CN118159396A

CN118159396A - Motion platform and related equipment

Info

Publication number: CN118159396A
Application number: CN202280061431.1A
Authority: CN
Inventors: 陈楠; 刘震
Original assignee: MGI Tech Co Ltd
Current assignee: MGI Tech Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2024-06-07
Also published as: WO2023184316A1

Abstract

The application discloses a motion platform, a multi-degree-of-freedom motion mechanism, a sample supporting system, a microfluidic chip detection platform, a multi-degree-of-freedom supporting mechanism, a multi-degree-of-freedom motion platform positioning system, detection equipment and a gene detection device. The motion platform of the embodiment of the application is equivalent to series arrangement, realizes low coupling degree between two degrees of freedom motions, and does not need to increase the volumes of the first base, the second base and the third base at the same time when the working space is increased, thereby reducing the application volume of the motion platform.

Description

Motion platform and related equipment

Technical Field

The application relates to the technical field of precise positioning, in particular to a motion platform, a multi-degree-of-freedom motion mechanism, a sample supporting system, a microfluidic chip detection platform, a multi-degree-of-freedom supporting mechanism, a multi-degree-of-freedom motion platform positioning system, detection equipment and a gene detection device.

Background

Currently, six-degree-of-freedom platforms are typically parallel mechanisms, with kinematic coupling between the six rams. To avoid interference from torsion of the six rams, the angle of rotation is typically no more than + -15 deg.. To increase the working space of the platform, the length of six rams and the size of the upper and lower platforms are typically increased, resulting in a substantial increase in the volume of the platform.

Therefore, the volume of the platform is reduced on the premise of meeting the working space of the platform.

Content of the application

The application provides a motion platform, a multi-degree-of-freedom motion mechanism, a sample support system, a microfluidic chip detection platform, a multi-degree-of-freedom support mechanism, a multi-degree-of-freedom motion platform positioning system, detection equipment and a gene detection device, so that the volume of the platform is reduced on the premise of meeting the working space of the platform.

In order to achieve the above object, the present application provides the following technical solutions:

In a first aspect, the present application provides a motion platform, including a first base, a second base, and a third base, which are sequentially stacked along a preset direction, and a first driving mechanism and a second driving mechanism, where:

The first driving mechanism comprises a first stator arranged on one of the first base and the second base and a first rotor arranged on the other of the first base and the second base, the first stator and the first rotor are mutually matched to drive the second base to move along a first direction relative to the first base, and the first direction is perpendicular to the preset direction;

The second driving mechanism comprises a second stator arranged on one of the second base and the third base and a second rotor arranged on the other of the second base and the third base, wherein the second stator and the second rotor are mutually matched to drive the third base to move relative to the second base in a second direction, and the second direction is intersected with the first direction and perpendicular to the preset direction.

In some possible aspects of the present application, the first base includes a base opposite to the second base and spaced apart from the second base, and a first positioning portion extending from the base toward the second base, the first positioning portion extending along a first direction;

The second base comprises a body opposite to the base and arranged at intervals and a second positioning part extending from the body seat to the first base, and the orthographic projections of the first positioning part and the second positioning part opposite to each other and arranged at intervals and on the base along the preset direction are not overlapped with each other;

The motion platform further comprises a first supporting guide rail clamped between the first positioning part and the second positioning part, and the second base is suspended and supported on the first base through the first supporting guide rail.

In some possible aspects of the present application, the first support rail includes a first chute fixed to the first positioning portion, a second chute fixed to the second positioning portion, and a first guide member sandwiched between the first chute and the second chute, where the first guide member extends along the first direction and is engaged with the first chute and the second chute, respectively.

In some possible schemes of the application, the first chute and the first positioning part are arranged at intervals with the second base; the second sliding groove and the second positioning part are arranged at intervals with the first base.

In some possible solutions of the present application, the first displacement detecting mechanism is further provided between the base and the body, and the first displacement detecting mechanism includes a first scale device fixed on one of the base and the body, and a first displacement collector fixed on the other of the base and the body, where the first scale device extends along a first direction, and the first displacement collector cooperates with the first scale device to obtain a relative displacement between the first base and the second base along the first direction.

In some possible aspects of the present application, the first support rails are symmetrically disposed on opposite sides of the second base.

In some possible solutions of the present application, the first stator is fixed on the base and has a 匚 -shaped structure with an opening facing the second positioning portion, the first rotor is fixed on the body and is accommodated in the 匚 -shaped structure in a clamping manner, the first stator extends along the first direction, and a moving gap is left between the first stator and the first rotor.

In some possible schemes of the application, the first stators are symmetrically arranged at two sides of the base and are in one-to-one correspondence with the first movers, and orthographic projection of the second base on the first base is positioned between the first stators.

In some possible solutions of the present application, the second base further includes a third positioning portion extending from a side of the body, which is close to the third base, along the second direction, and the third base includes a supporting seat opposite to the body and disposed at intervals, and a fourth positioning portion extending from the supporting seat toward the body, where the fourth positioning portion is opposite to the third positioning portion and disposed at intervals, and orthographic projections on the body along the preset direction do not overlap with each other; the motion platform further comprises a second supporting guide rail clamped between the third positioning part and the fourth positioning part, and the third base is suspended and supported on the third base through the second supporting guide rail.

In some possible solutions of the present application, the second supporting rail includes a third chute fixed on the third positioning portion, a fourth chute fixed on the fourth positioning portion, and a second guiding member sandwiched between the third chute and the fourth chute, where the second guiding member extends along the second direction and is respectively engaged with the third chute and the fourth chute.

In some possible aspects of the present application, the device further comprises a second displacement detection mechanism disposed between the third base and the second base, the second displacement detection mechanism comprises a second scale device fixed on one of the third base and the second base, and a second displacement collector fixed on the other of the third base and the second base, the second scale device extends along a second direction, and the second displacement collector cooperates with the scale device to obtain relative displacement between the third base and the second base along the second direction.

In some possible solutions of the present application, the second calibration device is fixed on a side of the fourth positioning portion away from the second supporting rail, and the second displacement collector is installed on the body and opposite to and spaced apart from the second calibration device.

In some possible solutions of the present application, the second stator is fixed on the supporting seat and has a 冂 -shaped structure with an opening facing the body, the second rotor is fixed on the body and is clamped and accommodated in the 冂 -shaped structure, the second stator extends along the second direction, and a moving gap is left between the second stator and the second rotor.

In some possible embodiments of the present application, the second driving mechanism is mounted on a side of the support base away from the second displacement detecting mechanism.

In some possible solutions of the present application, the first driving mechanism is electrically connected to the second driving mechanism through the electrical connection device and the mounting plate.

In some possible schemes of the application, the electric connecting device is a U-shaped drag chain and comprises a first connecting arm which is attached and fixed with the body and is electrically connected with the first driving mechanism, and a second connecting arm which is bent from the first connecting arm towards the direction far away from the body and is arranged at intervals with the body; one end of the mounting plate is fixed on the supporting seat and is electrically connected with the second driving mechanism, and the other end of the mounting plate is electrically connected with the second connecting arm in a sliding manner.

In some possible aspects, the application provides a gene detection device, which comprises the motion platform and a sample to be detected, wherein the sample to be detected is arranged on the motion platform, and the motion platform drives and adjusts the position of the sample to be detected.

In a second aspect, the present application provides a multiple degree of freedom motion mechanism comprising: a motion platform according to any one of the above aspects;

The support can move along a preset direction relative to the third base, and the third driving mechanism is arranged between the support and the third base; the third driving mechanism includes a third stator fixed to one of the third base and the support, and a third mover fixed to the other of the third base and the support.

In some possible aspects of the present application, the multi-degree of freedom motion mechanism further includes a third support rail sandwiched between the third stator and the third stator.

