Anti-interference six-axis parallel positioning platform and pre-tightening force optimization method thereof
By optimizing the preload adjustment method and the preload adjustment mechanism of the six-axis parallel positioning platform, the problem of insufficient anti-interference ability of the multi-axis parallel positioning platform in the optical imaging system is solved, and precise preload adjustment and stability improvement are achieved.
Patent Information
- Application Number
- CN202510822850.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-19
- Publication Date
- 2025-09-02
AI Technical Summary
The existing multi-axis parallel positioning platform is difficult to accurately preload adjustment according to actual needs, resulting in insufficient anti-interference ability of the optical imaging system during long-term imaging.
By optimizing the preload adjustment method, combining the platform power constraint, material yield strength constraint and resonance avoidance constraint, the optimal preload force is determined, and a preload adjustment mechanism of the six-axis parallel positioning platform is adopted, including a position adjustment mechanism and a preload adjustment structure, and precise preload adjustment is achieved using threaded connections and spring snaps.
The anti-interference ability of the optical imaging system is improved, the stability and accuracy of the positioning platform are enhanced, the strain sensitivity is reduced, and the natural frequency of the platform is optimized to resist environmental noise and equipment vibration.
Smart Images
Figure CN120577951A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of optical precision imaging technology, and more specifically, relates to an anti-interference six-axis parallel positioning platform and a preload optimization method thereof. Background Art
[0002] In optical imaging systems, multi-color fluorescence synchronous imaging technology can simultaneously obtain in situ structural information from multiple fluorescence channels, which is of great significance for studying the structure and function of biological organs. To obtain high-quality multi-channel structural information, precise co-localization of the detection focal plane is one of the key technical requirements. However, during long-term slice imaging observation of intact organs, optical imaging systems are often affected by various interference factors, including but not limited to environmental vibration, mechanical jitter, and stress release generated during the sample slicing process. These interferences can cause the relative positions of multi-channel detectors to shift, thereby affecting the imaging quality and data reliability of the optical imaging system.
[0003] Applying a preload to the mounting platform is an effective technique for improving the interference resistance of optical imaging systems. The widely used Stewart parallel platform is a classic six-degree-of-freedom parallel positioning platform with high rigidity and precision. However, its preload mechanism is complex, making it difficult to precisely adjust the preload force to meet actual application requirements. This inherent limitation makes it difficult to meet the compactness and precise preload control requirements of microscopic imaging systems. Therefore, it is necessary to develop a new preload adjustment mechanism for multi-axis parallel positioning platforms. Summary of the Invention
[0004] In response to the above defects or improvement needs of the existing technology, the present application provides an anti-interference six-axis parallel positioning platform and its preload optimization method, which aims to solve the technical problem that the existing multi-axis parallel positioning platform is difficult to accurately adjust according to actual needs.
[0005] To achieve the above-mentioned objectives, in the first aspect, the present application provides a pre-tightening force optimization method for an anti-interference six-axis parallel positioning platform, and the pre-tightening force optimization method is specifically: applying a pre-tightening force to the platform bearing components, and the optimal value of the pre-tightening force is the maximum value under the platform dynamic constraint, the platform material yield strength constraint and the platform resonance avoidance constraint.
[0006] Preferably, the platform dynamic constraint is specifically that the sum of the preload force and the load of the platform does not exceed the driving force of the platform support shaft; The platform material yield strength constraint is specifically that the sum of the preload force and the platform load does not exceed the material yield strength of the platform support shaft; The platform resonance avoidance constraint is specifically to maintain a preset safety margin between the platform's natural frequency, ambient noise frequency, and operating frequency after the preload is applied.
[0007] Preferably, the platform resonance avoidance constraints are specifically:
[0008] in, is the preload range under the resonance avoidance constraint, is the mass carried by the platform's bearing components, is pi, is the preset coefficient, is the ambient noise frequency, is the working vibration frequency of the equipment, The load of the platform bearing components.
