized in that: The spring is a tension spring.

6. The positioning platform according to claim 2, characterized in that: It also includes a constant force spring 12 , one end of which is fixedly mounted on the motor positioning wedge 5 , and the other end of the constant force spring 12 is fixedly mounted on the frame through a spring seat 13 .

7. The positioning platform according to claim 3, characterized in that: An adjusting plate is also arranged between the motor follower slider and the motor positioning wedge, one end of the adjusting plate is hinged to the motor slide table, and the other end of the adjusting plate is fixedly connected to the motor follower slider through bolts.

8. The positioning platform according to claim 1, characterized in that: The motor positioning wedge is in contact with the adjustment plate.

9. The positioning platform according to claim 1, characterized in that: A plurality of gaskets are sleeved on the bolts between the adjusting plate and the motor follower slide block.

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