In some possible solutions of the present application, the third supporting rail extends along a preset direction and includes a fifth chute fixed to the third mover, a sixth chute fixed to the driving portion, and a third guide member interposed between the fifth chute and the sixth chute.

In some possible solutions of the present application, the third base is provided with a receiving hole therethrough, the third stator is fixed on one side of the third base away from the second base and extends into the receiving hole, and the third suspension is supported in the receiving hole.

In some possible schemes of the application, the support is overlapped on one side of the third base far away from the second base, the third stator is fixed on the support and extends into the accommodating hole, the third stator comprises a driving part accommodated in the accommodating hole and a wing part extending from the three bases outside the driving part Zhou Chaodi, and the wing part is fixed with the third base; the third rotor comprises a supporting frame which is arranged on the periphery of the driving part in a surrounding mode, and the supporting frame is provided with an avoidance opening for avoiding the wing part.

In some possible schemes of the application, the third stator further comprises a magnet part fixed with the wing part and extending into the accommodating hole, the magnet part corresponding to the third stator is provided with a magnetic ring, the magnet part penetrates through the magnetic ring along the preset direction, the peripheral dimension of the magnet part is smaller than the aperture of the magnetic ring, and the magnet part and the magnetic ring interact to form a magnetic spring.

In some possible solutions of the present application, the present application further comprises a rotating platform mounted on the support, and a rotation axis of the rotating platform is parallel to the preset direction.

In some possible solutions of the present application, the rotating platform includes a rotating motor that can rotate around the rotating shaft relative to the support, and a limit stop that is relatively fixed to the support, and the periphery of the rotating motor is convexly provided with a limit protrusion, and the limit stop is located on a rotation path of the limit protrusion.

In some possible solutions of the present application, the rotating platform further includes a rotation angle detection mechanism, where the rotation angle detection mechanism includes a first angle device fixed relative to the support, and a first angle collector disposed on the rotating motor, and the first angle collector cooperates with the first angle device to obtain a rotation angle between the rotating shaft of the rotating motor and the limit stop.

In some possible schemes of the application, the application further comprises a first angle adjusting platform which is overlapped on one side of the rotating platform far away from the support along the preset direction, wherein the first angle adjusting platform comprises a first supporting plate which is connected with the rotating motor and rotates along with the rotating motor, a first sliding plate which is connected with the first supporting plate in a sliding way, and a first arc-shaped driving mechanism which is clamped between the first supporting plate and the first sliding plate, and the first sliding plate drives the first sliding plate to slide around a first axial direction which is vertical to the preset direction through the first arc-shaped driving mechanism.

In some possible schemes of the application, a fifth positioning part is arranged on one side of the first supporting plate, which is close to the first sliding plate, and a sixth positioning part is arranged on the first sliding plate, which is close to the first supporting plate, opposite to the fifth positioning part, and is arranged at intervals; the multi-degree-of-freedom motion mechanism further comprises a first arc-shaped supporting guide rail clamped between the fifth positioning part and the sixth positioning part, and the first sliding plate is suspended and supported on the first supporting plate through the first arc-shaped supporting guide rail.

In some possible solutions of the present application, the first arc-shaped supporting rail includes a first arc-shaped chute fixed on the fifth positioning portion, a second arc-shaped chute fixed on the sixth positioning portion and extending in the same direction as the first arc-shaped chute, and a first arc-shaped guiding member sandwiched between the first arc-shaped chute and the second arc-shaped chute, where the first arc-shaped guiding member and the second arc-shaped chute extend in the same direction and are respectively engaged with the first arc-shaped chute and the second arc-shaped chute.

In some possible aspects of the application, the first arcuate driving mechanism includes a fourth stator disposed on one of the first support plate and the first slide plate, and a fourth mover disposed on the other of the first support plate and the first slide plate; the fourth stator and the fourth rotor extend oppositely along a preset direction and are provided with arc-shaped end faces; the fourth stator and the fourth rotor are mutually matched to enable the first sliding plate to slide around a first axial direction perpendicular to the preset direction.

In some possible embodiments of the present application, the number of the first arc-shaped driving mechanisms is two, and the first arc-shaped driving mechanisms are oppositely and alternately arranged between the first supporting plate and the first sliding plate.

In some possible solutions of the present application, the first angle adjustment platform further includes a first inclination angle detection mechanism, where the first inclination angle detection mechanism includes a second angle collector disposed on the first sliding plate and a second angle device disposed on the first supporting plate and used for sensing an inclination angle, and the second angle collector cooperates with the second angle device to read an inclination angle of the first sliding plate sliding around a first axial direction perpendicular to the preset direction.

In some possible aspects of the present application, the first angle adjustment platform further includes a first in-place switch, where the first in-place switch includes a first in-place sensing element disposed on one of the first support plate and the first sliding plate, and a first in-place sensing switch disposed on the other of the first support plate and the first sliding plate, and where the first in-place sensing switch cooperates with the first in-place sensing element to limit tilting of the first sliding plate to an extreme position.

In some possible schemes of the application, the application further comprises a second angle adjusting platform which is overlapped on one side of the first sliding plate far away from the first supporting plate along the preset direction, the second angle adjusting platform comprises a second supporting plate which is connected with the first sliding plate and moves along with the first sliding plate, a second sliding plate which is connected with the second supporting plate in a sliding way, and a second arc-shaped driving mechanism which is clamped between the second supporting plate and the second sliding plate, the second sliding plate is driven by the second arc-shaped driving mechanism to slide around a second axis which is perpendicular to the preset direction, and the second axis is intersected with the first axis.

In some possible schemes of the application, a seventh positioning part is arranged on one side of the second supporting plate, which is close to the second sliding plate, and eighth positioning parts are arranged on the second sliding plate, which are opposite to the second supporting plate, at intervals, and are opposite to the seventh positioning parts, at intervals; the multi-degree-of-freedom motion mechanism further comprises a second arc-shaped supporting guide rail clamped between the seventh positioning part and the eighth positioning part, and the second sliding plate is suspended and supported on the second supporting plate through the second arc-shaped supporting guide rail.

In some possible solutions of the present application, the second arc-shaped supporting rail includes a third arc-shaped chute fixed on the seventh positioning portion, a fourth arc-shaped chute fixed on the eighth positioning portion, and a second arc-shaped guiding member sandwiched between the third arc-shaped chute and the fourth arc-shaped chute, where the second arc-shaped guiding member, the third arc-shaped chute and the fourth arc-shaped chute all extend in the same direction, and the second arc-shaped guiding member is respectively engaged with the third arc-shaped chute and the fourth arc-shaped chute.

In some possible aspects of the application, the second arcuate drive mechanism includes a fifth stator disposed on one of the second support plate and the second slide plate, and a fifth mover disposed on the other of the second support plate and the second slide plate; the fifth stator and the fifth rotor extend oppositely along a preset direction and are provided with arc-shaped end surfaces; the fifth stator and the fifth rotor cooperate with each other to enable the second sliding plate to slide around a second axis perpendicular to the preset direction.

In some possible embodiments of the present application, the number of the second arc-shaped driving mechanisms is two, and the second arc-shaped driving mechanisms are oppositely and alternately arranged between the second supporting plate and the second sliding plate.

In some possible solutions of the present application, the second angle adjustment platform further includes a second inclination angle detection mechanism, where the second inclination angle detection mechanism includes a third angle collector disposed on the second sliding plate and a third angle device disposed on the second supporting plate for sensing an inclination angle, and the third angle collector cooperates with the third angle device to read an inclination angle of the second sliding plate sliding around a second axis perpendicular to the preset direction.