[0009] Preferably, the platform power constraints are specifically:
[0010] in, is the preload range under platform dynamic constraints, is the load of the platform bearing components, is the number of platform support shafts, is the inertia force of the platform bearing component, It is the driving force of the platform support shaft.
[0011] Preferably, the platform material yield strength constraint is specifically:
[0012] in, is the preload range under the yield strength constraint of the platform material, is the load of the platform bearing components, is the number of platform support shafts, is the inertia force of the platform bearing component, is pi, is the contact radius of the support surface on the platform support shaft, is the yield strength of the material.
[0013] In a second aspect, the present application provides an anti-interference six-axis parallel positioning platform, comprising a base, a position adjustment mechanism, a preload adjustment structure, and a top cover; A plurality of position adjustment structures are evenly distributed on the base; The bottom of the position adjustment structure is fixed on the base, and the top of the position adjustment structure is fixed under the top cover, for adjusting and supporting the top cover; The preload adjustment mechanism includes a first spring buckle, a spring, a second spring buckle and an adjusting screw cover; the first spring buckle is fixed on the base; the second spring buckle and the adjusting screw cover are coaxially rotatably connected; the two ends of the spring are respectively fixed on the first spring buckle and the second spring buckle; the adjusting screw cover is connected to the top plate through a thread on the outer side.
[0014] Preferably, a thrust bearing is further provided between the second spring buckle and the adjusting screw cover, the shaft ring of the thrust bearing contacts the inner upper end surface of the adjusting screw cover, and the seat ring of the thrust bearing is fixed to the second spring buckle.
[0015] Preferably, a slot is further provided on the top of the adjusting screw cover, and the adjusting screw cover is rotated axially by twisting the slot.
[0016] Preferably, the rotating adjusting screw cover converts the rotational motion into an upward motion under the action of the thread on the outer side, and at the same time drives the second spring buckle to rise, thereby stretching the spring, and the stretched spring gives the top cover a downward pre-tightening force through the second spring buckle and the adjusting screw cover.
[0017] Preferably, the position adjustment mechanism includes a guide rail groove, a guide rail, a slider and a metal ball; The guide rail groove is fixed on the base, the guide rail is fixed in the guide rail groove, and two sliders are slidably connected to the guide rail. The tops of the two sliders are processed with opposite inclined surfaces. The spherical surface of the bottom of the metal ball is rigidly supported by the two opposite inclined surfaces. The metal ball is connected to the top cover through a top screw. A through hole is provided on the side wall of the guide rail groove, and the driving device drives the slider in the guide rail groove to move along the guide rail through the through hole.
[0018] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies: (1) This application discloses a method for optimizing the preload force of an anti-interference six-axis parallel positioning platform. The applicant has found through research that increasing the preload force can effectively reduce the strain sensitivity of the positioning platform. Based on this, the applicant calculates the optimal preload force of the positioning platform under different working conditions by applying the triple constraints of the positioning platform's material, power, and natural frequency, thereby improving the anti-interference capability of the entire positioning platform.
[0019] (2) Through research, it was found that applying a preload force to the positioning platform will change the natural frequency of the entire positioning platform. Therefore, this application applies a calculated optimized preload force to the positioning platform to change the natural frequency of the entire positioning platform, making it away from the natural noise frequency and the equipment operating frequency, thereby improving the anti-interference ability of the positioning platform.
[0020] (3) The present application discloses an anti-interference six-axis parallel positioning platform, which includes a preload adjustment mechanism, wherein the adjusting screw cap and the top cover are connected by threads, thereby converting the rotational motion of the adjusting screw cap into the rise and fall of the adjusting screw cap by rotating the adjusting screw cap, further driving the expansion and contraction of the spring therein to apply a preload in the direction of gravity to the top cover. After associating the preload force with the change in the spring therein, the required preload force can be accurately adjusted through the preload adjustment mechanism.
[0021] (4) The anti-interference six-axis parallel positioning platform disclosed in this application has a compact structure in each part and a small size. The position adjustment mechanism and the adjustment mechanism structure can be well interlocked with each other, achieving precise adjustment and good anti-interference ability in a limited space. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 Schematic diagram of the structure of the anti-interference six-axis parallel positioning platform provided in the embodiment of the present application.
