A high-precision positioning platform

Abstract

This invention discloses a high-precision positioning platform, which mainly includes a drive motor, a roller, a rope, a main slide, and a main guide rail. The output end of the drive motor is connected to the roller via a coupling. A rope is wound around the roller, with one end of the rope wound around the roller and the other end connected to the main slide. The main slide is slidably connected to the main guide rail, which is fixedly mounted on the frame. This positioning platform can drive the roller to rotate via the drive motor, causing the rope to wind around the roller, thereby driving the operating device on the main slide to achieve submicron and nanometer precision single-axis movement. It can be used for the precise manipulation of micro- and nano-sized biological particles such as single cells and single-cell extracellular vesicles.

Description

Technical Field

[0001] This invention relates to positioning platforms, and more particularly to a high-precision micro-nano scale positioning platform that can be applied to the precise manipulation of single cells and single-cell extracellular vesicles. Background Technology

[0002] In existing technologies, positioning platforms primarily achieve positioning through a combination of guide rail and slider structures, belt drives, precision ball screws, linear motors, and piezoelectric ceramic motors. Belt-driven positioning platforms generally have lower accuracy, while precision ball screws offer higher accuracy, achieving positioning precision within 10 micrometers and repeatability within 1 micrometer. However, limited by the machining precision of the screw lead and the clearance between the balls and the screw / nut, this type of linear platform struggles to achieve 1-micrometer level positioning accuracy and sub-micrometer level repeatability. This makes it difficult to meet the needs of manipulating single cells and extracellular vesicles. Linear motors, when used with grating rulers, can achieve sub-micrometer level accuracy, but this depends on the precision of the grating ruler, which is expensive. While piezoelectric ceramic linear motors offer high accuracy, they also suffer from high cost. Summary of the Invention

[0003] To address the aforementioned problems, the inventors conducted intensive research and designed a high-precision positioning platform. This platform can achieve submicron or nanometer-level positioning accuracy and can be applied to the precise manipulation of single cells and single-cell extracellular vesicles.

[0004] The positioning platform mainly includes a drive motor, rollers, ropes, a main slide, and a main guide rail. The output end of the drive motor is connected to the rollers via a coupling. A rope is wound around the rollers, with one end of the rope wound around the rollers and the other end of the rope connected to the main slide. The main slide is slidably connected to the main guide rail, which 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. 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, and the side of the main slide opposite to the motor follower slider is fixedly connected to the motor positioning wedge. The motor follower slider and the motor positioning wedge are in contact connection.

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

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

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

[0009] The positioning platform 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 which is fixedly mounted on the frame via a spring seat 13.

[0010] An adjustment plate is also provided between the motor follower slider and the motor positioning wedge. One end of the adjustment plate is hinged to the motor slide, and the other end of the adjustment plate is fixedly connected to the motor follower slider by bolts.

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

[0012] Several washers are also fitted on the bolts between the adjusting plate and the motor follower slider.

[0013] The beneficial effects of this invention include:

[0014] 1) This invention can drive the roller shaft to rotate by a drive motor, so that the rope is wound on the roller shaft, thereby driving the operating device on the main slide to achieve single-axis movement with submicron and nanometer precision;

[0015] 2) The constant force spring can provide a constant tension to the main slide, enabling pre-tensioning of the rope and the winding rope; by using the constant force spring for pre-tensioning, the elastic deformation of the rope is only related to its length, and the linear deformation of the rope is easy to correct for position.

[0016] 3) By increasing or decreasing the number of shims, the angle between the adjusting plate 14 and the motor follower slider 4 can be adjusted, thereby adjusting the lead of the rope 9. Attached Figure Description

[0017] Figure 1 A schematic diagram of a first embodiment of a high-precision positioning platform is shown.

[0018] Figure 2 A schematic diagram of a second embodiment of a high-precision positioning platform is shown.

[0019] Explanation of reference numerals in the attached figures

[0020] 1-Motor motion guide rail, 2-Motor slide table, 3-Drive motor, 4-Motor follower slider, 5-Motor positioning wedge, 6-Spring, 7-Spring mounting seat, 8-Roller, 9-Rope, 10-Main slide table, 11-Main guide rail, 12-Constant force spring, 13-Spring seat, 14-Adjusting plate, 15-Bolt. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become clearer and more apparent.

[0022] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0023] First Embodiment

[0024] See appendix Figure 1 This invention provides a high-precision positioning platform, which mainly includes a drive motor 3, a roller 8, a rope 9, a main slide 10, and a main guide rail 11. The output end of the drive motor 3 is connected to the roller 8 via a coupling. The rope 9 is wound around the roller 8, with one end of the rope 9 wound around the roller and the other end of the rope 9 connected to the main slide 10. The main slide 10 is slidably connected to the main guide rail 11, which is fixedly mounted on the frame. The main slide 10 can be used to mount operating devices, such as robots.

[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 this invention, the drive motor 3 is a high-precision servo motor, wherein the encoder on the drive motor 3 has an accuracy of 26 bits (2^26 lines), providing high resolution and high positioning accuracy; the roller 8 is machined using a high-precision lathe or grinding machine, offering advantages of high precision and low cost; the rope 9 is made of a high-rigidity polymer, such as carbon fiber, resulting in small elastic deformation and facilitating high-precision position control. By uniformly winding the rope 9 around the drive motor 3, the operating device on the main slide 10 achieves sub-micron and nanometer precision single-axis motion.

[0026] In a preferred embodiment, the positioning platform further 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. The motor motion guide rail 1 is fixedly mounted on the frame, the motor slide 2 is slidably mounted on the motor motion guide rail 1, the drive motor 3 is fixedly mounted on the motor slide 2, the lower end of the motor slide 2 is fixedly connected to the motor follower slider 4, and the side of the main slide 10 opposite to the motor follower slider 4 is fixedly connected to the motor positioning wedge 5. The motor follower slider 4 and the motor positioning wedge 5 are in contact connection.