In some possible solutions of the present application, the second angle adjustment platform further includes a second in-place switch, where the second in-place switch includes a second in-place sensing element disposed on one of the second support plate and the second sliding plate, and a second in-place sensing switch disposed on the other of the second support plate and the second sliding plate, where the second in-place sensing switch cooperates with the second in-place sensing element to limit the second sliding plate from tilting to the limit position.

In some possible aspects of the application, the first axis is perpendicular to the second axis.

In some possible solutions of the application, the middle part of the first sliding plate is concavely formed with a mounting groove, and the second supporting plate is mounted in the mounting groove.

Further, the multi-degree-of-freedom motion mechanism can be used for a gene detection device, and the gene detection device further comprises a bearing platform arranged on the multi-degree-of-freedom motion mechanism, the bearing platform accommodates a sample, and the bearing platform is driven by the multi-degree-of-freedom device and adjusts the position of the sample.

In a third aspect, the present application provides a sample support system, including the above-mentioned multiple degree of freedom motion mechanism and a carrying platform mounted on the multiple degree of freedom motion mechanism, where the carrying platform accommodates a sample, and the carrying platform is driven by the multiple degree of freedom device and adjusts the position of the sample.

In a fourth aspect, the present application provides a microfluidic chip detection platform, including the above-mentioned multiple degree of freedom motion mechanism and a chip holder mounted on the multiple degree of freedom motion mechanism, where the chip holder accommodates a microfluidic chip, and the chip holder is driven by the multiple degree of freedom device and adjusts the position of the microfluidic chip.

The application provides a multi-freedom-degree supporting mechanism which comprises a linear motion platform, a rotation platform and a bearing platform, wherein the linear motion platform and the rotation platform are sequentially stacked along a preset direction, the bearing platform is installed on the rotation platform and moves along with the rotation platform, the rotation platform is installed on the linear motion platform and moves along with the linear motion platform, a mounting plate is arranged on the linear motion platform, and the rotation platform is provided with a lead wire which extends to the mounting plate and is electrically connected with the linear motion platform.

In some possible solutions of the present application, the linear motion platform includes a first direction motion platform running in a first direction, a second direction motion platform running in a second direction, and a third direction motion platform running in a third direction, where the first direction motion platform and the second direction motion platform are stacked in sequence in a direction close to the rotation platform, and the third direction is perpendicular to the first direction and the second direction, and one of the third direction motion platform and the second direction motion platform is parallel to the preset direction.

In some possible solutions of the present application, the first direction motion platform includes a first base, a second base, a first support rail and a first driving mechanism, which are sequentially stacked along a preset direction, wherein: the first driving mechanism comprises a first stator arranged on one of the first base and the second base and a first rotor arranged on the other of the first base and the second base, the first stator and the first rotor are mutually matched to drive the second base to move along a first direction relative to the first base, and the first direction is perpendicular to the preset direction; the first support guide rail is clamped between the first base and the second base, and the second base is suspended and supported on the first base through the first support guide rail.

In some possible solutions of the present application, the second direction motion platform includes a second base, a third base, a second support rail and a second driving mechanism, which are sequentially stacked along a preset direction, wherein: the second driving mechanism comprises a second stator arranged on one of the second base and the third base and a second rotor arranged on the other of the second base and the third base, the second stator and the second rotor are mutually matched to drive the third base to move relative to the second base in a second direction, and the second direction is intersected with the first direction and is perpendicular to the preset direction; the second support guide rail is clamped between the second base and the third base, and the third base is suspended and supported on the second base through the first support guide rail.

In some possible aspects of the present application, the third direction platform includes a support moving in a preset direction, a third driving mechanism disposed between the support and the third base, and a third support rail; the third driving mechanism comprises a third stator fixed on one of the third base and the support and a third rotor fixed on the other of the third base and the support; the third support guide rail is clamped between the third stator and the third rotor, and the third stator is suspended and supported on the third rotor through the third support guide rail.

In some possible solutions of the present application, the device further includes an electrical connection device, where the electrical connection device is electrically connected to the first driving mechanism, the second driving mechanism, and the third driving mechanism through the mounting plate.

In some possible embodiments of the present application, the rotating platform includes a rotating platform mounted on the third direction moving platform, and a rotation axis of the rotating platform is parallel to the preset direction.

In some possible schemes of the application, the rotating platform further comprises an angle adjusting platform which is overlapped on the rotating platform, the bearing platform is supported by the angle adjusting platform and moves along with the angle adjusting platform, the angle adjusting platform comprises a supporting plate fixed on the rotating platform and a sliding plate which can be connected with the supporting plate in a sliding way, an arc-shaped supporting guide rail is clamped between the sliding plate and the supporting plate, and the sliding plate slides around the axial direction perpendicular to the preset direction through the arc-shaped supporting guide rail; the bearing platform is fixed on the sliding plate.

The application further provides a gene detection device, which comprises the multi-degree-of-freedom motion mechanism and a bearing platform arranged on the multi-degree-of-freedom motion mechanism, wherein the bearing platform accommodates a sample, and the bearing platform is driven by the multi-degree-of-freedom device and adjusts the position of the sample.

In a sixth aspect, the present application provides a positioning system for a multi-degree-of-freedom motion platform, including a multi-degree-of-freedom motion platform according to any one of the above aspects, a position detection mechanism and a controller, where the position detection mechanism is used to obtain position information of the linear motion platform and the rotation platform, and the controller combines the position information to control the multi-degree-of-freedom motion platform to adjust to a target position.

In some possible schemes of the application, the controller obtains the space coordinate of the target position and converts the space coordinate into the displacement of the linear motion platform and the rotation platform through a space coordinate system; the controller controls the linear motion platform and the rotary platform to move according to the corresponding position information until the multi-degree-of-freedom motion platform is adjusted to the target position.

In some possible schemes of the application, the linear motion platform comprises a first direction motion platform running in a first direction, a second direction motion platform running in a second direction and a third direction motion platform running in a third direction, wherein the first direction motion platform, the second direction motion platform and the third direction motion platform run in a third direction are sequentially stacked in a direction close to the rotating platform, the third direction is perpendicular to the first direction and the second direction, and one of the third direction is parallel to a preset direction;

the position detection mechanism comprises at least three displacement detection mechanisms arranged on the first direction motion platform, the second direction motion platform and the third direction motion platform;

The displacement detection mechanism reads the current displacement of the corresponding motion platform in the first-direction motion platform, the second-direction motion platform and the third-direction motion platform;

The controller acquires the space coordinates of the target position, combines the corresponding current displacement, converts the space coordinates into corresponding target displacement in the first-direction moving platform, the second-direction moving platform and the third-direction moving platform, and controls the corresponding moving platforms in the first-direction moving platform, the second-direction moving platform and the third-direction moving platform to move until the corresponding target displacement is reached.

In some possible aspects of the application, the rotating platform comprises a rotating platform mounted on a third directional motion platform;

The position detection mechanism further comprises a rotation angle detection mechanism arranged on the rotation platform, and the rotation angle detection mechanism is used for reading the rotation angle of the rotation platform;

the rotating angle detection mechanism reads the current rotating angle of the rotating platform;

The controller obtains the space coordinates of the target position, converts the space coordinates into the target rotation angle of the rotation platform through the space coordinates when the rotation angle is combined, and controls the rotation of the rotation platform until the rotation platform rotates to the target rotation angle.

In some possible aspects of the application, the rotating platform further comprises an angle adjusting platform mounted on the rotating platform;

the position detection mechanism further comprises an inclination angle detection mechanism arranged on the rotary platform, and the inclination angle detection mechanism is used for reading the inclination angle of the rotary platform;

the inclination angle detection mechanism reads the current inclination angle of the angle adjustment platform;

The controller obtains the space coordinates of the target position, converts the target inclination angle of the angle adjustment platform through the space coordinates when the inclination angle is combined, and controls the angle adjustment platform to incline until the inclination reaches the target inclination angle.