[0023] Figure 2 It is a structural diagram of the position adjustment mechanism provided in an embodiment of the present application.
[0024] Figure 3 It is a structural schematic diagram of the preload adjustment mechanism provided in an embodiment of the present application.
[0025] Figure 4 This is a table of preload test results of the preload optimization method for the anti-interference six-axis parallel positioning platform provided in an embodiment of the present application.
[0026] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1 is the base; 2 is the position adjustment mechanism; 3 is the preload mechanism; 4 is the top cover; 5 is the guide rail groove; 6 is the guide rail; 7 is the slider; 8 is the metal ball; 9 is the first spring buckle; 10 is the spring; 11 is the second spring buckle; 12 is the adjusting screw cover; 13 is the thrust bearing; 14 is the pin; 15 is the slot. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.
[0028] like Figure 1 The figure shows an embodiment of the anti-interference six-axis parallel positioning platform of the present application, which specifically includes: It includes a base 1, a position adjustment mechanism 2, a preload adjustment mechanism 3 and a top cover 4. The base 1 is an equilateral triangle structure, and a guide rail groove 5 is evenly provided on each side of the equilateral triangle structure; a position adjustment mechanism 2 is provided in the guide rail groove 55.
[0029] like Figure 2 Figure 2 shows a schematic diagram of the structure of the position adjustment mechanism 2, which includes a guide rail 6, a slider 7, and a metal ball 8. The guide rail 6 is disposed at the bottom of the guide rail slot 5. Two sliders 7 are disposed in each guide rail slot 5. The bottoms of the two sliders 7 are slidably connected to the guide rail 6. The tops of the sliders 7 are provided with inclined surfaces, and the inclined surfaces of the two sliders 7 are arranged opposite each other. The tops of the metal balls 8 are fixed to the bottom of the top cover 4, and the spherical surfaces at the bottom of the metal balls 8 are rigidly supported by the inclined surfaces of the two sliders 7.
[0030] This rigid support adjustment method has a small deformation and can achieve more precise posture adjustment.
[0031] In this embodiment, the bottom of the metal ball 8 is a spherical structure, and the top is a screw structure. The metal ball 8 is fixedly connected to the top cover 4 through the threads of the top screw.
[0032] In this embodiment, a through hole is provided on the side wall of the guide rail groove 5 , and the driving device is an actuator. The actuator drives the slider 7 in the guide rail groove 5 to move along the guide rail 6 through the through hole.
[0033] In this embodiment, slider 7 moves along guide rail 6 under external drive. Slider 7 and metal ball 8 form a kinematic pair through rigid point contact. Each kinematic pair consists of a moving pair and a point joint. The horizontal placement of the moving pair effectively reduces the overall size of the parallel platform. The inclined surface of slider 7, mounted at the end of the moving pair, contacts the spherical joint. By changing the spatial position of metal ball 8, the position of top cover 4 is adjusted, thereby adjusting the detector mounted on top cover 4.
[0034] like Figure 3 The figure shows a schematic diagram of the composition structure of the preload adjustment mechanism 3. The preload adjustment mechanism 3 is arranged between the base 1 and the top cover 4. The preload adjustment mechanism 3 includes a first spring buckle 9, a spring 10, a second spring buckle 11, an adjusting screw cover 12 and a thrust bearing 13.
[0035] A first spring clip 9 is fixed to the base 1, while a second spring clip 11 and an adjusting screw cap 12 are coaxially connected for rotation. The first and second spring clips 9 and 11 are connected to the ends of the spring 10 via pins 14. A thrust bearing 13 is located between the second spring clip 11 and the adjusting screw cap 12. The lower surface of the shaft ring of the thrust bearing 13 contacts the inner upper end surface of the adjusting screw cap 12, and the upper surface of the seat ring of the thrust bearing 13 is fixed to the lower end surface of the second spring clip 11. The top outer surface of the adjusting screw cap 12 is provided with external threads, which connect to the top cover 4 via the external threads. A slot 15 is also provided at the top of the adjusting screw cap 12, through which the adjusting screw cap 12 can be screwed and rotated.