[0027] In a preferred embodiment, the surface in contact between the motor follower slider 4 and the motor positioning wedge 5 is an inclined surface. This inclined surface contact between the motor follower slider 4 and the motor positioning wedge 5 allows the main slide 10 to move upwards on the main guide rail 11 when the rope 9 is wound around the roller 8. Simultaneously, the motor positioning wedge 5 on the main slide 10 moves upwards on the inclined surface of the motor follower slider 4, pushing the motor follower slider 4 to the left. This, in turn, causes the motor slide 2 to move to the left on the motor motion guide rail 1, further driving the drive motor 3 and the roller 8 to move to the left, ensuring the rope is evenly wound around the roller 8 and preventing overlap and crossover of the ropes.

[0028] In a preferred embodiment, the positioning platform further includes a spring 6 and a spring mounting base 7. One end of the spring 6 is fixedly mounted on the right side of the motor slide 2, and the other end of the spring 6 is fixedly mounted on the spring mounting base 7. The spring mounting base 7 is fixedly mounted on the motor motion guide rail 1. The spring 6 is preferably a tension spring. By setting the spring 6 and the spring mounting base 7, it is convenient for the drive motor 3 to reset when the drive motor 3 releases the rope 9.

[0029] In 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 tension to the main slide table 10, and can pre-tighten the rope 9. By pre-tightening the rope with 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 for position.

[0030] The resolution of this positioning platform is:

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

[0032] The deformation of rope 9 is:

[0033]

[0034] In the formula, L is the stroke, 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 rope 9 is used to compensate for the positioning accuracy of the platform. The deformation of rope 9 is linearly related to the stroke L of the main slide, so the position compensation algorithm is simple and easy to perform motion control.

[0036] When selecting a roller shaft with a diameter D=2mm, a rope diameter of 0.2mm, and a 26-bit motor encoder, At this time, the platform's positioning resolution is 10.3 nm.

[0037] The working process of the positioning platform is as follows: When the drive motor 3 rotates forward, it drives the roller 8 to rotate forward, so that the rope 9 is wound on the roller 8. At this time, the rope 9 drives the main slide table 10 to move upward on the main guide rail 11. At the same time, the motor positioning wedge 5 on the main slide table 10 moves upward on the inclined surface of the motor follower slider 4, pushing the motor follower slider 4 to move to the left, which in turn drives the motor slide table 2 to move to the left on the motor motion guide rail 1, further driving the drive motor 3 and the roller 8 to move to the left, so that the rope can be evenly wound on the roller 8. When the drive motor 3 reverses, it drives the roller 8 to reverse, causing the rope 9 to be released on the roller 8. At this time, due to the constant force spring 12 exerting a certain tension on the main slide 10, the main slide 10 moves downward on the main guide rail 11 under this tension. At the same time, the motor positioning wedge 5 on the main slide 10 moves downward on the inclined surface of the motor follower slider 4. Under the tension of the spring 6, it can drive the motor follower slider 4 to move to the right, thereby driving the motor slide 2 to move to the right on the motor motion guide rail 1, and further driving the drive motor 3 and roller 8 to move to the right. Meanwhile, the constant force spring 12 can ensure that the rope always has a certain preload during the release process.

[0038] Second Embodiment

[0039] See appendix Figure 2 This invention provides a high-precision positioning platform. The structure of this positioning platform is similar to that of the positioning platform in the first embodiment, except that: an adjustment plate 14 is also 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, and the other end of the adjustment plate 14 is fixedly connected to the motor follower slider 4 by bolts 15. The motor positioning wedge 5 is in contact with the adjustment plate 14. Several shims are also sleeved on the bolts 15 between the adjustment plate 14 and the motor follower slider 4. By increasing or decreasing the number of shims, the angle between the adjustment plate 14 and the motor follower slider 4 can be adjusted, thereby adjusting the lead of the rope 9.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present invention based on these embodiments, 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 includes a drive motor, a roller, a rope, a main slide, and a main guide rail. The output end of the drive motor is connected to the roller via a coupling. A rope is wound around the roller, with one end of the rope wound around the roller and the other end of the rope connected to the main slide. The main slide is slidably connected to the main guide rail, which is fixedly mounted on the frame. It also includes a motor motion guide rail, a motor slide, a drive motor, a motor follower slider, and a motor positioning wedge. 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, and the side of the main slide opposite to the motor follower slider is fixedly connected to the motor positioning wedge. The motor follower slider and the motor positioning wedge are in contact. The surface in contact between the motor follower slider and the motor positioning wedge is an inclined plane; It also includes a spring and a spring mounting base. One end of the spring is fixedly mounted on the right side of the motor slide, and the other end of the spring is fixedly mounted on the spring mounting base. The spring mounting base is fixedly mounted on the motor motion guide rail. It also includes a constant force spring, one end of which is fixedly mounted on the motor positioning wedge, and the other end of which is fixedly mounted on the frame through a spring seat.

2. The positioning platform of claim 1, wherein, The spring is a tension spring.

3. The positioning platform of claim 1, wherein, An adjustment plate is also provided between the motor follower slider and the motor positioning wedge. One end of the adjustment plate is hinged to the motor slide, and the other end of the adjustment plate is fixedly connected to the motor follower slider by bolts.

4. The positioning platform of claim 3, wherein, The motor positioning wedge is in contact with the adjusting plate.

5. The positioning platform of claim 3, wherein, Several washers are also fitted on the bolts between the adjusting plate and the motor follower slider.

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