The application provides detection equipment, which comprises an optical system and a multi-degree-of-freedom motion platform positioning system according to any scheme, wherein the multi-degree-of-freedom motion platform positioning system corresponds to the optical system. The detection equipment is used for gene detection, and the multi-degree-of-freedom motion platform positioning system supports a gene detection sample and adjusts the position of the gene detection sample relative to the optical system.

The technical scheme can be seen that: when the motion platform is used for adjusting to a target position, determining the displacement of the second base and the displacement of the third base according to the space coordinates, and driving the second base to move relative to the first base in a first direction by a first driving mechanism; the second driving mechanism operates to drive the third base to move relative to the second base in the second direction by a corresponding displacement amount. Compared with the parallel arrangement in the prior art, the motion platform provided by the embodiment of the application is equivalent to series arrangement, the degree of coupling between two degrees of freedom actions is low, and the volumes of the first base, the second base and the third base are not required to be increased at the same time when the working space is increased, so that the application volume of the motion platform is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is possible for those of ordinary skill in the art to obtain other drawings from the provided drawings without inventive effort, and to apply the present application to other similar situations from the provided drawings. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

Fig. 1 is a perspective view of a motion platform according to an embodiment of the present application;

FIG. 2 is a side view of a motion platform according to an embodiment of the present application;

FIG. 3 is a cross-sectional view taken along section A-A of FIG. 2;

FIG. 4 is an enlarged view of portion B of FIG. 3;

FIG. 5 is an enlarged view of portion C of FIG. 3;

FIG. 6 is a front view of a motion platform according to an embodiment of the present application;

FIG. 7 is a cross-sectional view of section D-D of FIG. 6;

FIG. 8 is an enlarged view of portion E of FIG. 7;

Fig. 9 is an enlarged view of the portion F in fig. 7;

FIG. 10 is a perspective view of a first base according to an embodiment of the present application;

FIG. 11 is a perspective view of a second base according to an embodiment of the present application;

FIG. 12 is a perspective view of a third base according to an embodiment of the present application;

FIG. 13 is an exploded view of a second support rail according to an embodiment of the present application;

Fig. 14 is a perspective view of a motion platform according to an embodiment of the present application with a first driving mechanism and a second driving mechanism omitted;

FIG. 15 is a perspective view of a multi-degree of freedom motion mechanism according to an embodiment of the present application;

FIG. 16 is a perspective view of a lifting platform according to an embodiment of the present application mounted on a third substrate;

FIG. 17 is a perspective view of a lifting platform according to an embodiment of the present application;

FIG. 18 is a side view of a lift platform provided by an embodiment of the present application;

FIG. 19 is a front view of a lifting platform according to an embodiment of the present application;

FIG. 20 is a cross-sectional view of section G-G of FIG. 19;

FIG. 21 is a cross-sectional view of section H-H of FIG. 19;

FIG. 22 is a cross-sectional view of section I-I of FIG. 19;

FIG. 23 is a perspective view of yet another multiple degree of freedom motion mechanism provided in accordance with an embodiment of the present application;

FIG. 24 is a perspective view of a rotary platform according to an embodiment of the present application;

FIG. 25 is a front view of a rotary platform according to an embodiment of the present application;

FIG. 26 is a cross-sectional view of section J-J of FIG. 25;

FIG. 27 is a perspective view of yet another multiple degree of freedom motion mechanism provided in accordance with an embodiment of the present application;

FIG. 28 is a perspective view of a first angle adjustment platform according to an embodiment of the present application;

FIG. 29 is a perspective view of another view of the first angle adjustment stage according to an embodiment of the present application;

FIG. 30 is a front view of a first angle adjustment platform according to an embodiment of the present application;

FIG. 31 is a cross-sectional view of section K-K of FIG. 23;

fig. 32 is an enlarged view of the portion L in fig. 31;

FIG. 33 is a perspective view of yet another multiple degree of freedom motion mechanism provided in accordance with an embodiment of the present application;

FIG. 34 is a perspective view of a second angle adjustment platform according to an embodiment of the present application;

FIG. 35 is a front view of a second angle adjustment platform according to an embodiment of the present application from another perspective;

FIG. 36 is a perspective view of a second angle-adjustment platform according to an embodiment of the present application mounted to a first angle-adjustment platform;

FIG. 37 is a front view of a second angle-adjustment platform according to an embodiment of the present application mounted to a first angle-adjustment platform;

FIG. 38 is a perspective view of a sample support system provided by an embodiment of the present application;

FIG. 39 is a perspective view of a multiple degree of freedom support mechanism according to an embodiment of the present application;

fig. 40 is a schematic diagram of a detection apparatus according to an embodiment of the present application.

Wherein: 100 is a motion platform, 200 is a lifting platform, 300 is a rotating platform, 400 is a first angle adjusting platform, 500 is a second angle adjusting platform, and 600 is a bearing platform;

101 is a first base, 102 is a second base, 103 is a third base, 104 is a first driving mechanism, 105 is a second driving mechanism, and 106 is an electric connection device; 107 is a first support rail, 108 is a second support rail, 109 is a first displacement detection mechanism, 110 is a second displacement detection mechanism; 1011 is a base, 1012 is a first positioning part, 1021 is a body, 1022 is a second positioning part, 1023 is a third positioning part, 1031 is a supporting seat, 1032 is a fourth positioning part, 1033 is an accommodating hole; 1041 is a first stator, 1042 is a first rotor, 1043 is a stator mounting seat, 1044 is a rotor mounting seat, 1051 is a second stator, 1052 is a second rotor, 1061 is a mounting plate, 1071 is a first sliding slot, 1072 is a second sliding slot, 1073 is a first guide, 1081 is a third sliding slot, 1082 is a fourth sliding slot, 1083 is a second guide, 1091 is a first scale device, 1092 is a first displacement collector, 1101 is a second scale device, 1102 is a second displacement collector mounting seat;

201 is a support, 202 is a third driving mechanism, 203 is a third supporting guide rail, 204 is a third displacement detection mechanism; 2021 is a third mover, 2022 is a third stator, 2031 is a fifth runner, 2032 is a sixth runner, 2033 is a third guide, 2041 is a third scale device, 2042 is a third displacement collector, 2021-1 is a supporting frame, 2021-2 is a coil, 2022-1 is a driving part, 2022-2 is a wing part, 2022-3 is a magnet part, 2022-4 is a magnetic ring, 2022-5 is a connecting plate, 2022-1a is a fixing piece, 2022-1b is magnetic steel, 2022-1c is a containing hole, and 2022-1d is a through hole;

301 is a rotating motor, 302 is a supporting table, 303 is a rotating angle detection mechanism, 304 is a limit stop, 305 is a limit projection, 3031 is a first angle device, 3032 is a first angle collector;

401 is a first support plate, 402 is a first sliding plate, 403 is a first arc-shaped driving mechanism, 404 is a first arc-shaped supporting guide rail, 405 is a first inclination angle detection mechanism, 406 is a first in-place switch, 4011 is a fifth positioning part, 4021 is a sixth positioning part, 4022 is an installation groove, 4031 is a fourth stator, 4032 is a fourth rotor, 4041 is a first arc-shaped chute, 4042 is a second arc-shaped chute, 4051 is a second angle device, 4052 is a second angle collector, 4061 is a first in-place sensing part, and 4062 is a first in-place sensing switch;

501 is a second supporting plate, 502 is a second sliding plate, 503 is a second arc driving mechanism, 504 is a second arc supporting guide rail, 505 is a second inclination angle detecting mechanism, 506 is a second in-place switch, 5011 is a seventh positioning part, 5021 is an eighth positioning part, 5031 is a fifth stator, 5032 is a fifth rotor, 5041 is a second arc chute, 5042 is a second arc chute, 5051 is a third angle device, 5052 is a third angle collector, 5061 is a second in-place sensing piece, and 5062 is a second in-place sensing switch;

10 is a linear platform, 20 is a rotary platform, 30 is a bearing platform, 10a is a first direction movement platform, 10b is a second direction movement platform, 10c is a third direction movement platform, 20a is a rotary platform, and 20b is an angle adjustment platform.