[0036] In this embodiment, the rotating adjusting screw cover 12 converts the rotational motion into an upward motion under the action of the thread on the outer surface, and at the same time drives the second spring buckle 11 to rise, thereby the spring 10 is stretched, and the stretched spring 10 will exert a downward pulling force to the top cover 4 through the second spring buckle 11 and the adjusting screw cover 12, thereby giving the top cover 4 a downward pre-tightening force.
[0037] In this specific embodiment, the slot 15 is a regular hexagonal slot 15 , and the screw cap 12 is adjusted by inserting a hexagonal wrench into the slot 15 .
[0038] When adjusting the preload force, the adjusting screw cover 12 is rotated axially by turning the card slot 15. The adjusting screw cover 12 converts the rotational motion into an upward motion under the action of the outer side thread, thereby driving the second spring buckle 11 to move upward, stretching the length of the spring 10. The stretched spring 10 applies a downward preload force to the top cover 4 through the second spring buckle 11 and the adjusting screw cover 12.
[0039] This preload force application method can effectively change the elastic recovery coefficient of the entire positioning platform, so that the natural frequency of the entire positioning platform is far away from the natural frequency of natural vibration, thereby improving the stability and anti-interference ability of the positioning platform.
[0040] In the present embodiment, during the application of the preload force, the thrust bearing 13 will passively rotate along with the rotation of the adjusting screw cap 12 , thereby eliminating the torque generated during the adjustment process.
[0041] This application's anti-interference six-axis parallel positioning platform optimizes the preload force by the following methods: In optical imaging system applications, the top cover 4 of this application's six-axis parallel positioning platform must bear a load primarily composed of the detector's own weight and kinetic inertia. Based on this operating characteristic, we propose to establish a kinematic-mechanical coupling model for positioning error analysis. First, we construct a contact mechanics model for a point-height pair based on Hertzian contact theory. Assuming the contact region satisfies ideal linear elasticity and frictionlessness, we derive contact parameters in a local coordinate system.
[0042] For the spherical contact point, let the radius of the metal ball 8 be The elastic moduli of the inclined plane and the metal ball 8 are and , the Poisson's ratio of the inclined plane and the metal ball 8 is and , its contact pressure distribution Follow the formula below:
[0043] in, is the maximum contact pressure, is the contact radius, is the contact surface radius between the metal ball 8 and the inclined surface. According to the force balance condition, the maximum contact pressure for:
[0044] in, is the normal force acting on the metal ball 8, is pi; contact radius With normal force satisfy:
[0045] in, is the contact strain in the contact area; where the equivalent elastic modulus satisfy:
[0046] and are the elastic moduli of the inclined plane and the metal ball 8, respectively; and are the Poisson's ratios of the inclined plane and the metal ball 8, respectively. From this, the normal force acting on the metal ball 8 can be obtained. and contact strain The relationship between:
[0047] Revealing contact strain It has a 3 / 2 power nonlinear relationship with the normal force F.
[0048] Consider preload Regarding the control effect on contact stiffness, the direction of the preload force is the same as the direction of the platform working load. The total normal force is the superposition of the preload force and the working load. The corrected strain relationship is:
[0049] Differentiating it yields the strain sensitivity equation:
[0050] The above formula shows that increasing the preload can effectively reduce the strain sensitivity. Based on the kinematic mapping principle, the platform repeat positioning error Joint strain increment satisfy:
[0051] In the formula is the Jacobian matrix condition number of the mechanism, For the The axis joint strain increment; From the formula, we can see that the optimized preload By inhibiting Significantly improve positioning accuracy, thereby improving platform repeat positioning error Therefore, maximizing the preload within the allowable range of the platform material and platform dynamics can significantly improve the system's repeatability performance. The preload force must satisfy the platform dynamics constraints, platform material yield strength constraints, and platform resonance avoidance constraints. The platform dynamics constraints are:
[0052] in, is the preload range under platform dynamic constraints, is the load of the platform bearing components, that is, the gravity exerted on the top cover 4 and the imaging device on the top cover 4 in this embodiment, represents the driving force of the platform support shaft, i.e., the maximum thrust of the external actuator in this embodiment; is the inertial force of the platform bearing component, that is, the inertial force generated by the movement of the top cover 4 in this embodiment The yield strength constraint of the platform material is:
[0053] in, is the preload range under the yield strength constraint of the platform material, is the material yield strength, i.e., the material yield strength of the metal ball 8 and the slider 7 in this embodiment, is pi, is the contact radius of the supporting surface on the platform support shaft, that is, the contact radius of the metal ball 8 and the slider 7 in this embodiment.