Detailed Description

The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting of the application. The described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The initial gene sequencing techniques were performed by manual operations, such as the dideoxy chain termination method of Sanger application, and the chemical degradation method of Maxam and Gilbert applications. Because of low manual operation efficiency and easy occurrence of human misoperation, sequencing by using a gene sequencer has become the mainstream of sequencing technology.

The sequencing process of the gene sequencer usually consists of a series of operations of mechanical, electronic communication, biology, chemistry, optics and the like, which are respectively executed by corresponding components in the gene sequencer, so that the simple manual operation is replaced. Gene sequencing, however, also suffers from the following problems: on the one hand, because the requirement of the gene sequencing on the precision of a corresponding platform is very high, the requirement belongs to submicron level, and the deviation of the operation of one component can lead to the non-ideal sequencing structure; on the other hand, the specific steps involved in the whole sequencing process are very cumbersome, and the components of the sequencer are required to operate cooperatively. Wherein the precise positioning technology takes a very important role in the whole gene sequencer.

Precision positioning technology is a key technology in the field of precision engineering. Along with the smaller and smaller feature sizes of advanced electronic manufacturing, the requirements on the precision performance of a motion positioning platform in electronic manufacturing equipment are higher and higher, and the motion platform in equipment such as a photoetching machine, large panel liquid crystal display manufacturing and detecting equipment, optical scanning detection and the like is required to reach the positioning precision of a micrometer (0.1-1 mu m).

Aiming at the requirements of high risk, large sample and high flux optical microscopic detection, a six-degree-of-freedom motion platform device and system based on Stewart are designed, and a series of functions such as multi-degree-of-freedom pose positioning, automatic leveling, large-stroke precise positioning and the like are realized.

The six-degree-of-freedom motion platform of the common Stewart structure is usually a parallel mechanism, and the parallel six-degree-of-freedom platform comprises a lower platform, six actuating cylinders and an upper platform, wherein the six actuating cylinders are respectively and uniformly arranged between the lower platform and the upper platform, and two ends of the six actuating cylinders are respectively hinged to the lower platform and the upper platform. The six actuating cylinders are arranged in parallel, motion coupling exists between the six actuating cylinders, and a 'mushroom-shaped' narrow space is formed in the motion space of the upper platform. To avoid interference from torsion of the six rams, the angle of rotation is typically no more than + -15 deg.. To increase the working space of the platform, it is common to increase the length of the six rams and the size of the upper and lower platforms, which can lead to a substantial increase in the size of the platform. In addition, as the length of the actuator cylinder increases, the time required for the upper platform to travel to the target position becomes long, i.e. the utilization rate of the movement stroke is low.

In the aspect of kinematic solution, no solution or multiple solutions are easy to appear due to the singular point problem of the six-degree-of-freedom platform. In the aspect of flexibility, six-degree-of-freedom platforms are required to achieve any pose, six actuating cylinders are required to cooperate and closely cooperate, and the movement flexibility of the mechanism is poor. In the control aspect, the six-degree-of-freedom motion platform is a multi-input, multi-output and strong-coupling nonlinear system, and the control strategy and the control method are quite complex.

Based on the above problems, the present application introduces several different structures of motion platform, multiple freedom motion mechanism, sample support system, microfluidic chip detection platform, multiple freedom support mechanism, multiple freedom motion platform positioning system, detection device and gene detection apparatus through the following embodiments.

Example 1

Referring to fig. 1 to 2, a motion platform 100 according to an embodiment of the present application includes a first base 101, a second base 102, and a third base 103, which are stacked in sequence along a predetermined direction, and a first driving mechanism 104 and a second driving mechanism 105, wherein: the first driving mechanism 104 includes a first stator 1041 provided on one of the first base 101 and the second base 102, and a first mover 1042 provided on the other of the first base 101 and the second base 102, the first stator 1041 cooperating with the first mover 1042 to drive the second base 102 to move in a first direction ox with respect to the first base 101, the first direction ox being perpendicular to a preset direction; the second driving mechanism 105 includes a second stator 1051 provided on one of the second base 102 and the third base 103, and a second mover 1052 provided on the other of the second base 102 and the third base 103, the second stator 1051 cooperating with the second mover 1052 to drive the third base 103 to move in a second direction oy with respect to the second base 102, the second direction oy intersecting the first direction ox and being perpendicular to the preset direction.

When the motion platform 100 is used for adjusting to a target position, determining the displacement of the second base 102 and the displacement of the third base 103 according to the space coordinates, and driving the second base 102 to move in a first direction ox relative to the first base 101 by the first driving mechanism 104; the second driving mechanism 105 operates to drive the third base 103 to move in the second direction oy relative to the second base 102 by a corresponding displacement amount. Compared with the parallel arrangement in the prior art, the motion platform 100 of the embodiment of the application is equivalent to series arrangement, realizes low coupling degree between two degrees of freedom motions, and does not need to increase the volumes of the first base 101, the second base 102 and the third base 103 at the same time when the working space is increased, thereby reducing the application volume of the motion platform 100.

In addition, the second base 102 not only can be used as a moving end moving in the first direction ox, but also can be used as a fixed end moving in the second direction oy of the third base 103, and compared with the technical scheme of stacking moving components in two directions, the structure is simplified, which is equivalent to reducing the application volume of the moving platform 100.

Referring to fig. 3 and 4, in some examples of the present application, a first stator 1041 is fixed to a first base 101, and a first mover 1042 is fixed to a second base 102. In still other examples of the present application, first stator 1041 may be further fixed to second base 102, and first mover 1042 is fixed to first base 101.

When the first stator 1041 is fixed on the first base 101 and the first rotor 1042 is fixed on the second base 102, the first stator 1041 is fixed on the base 1011 and has a 匚 -shaped structure with an opening facing the second base 102, the first rotor 1042 is fixed on the second base 102 and is engaged and accommodated in the 匚 -shaped structure, the first stator 1041 extends along the first direction ox, and a moving gap is left between the first stator 1041 and the first rotor 1042. The first stator 1041 is mounted on the first base 101 through a stator mounting seat 1043, and the first mover 1042 is mounted on the second base 102 through a mover mounting seat 1044. In some examples of the present application, first stator 1041 may also be directly mounted on first base 101, and first mover 1042 may also be directly mounted on second base 102.

Two first drive mechanisms 104 are shown; the number of first drive mechanisms 104 of the motion platform 100 in some examples of the application is one. When there are two first driving mechanisms 104, the first stators 1041 of the two first driving mechanisms 104 are symmetrically disposed at two sides of the first base 101 and are in one-to-one correspondence with the first movers 1042, and the orthographic projection of the second base 102 on the first base 101 is located between the first stators 1041. In other examples of the present application, the first stators 1041 of the two first driving mechanisms 104 may be disposed asymmetrically on two sides of the base 1011, so long as it is within the scope of the present application to drive the second base 102 to move in the first direction ox relative to the first base 101.

Referring to fig. 3, 5,10, 11 and 14, fig. 10 illustrates a perspective view of a first base 101; fig. 11 shows a perspective view of a second base 102; fig. 14 shows a perspective view of the motion platform 100 with the first drive mechanism 104 and the second drive mechanism 105 hidden. To improve the stability of the second base 102 during movement of the second base 101 in the first direction ox. The motion platform 100 of the present application further includes a first support rail 107 sandwiched between the first base 101 and the second base 102, and the second base 102 is suspended from the first base 101 by the first support rail 107.

In order to better mount the first support rail 107, the first base 101 of the embodiment of the present application includes, but is not limited to, a base 1011 opposite to and spaced apart from the second base 102, and a first positioning portion 1012 extending from the base 1011 toward the second base 102, the first positioning portion 1012 extending along the first direction ox.

The second base 102 includes a body 1021 opposite to the base 1011 and disposed at a distance, and a second positioning portion 1022 extending from the body 1021 toward the first base 101, where the first positioning portion 1012 and the second positioning portion 1022 are opposite to each other and disposed at a distance, and the orthographic projections on the base 1011 along the predetermined direction do not overlap each other. The first support rail 107 is sandwiched between the first positioning portion 1012 and the second positioning portion 1022, and the second base 102 is suspended from the first base 101 by the first support rail 107.

The first support rail 107 serves to reduce friction when the second base 102 moves relative to the first base 101. In some embodiments of the present application, the first support rail 107 includes a first sliding groove 1071 fixed to the first positioning portion 1012, a second sliding groove 1072 fixed to the second positioning portion 1022, and a first guide 1073 interposed between the first sliding groove 1071 and the second sliding groove 1072, and the first guide 1073 extends along the first direction ox and engages with the first sliding groove 1071 and the second sliding groove 1072, respectively, as shown in fig. 5. The first guide 1073 can be a roller structure to reduce friction when the first and second slide 1071 and 1072 are operated. The first sliding groove 1071 and the first positioning portion 1012 are spaced apart from the second base 102; the second sliding groove 1072 and the second positioning portion 1022 are disposed at intervals from the first base 101.

The number of the first support rails 107 is at least one. Preferably, the number of the first support rails 107 is two, and the two first support rails 107 are arranged in an extending manner along the first direction ox and can be arranged at random; the two first support rails 107 are disposed to extend along the first direction ox and may be symmetrically disposed on opposite sides of the second base 102.

In some embodiments of the present application, the motion platform 100 may further include a first displacement detection mechanism 109, where the first displacement detection mechanism 109 is disposed between the base 1011 and the body 1021, as shown in fig. 7. The first displacement detection mechanism 109 includes a first scale device 1091 fixed on one of the first base 101 and the second base 102, and a first displacement collector 1092 fixed on the other of the first base 101 and the second base 102, where the first scale device 1091 extends along a first direction ox, and the first displacement collector 1092 cooperates with the first scale device 1091 to obtain a relative displacement between the first base 101 and the second base 102 along the first direction ox. In the drawings, the first scale device 1091 is disposed on the base 1011 of the first base 101, and the first displacement pickup 1092 is disposed on the body 1021 of the second base 102. In some examples, the first scale device 1091 is disposed on the body 1021 and the first displacement pickup 1092 is disposed on the base 1011. Further, the first displacement collector 1092 is directly disposed on the body 1021, and may also be disposed on the body 1021 by means of a mounting seat. The first displacement collector 1092 is, but is not limited to, a photosensor readhead and the first scale 1091 is, but is not limited to, a grating scale.

Referring to fig. 1 and 7, in some examples of the present application, a second stator 1051 is fixed on a support 1031, and a second mover 1052 is fixed on a body 1021; in other examples of the present application, the second stator 1051 is fixed on the body 1021, the second mover 1052 is fixed on the support 1031, and the second mover 1052 is matched with the second stator 1051 to drive the support 1031 to move in the second direction oy relative to the body 1021.

Referring to fig. 7 and 8, the second stator 1051 is fixed to the support 1031 and has, but not limited to, a 冂 -shaped structure with an opening facing the body 1021, the second mover 1052 is fixed to the body 1021 and is snap-fit accommodated in the 冂 -shaped structure, the second stator 1051 extends along the second direction oy, and a moving gap is left between the second stator 1051 and the second mover 1052.

The second stator 1051 is mounted on the third base 103 via a stator mount 1043, and the second mover 1052 is mounted on the third base 103 via a mover mount 1044. In some examples of the application, the second stator 1051 may also be directly mounted on the second base 102, and the second mover 1052 may also be directly mounted on the third base 103.

Two second drive mechanisms 105 are shown; the number of second drive mechanisms 105 of the motion platform 100 in some examples of the application is one. When there are two second driving mechanisms 105, the second stators 1051 of the two second driving mechanisms 105 are symmetrically disposed at two sides of the third base 103 and are in one-to-one correspondence with the second movers 1052, and the orthographic projection of the third base 103 on the second base 102 is located between the second stators 1051. In other examples of the present application, the second stators 1051 of the two second driving mechanisms 105 may be disposed asymmetrically on both sides of the base 1011, so long as it is within the scope of the present application to drive the second base 102 to move in the second direction oy relative to the second base 102.

Referring to fig. 7, 9, 11, 12 and 14, fig. 11 illustrates a perspective view of a second base 102; fig. 12 shows a perspective view of a third base 103; fig. 14 shows a perspective view of the motion platform 100 with the first drive mechanism 104 and the second drive mechanism 105 hidden. In order to improve the stability of the third base 103 during the movement in the second direction oy with respect to the second base 102. The motion platform 100 of the present application further includes a second support rail 108 sandwiched between the second base 102 and the third base 103, and the third base 103 is suspended and supported on the second base 102 by the second support rail 108.

In order to better mount the second support rail 108, the second base 102 of the embodiment of the present application further includes a third positioning portion 1023 extending from a side of the body 1021 near the third base 103 along the second direction oy, the third base 103 includes a supporting seat 1031 opposite to the body 1021 and spaced apart from the supporting seat 1031, and a fourth positioning portion 1032 extending from the supporting seat 1031 toward the body 1021, and the fourth positioning portion 1032 is opposite to the third positioning portion 1023 and spaced apart from the third positioning portion 1023 and does not overlap with each other in the orthographic projection of the body 1021 along the preset direction; the motion platform 100 further includes a second support rail 108 sandwiched between the third limiting portion and the fourth limiting portion, and the third base 103 is suspended and supported on the third base 103 by the second support rail 108.

Referring to fig. 9 and 13, the second support rail 108 includes a third sliding groove 1081 fixed to the third positioning portion 1023, a fourth sliding groove 1082 fixed to the fourth positioning portion 1032, and a second guide 1083 interposed between the third sliding groove 1081 and the fourth sliding groove 1082, wherein the second guide 1083 extends along the second direction oy and is engaged with the third sliding groove 1081 and the fourth sliding groove 1082, respectively.

Referring to fig. 14, the motion platform 100 according to the embodiment of the present application further includes a second displacement detecting mechanism 110 disposed between the third base 103 and the second base 102, the second displacement detecting mechanism 110 includes a second scale device 1101 fixed on one of the third base 103 and the second base 102, and a second displacement collector 1102 fixed on the other of the third base 103 and the second base 102, the second scale device 1101 extends along a second direction oy, and the second displacement collector 1102 cooperates with the scale device to obtain a relative displacement between the third base 103 and the second base 102 along the second direction oy.

The second calibration device 1101 is fixed to a side of the fourth positioning portion 1032 away from the second support rail 108, and the second displacement sensor 1102 is mounted on the body 1021 and opposite to and spaced apart from the second calibration device 1101.

In some examples of the present application, the second displacement sensor 1102 is mounted on the second base 102, the second scale device 1101 is mounted on the third base 103, wherein the second scale device 1101 extends along the second direction oy, and when the third base 103 moves in the second direction oy relative to the second base 102, the value on the second scale device 1101 read by the second displacement sensor 1102 is the current displacement value of the third base 103. The second displacement collector 1102 is, but is not limited to, a photosensor readhead and the second scale 1101 is, but is not limited to, a grating scale.