[0054] Analyze the vibration characteristics of the system, the natural frequency of a mechanical system f n Its elastic recovery coefficient k 0 and effective mass m Jointly determined, the relationship can be expressed by the following basic formula:
[0055] In actual working conditions, the system often needs to avoid the low frequency of environmental noise f low A high frequency frequency that is consistent with the machine's working vibration f high , in order to ensure the stability of the system, the natural frequency of the platform f n Must be with f low and f high Adequate safety margin is maintained. The following formula can be used for setting.
[0056]
[0057] Under Hertz contact theory, the relationship between the total load and the platform elastic recovery coefficient can be established as follows:
[0058] It is generally determined by calibration experiments, and the platform resonance avoidance constraints that the preload must satisfy are as follows:
[0059] in, is the preload range under the resonance avoidance constraint, is the mass carried by the platform bearing component, that is, the sum of the mass of the top cover 4 and the imaging device in this embodiment, is the ambient noise frequency, is the operating vibration frequency of the device, that is, the operating frequency of the imaging device carried by the top cover 4 in this embodiment, is the load of the platform bearing components, that is, the sum of the gravity of the top cover 4 and the imaging device in this embodiment.
[0060] Therefore, when setting the platform preload, the maximum preload that can satisfy the above three constraints is taken as the optimal preload. :
[0061] in, is the optimal value of preload force, is the maximum function.
[0062] Assume that the spring constant of the preload spring is , the free length is ; Substituting the above two equations, the increment of the adjustment spring is , then the initial length of the spring configuration It is expressed in the following form:
[0063] By solving the maximum preload force under the platform dynamic constraints and the platform material yield strength constraints, the optimal preload force parameters that take into account both load-bearing capacity and contact strength can be obtained.
[0064] The six-axis parallel positioning platform of this application is used to set different preload forces for testing. The preload force test results are as follows: Figure 4 As shown, it is clear that the maximum preload force that satisfies the double constraint conditions The six-axis parallel positioning platform of the present application has better anti-interference ability under long-term vibration interference.
[0065] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components, or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.
[0066] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the two are connected to each other and the relative position relationship after the connection remains unchanged. "Rotational connection" means that the two are connected to each other and can rotate relative to each other after the connection. "Sliding connection" means that the two are connected to each other and can slide relative to each other after the connection. The directional terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.
[0067] In addition, in the embodiments of the present application, the mathematical concepts mentioned include symmetry, equality, parallelism, and perpendicularity. These limitations are all for the current state of the art, rather than being absolutely strict definitions in a mathematical sense. A small amount of deviation is allowed, and it is possible to be approximately symmetric, approximately equal, approximately parallel, or approximately perpendicular. For example, A and B are parallel, which means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. A and B are perpendicular, which means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.
[0068] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.
[0069] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.
Claims
1. A preload optimization method for an anti-interference six-axis parallel positioning platform, characterized in that: The preload force optimization method specifically includes: applying a preload force to the platform bearing component, wherein the optimal value of the preload force is the maximum value under the platform dynamic constraint, the platform material yield strength constraint, and the platform resonance avoidance constraint.