The second driving mechanism 105 is mounted on a side of the support base 1031 remote from the second displacement detecting mechanism 110.

In some examples of the present application, the motion platform 100 further includes an electrical connection device 106 fixed to the body 1021 and a mounting plate 1061 fixed to the third base 103, wherein an end of the electrical connection device 106 away from the body 1021 is electrically connected to the mounting plate 1061, the mounting plate 1061 is slidable relative to the electrical connection device 106, and the first driving mechanism 104 is electrically connected to the second driving mechanism 105 through the electrical connection device 106 and the mounting plate 1061.

In some examples, the electrical connection device 106 is a U-shaped drag chain, and may include, but is not limited to, a first connection arm attached to the body 1021 and electrically connected to the first driving mechanism 104, and a second connection arm bent from the first connection arm in a direction away from the body 1021 and spaced apart from the body 1021; one end of the mounting plate 1061 is fixed to the support base 1031 and electrically connected to the second driving mechanism 105, and the other end is slidably and electrically connected to the second connecting arm.

In a preferred embodiment of the present application, the motion platform 100 may be used in a biochemical detection apparatus, such as a gene detection device. In the gene assaying device, the motion platform 100 supports a sample to be assayed, for example, a chip carrying a DNA molecule, and adjusts the position of the sample to be assayed.

Example two

Referring to fig. 15 to 22, a multi-degree-of-freedom motion mechanism according to an embodiment of the present application includes a motion platform 100 according to a first embodiment; a lifting platform 200 movable in a preset direction with respect to the third base 103, the lifting platform 200 including a support 201, a third driving mechanism 203 disposed between the support 201 and the third base 103; the third driving mechanism 203 includes a third stator 2021 fixed to one of the third base 103 and the holder 201, and a third stator 2022 fixed to the other of the third base 103 and the holder 201.

In addition to the advantages of the motion platform 100 disclosed in the embodiment, the multiple degree of freedom motion mechanism further increases the degree of freedom in the preset direction, and when the motion platform needs to be adjusted in the preset direction, the third driving mechanism 203 operates, and the third stator 2021 and the third stator 2022 are matched to drive the support 201 to move in the preset direction relative to the third base 103, so that three degrees of freedom of movement in the first direction ox, the second direction oy and the preset direction are realized.

In order to improve stability, the multiple degree of freedom motion mechanism further includes a third support rail 203 interposed between the third stator 2022 and the third mover 2021. The third support rail 203 extends in a predetermined direction and includes a fifth runner 2031 fixed to the third rotor 2021, a sixth runner 2032 fixed to a driving section of the third stator 2022, and a third guide 2033 interposed between the fifth runner 2031 and the sixth runner 2032.

In order to reduce the occupied volume of the whole multi-degree-of-freedom motion mechanism, in some embodiments of the present application, the third base 103 is provided with a receiving hole 1033 therethrough, the third stator 2022 is fixed on one side of the third base 103 away from the second base 102 and extends into the receiving hole 1033, and the third rotor 2021 is suspended and supported in the receiving hole 1033.

Further, the support 201 is stacked on a side of the third base 103 away from the second base 102, the third rotor 2021 is fixed on the support 201 and extends into the receiving hole 1033, the third stator 2022 includes a driving portion 2022-1 received in the receiving hole 1033 and a wing portion 2022-2 extending from the three bases 103 outside the driving portion 2022-1 Zhou Chaodi, and the wing portion 2022-2 is fixed with the third base 103; the third mover 2021 includes a support frame 2021-1 surrounding the outer periphery of the driving portion 2022-1, and the support frame 2021-1 is provided with an avoidance opening for avoiding the wing portion 2022-2.

The driving portion 2022-1 includes a fixing member 2022-1a having a receiving hole 2022-1c formed in a central portion thereof, and a magnetic steel 2022-1b received in and fixed to the receiving hole 2022-1c, and the support 201 is stacked over the fixing member 2022-1 a. The magnetic steel 2022-1b penetrates through the through hole 2022-1d along a direction perpendicular to the preset direction, the third rotor 2021 comprises a coil 2021-2 penetrating through the through hole 2022-1d and fixed with the support 201, and the coil 2021-2 is suspended in the through hole 2022-1d and is arranged at intervals with the magnetic steel 2022-1b and the driving part 2022-1. The coil 2021-2 is movable in a predetermined direction relative to the magnetic steel 2022-1b under the interaction of the magnetic steel 2022-1 b. The coil 2021-2 includes a bottom arm 2021-2a penetrating through the magnetic steel 2022-1b, extension arms 2021-2b extending from opposite ends of the bottom arm 2021-2a toward the support 201, respectively, and one end of the extension arm 2021-2b away from the bottom arm 2021-2a is fixed to the support 201. The fixing piece 2022-1a is provided with a groove at one side near the support 201, and a buffer piece 208 is installed in the groove, and the buffer piece 208 is convexly arranged on the fixing piece. The buffer 208 effectively prevents the stand 201 from colliding with the fixing piece 2022-1a when the coil 2021-2 descends.

In order to improve the stability of the movement in the preset direction, the third stator 2022 further includes a magnet portion 2022-3 fixed to the wing portion 2022-2 and extending into the receiving hole 1033, the magnet portion 2022-4 is formed on the third stator 2021 corresponding to the magnet portion 2022-3, the magnet portion 2022-3 is disposed through the magnet portion 2022-4 along the preset direction and has an outer periphery smaller than the aperture of the magnet portion 2022-4, and the magnet portion 2022-3 interacts with the magnet portion 2022-4 to form a magnetic spring. The magnetic ring 2022-4 in the present example is secured to the support frame 2021-1 by, but not limited to, a connection plate 2022-5. The magnetic spring structure is used to relieve the third stator 2022 from being stressed in the vertical direction during vertical movement, thereby reducing the power required by the third driving mechanism 202 in the vertical direction, and serving to relieve the weight. The magnet portion 2022-3 includes, for example, a magnetic rod and an energizing coil fitted around the magnetic rod, and the magnetic rod is magnetized when the electric coil is energized.

The lifting platform 200 further comprises a third displacement detection mechanism 204 disposed between the third rotor 2021 and the third stator 2022, wherein the third displacement detection mechanism 204 comprises a third scale device 2041 fixed on one of the third rotor 2021 and the third stator 2022, and a third displacement collector 2042 fixed on the other of the third rotor 2021 and the third stator 2022, the third scale device 2041 extends along a preset direction, and the third displacement collector 2042 cooperates with the third scale device 2041 to obtain relative displacement between the third rotor 2022 and the third stator 2021 along the preset direction.

In some examples of the present application, the third displacement sensor 2042 is mounted on the third actuator 2021, the third scale device 2041 is mounted on the third actuator 2021, wherein the third scale device 2041 extends along a preset direction, and when the third actuator 2021 moves relative to the third actuator 2022 in the preset direction, the third displacement sensor 2042 reads the value on the third scale device 2041 as the displacement value of the current support 201.

The third displacement collector 2042 is, but is not limited to, a photosensor readhead and the third scale 2041 is, but is not limited to, a grating scale.

Referring to fig. 23, in some examples of the present application, the multiple degree of freedom motion mechanism further includes a rotating platform 300 mounted on the support 201, and a rotation axis of the rotating platform 300 is parallel to a preset direction. The multiple degree of freedom motion mechanism shown in fig. 23 also increases the degree of freedom of rotation on the basis of the multiple degree of freedom motion mechanism shown in fig. 15. There are various ways in which the rotation can be achieved, referring to fig. 24 to 26, in some examples of the present application, the rotating platform 300 includes a rotating motor 301 that is rotatable about a rotation axis relative to the support 201, and a support base 302 that is relatively fixed to the support 201.