2. The preload force optimization method of the anti-interference six-axis parallel positioning platform according to claim 1 is characterized in that: The platform dynamic constraint is specifically that the sum of the preload force and the platform load does not exceed the driving force of the platform support shaft; The platform material yield strength constraint is specifically that the sum of the preload force and the platform load does not exceed the material yield strength of the platform support shaft; The platform resonance avoidance constraint is specifically to maintain a preset safety margin between the platform's natural frequency, ambient noise frequency, and operating frequency after the preload is applied.
3. The preload force optimization method of the anti-interference six-axis parallel positioning platform according to claim 1 or 2, characterized in that: The platform resonance avoidance constraints are specifically: in, is the preload range under the resonance avoidance constraint, is the mass carried by the platform's bearing components, is pi, is the preset coefficient, is the ambient noise frequency, is the working vibration frequency of the equipment, The load of the platform bearing components.
4. The preload force optimization method of the anti-interference six-axis parallel positioning platform according to claim 1 or 2, characterized in that: The platform power constraints are specifically: in, is the preload range under platform dynamic constraints, is the load of the platform bearing components, is the number of platform support shafts, is the inertia force of the platform bearing component, It is the driving force of the platform support shaft.
5. The preload force optimization method of the anti-interference six-axis parallel positioning platform according to claim 1 or 2, characterized in that: The platform material yield strength constraint is specifically: in, is the preload range under the yield strength constraint of the platform material, is the load of the platform bearing components, is the number of platform support shafts, is the inertia force of the platform bearing component, is pi, is the contact radius of the support surface on the platform support shaft, is the yield strength of the material.
6. An anti-interference six-axis parallel positioning platform, characterized in that: It comprises a base (1), a position adjustment mechanism (2), a preload adjustment structure (3) and a top cover (4); A plurality of position adjustment structures (2) are evenly distributed on the base (1); The bottom of the position adjustment structure (2) is fixed on the base (1), and the top of the position adjustment structure (2) is fixed under the top cover (4) for adjusting and supporting the top cover (4); The preload force adjustment mechanism (3) comprises a first spring buckle (9), a spring (10), a second spring buckle (11) and an adjusting screw cover (12); the first spring buckle (9) is fixed on the base (1); the second spring buckle (11) and the adjusting screw cover (12) are coaxially rotatably connected; the two ends of the spring (10) are respectively fixed on the first spring buckle (9) and the second spring buckle (11); and the adjusting screw cover (12) is connected to the top plate (4) via a thread on the outer side.
7. The anti-interference six-axis parallel positioning platform according to claim 6, characterized in that: A thrust bearing (13) is further provided between the second spring buckle (11) and the adjusting screw cover (12), the shaft ring of the thrust bearing (13) contacts the inner upper end surface of the adjusting screw cover (12), and the seat ring of the thrust bearing (13) is fixed to the second spring buckle (11).
8. The anti-interference six-axis parallel positioning platform according to claim 6, characterized in that: A clamping slot (15) is also provided on the top of the adjusting screw cover (12), and the adjusting screw cover (12) is rotated axially by twisting the clamping slot (15).
9. The anti-interference six-axis parallel positioning platform according to claim 6, characterized in that: The rotating adjusting screw cover (12) converts the rotational motion into an ascending motion under the action of the threads on the outer side, and at the same time drives the second spring buckle (11) to ascend, thereby stretching the spring (10). The stretched spring (10) applies a downward pre-tightening force to the top cover (4) through the second spring buckle (11) and the adjusting screw cover (12).
10. The anti-interference six-axis parallel positioning platform according to claim 6, characterized in that: The position adjustment mechanism (2) comprises a guide rail groove (5), a guide rail (6), a slider (7) and a metal ball (8); The guide rail groove (5) is fixed on the base (1), the guide rail (6) is fixed in the guide rail groove (5), and two sliders (7) are slidably connected to the guide rail (6), and the tops of the two sliders (7) are processed with opposite inclined surfaces. The spherical surface of the bottom of the metal ball (8) is rigidly supported by the two opposite inclined surfaces, and the metal ball (8) is connected to the top cover (4) through a top screw. A through hole is provided on the side wall of the guide rail groove (5), and the driving device drives the slider (7) in the guide rail groove (5) to move along the guide rail (6) through the through hole.