Further, in order to limit the rotation angle of the rotating electric machine, a limit projection 305 is provided on the outer periphery of the rotating electric machine 301, and a limit stopper 304 is provided on the rotation path of the limit projection 305 on the support base 302. When the rotary electric machine 301 rotates to the position where the limit stopper 304 corresponds to the limit projection 305, the rotary electric machine 301 stops rotating.

In order to be able to acquire the rotation angle of the rotation platform 300 in time, the rotation platform 300 further comprises a rotation angle detection mechanism 303, the rotation angle detection mechanism 303 comprises a first angle device 3031 arranged on one of the support platform 302 and the rotation motor 301, and a first angle collector 3032 arranged on the other of the support platform 302 and the rotation motor 301, and the first angle collector 3032 cooperates with the first angle device 3031 to acquire the rotation angle between the rotation shaft of the rotation motor 301 and the support platform 302. Preferably, the first angle device 3031 is disposed at the outer circumference of the rotary motor 301, and the first angle collector 3032 is disposed on the support base 302.

The first angle device 3031 is, but is not limited to, an arcuate grating ruler, and the first angle collector 3032 is, but is not limited to, a photosensor readhead.

Referring to fig. 27, the multiple degree of freedom motion mechanism according to some examples of the present application further includes a first angle adjustment platform 400 stacked on a side of the rotating platform 300 away from the support 201 along a predetermined direction.

Referring to fig. 28, in some examples of the present application, a first angle adjustment platform 400 includes a first support plate 401 connected to and rotating with a rotating motor, a first sliding plate 402 slidably connected to the first support plate 401, a first arc-shaped support rail 404 sandwiched between the first support plate 401 and the first sliding plate 402, and a first arc-shaped driving mechanism 403, where the first sliding plate 402 is driven by the first arc-shaped driving mechanism 403 to slide around a first axial direction perpendicular to a preset direction.

The multiple degree of freedom motion mechanism shown in fig. 27 is augmented with a first angle adjustment platform 400 as compared to the multiple degree of freedom motion mechanism shown in fig. 23 to adjust the first sled 402 to slide about a first axis perpendicular to the preset direction, which in this embodiment is parallel to the 0y direction as shown.

Referring to fig. 28 to 32, the first arc-shaped driving mechanism 403 includes a fourth stator 4031 provided on one of the first support plate 401 and the first slider 402, and a fourth mover 4032 provided on the other of the first support plate 401 and the first slider 402; the fourth stator 4031 and the fourth rotor 4032 are comb-shaped structures extending in opposite directions along a preset direction, and the end surfaces of the fourth stator and the fourth rotor are cambered surfaces corresponding to the first cambered driving mechanism 403; the fourth stator 4031 and the fourth mover 4032 cooperate to slide the first slider 402 about a first axial direction perpendicular to the predetermined direction.

In some examples of the present application, the fourth stator 4031 is fixed on the first support plate 401, and the fourth mover 4032 is fixed on the first sliding plate 402, where the fourth stator 4031 includes stator cores that are arranged at intervals and have a comb-tooth shape, the fourth mover 4032 includes mover cores that have a circular arc structure on an end surface, and one mover core is disposed between adjacent stator cores. The mover cores and the stator cores are engaged with each other in a staggered manner, so that when the first arc-shaped driving mechanism 403 is energized, the fourth stator 4031 and the fourth mover 4032 cooperate with each other to slide the first sliding plate 402 around the first axial direction perpendicular to the preset direction.

In some examples of the application, the number of first arcuate drive mechanisms 403 is two, and are disposed opposite and spaced between the first support plate 401 and the first sled 402. In still other examples of the present application, the number of first arc-shaped driving mechanisms 403 is one, and is disposed in the middle of the first support plate 401 and the first sliding plate 402.

In order to improve the stability of the first angle adjustment platform 400 during operation, a first arc-shaped support rail 404 is further disposed between the first support plate 401 and the first sliding plate 402, and under the action of the first arc-shaped support rail 404, the first sliding plate 402 can be suspended and supported on the first support plate 401.

In order to facilitate the installation of the first arc-shaped support rail 404, a fifth positioning portion 4011 is disposed on one side of the first support plate 401 adjacent to the first slide plate 402, and the first slide plate 402 is adjacent to a sixth positioning portion 4021 disposed opposite to and spaced apart from the first support plate 401, and the sixth positioning portion 4021 is opposite to and spaced apart from the fifth positioning portion 4011; the multiple degree of freedom motion mechanism further includes a first arc-shaped support rail 404 interposed between the fifth positioning portion 4011 and the sixth positioning portion 4021, and the first slider 402 is suspended from the first support plate 401 by the first arc-shaped support rail 404.

Referring to fig. 30, the first arc-shaped support rail 404 includes a first arc-shaped chute 4041 fixed to the fifth positioning portion 4011, a second arc-shaped chute 4042 fixed to the sixth positioning portion 4021, and a first arc-shaped guide member sandwiched between the first arc-shaped chute 4041 and the second arc-shaped chute 4042, wherein the first arc-shaped guide member extends in the same direction as the first arc-shaped chute 4041 and the second arc-shaped chute 4042 and is respectively engaged with the first arc-shaped chute 4041 and the second arc-shaped chute 4042.

In order to better regulate and control the inclination angle of the first angle adjustment platform 400, as shown in fig. 31, the first angle adjustment platform 400 further includes a first inclination angle detection mechanism 405, the first inclination angle detection mechanism 405 includes a second angle device 4051 disposed on the arc end surface of the fourth runner 4032 and a second angle collector 4052 disposed on the first sliding plate 402 and used for sensing the inclination angle, and the second angle collector 4052 cooperates with the second angle device 4051 to read the inclination angle of the first sliding plate 402 sliding around a first axial direction perpendicular to the preset direction.

The second angle device 4051 is, but is not limited to, an arcuate grating scale and the second angle collector 4052 is, but is not limited to, a photosensor readhead.

Further, the first angle adjustment platform 400 further includes a first in-place switch 406, where the first in-place switch 406 includes a first in-place sensing member 4061 disposed on one of the first support plate 401 and the first sled 402, and a first in-place sensing switch 4062 disposed on the other of the first support plate 401 and the first sled 402, and the first in-place sensing switch 4062 cooperates with the first in-place sensing member 4061 to sense tilting of the first sled 402 to an extreme position. In some examples of the application, first in-place sensing element 4061 is disposed on first sled 402 and first in-place sensing switch 4062 is disposed on first support plate 401. Further, the number of first in-place sensing elements 4061 is one, and the number of first in-place sensing switches 4062 is one or more. Preferably, the number of the first in-place sensing switches 4062 is two, and the first in-place sensing switches are respectively located at two sides of the first in-place sensing member 4061, and at this time, the first sliding plate 402 has two limit positions, namely a first limit position and a second limit position. When the first slider 402 is tilted to the first limit position, one of the two first in-place sensing switches 4062 of the first in-place sensing member 4061 senses each other to prevent excessive displacement of the first slider 402 on one side. When the first sled 402 is tilted to the second limit position, the other of the two first in-place sensing switches 4062 of the first in-place sensing member 4061 senses each other to prevent excessive displacement of the first sled 402 on the other side.

Referring to fig. 33, the multiple degree of freedom motion mechanism in some examples of the application further includes a second angle adjustment platform 500 stacked on a side of the first slide plate 402 away from the first support plate 401 along a predetermined direction, the second angle adjustment platform 500 includes a second support plate 501 connected to the first slide plate 402 and moving along with the first slide plate 402, a second slide plate 502 slidably connected to the second support plate 501, and a second arc-shaped driving mechanism 503 interposed between the second support plate 501 and the second slide plate 502, wherein the second slide plate 502 is driven by the second arc-shaped driving mechanism 503 to slide around a second axis perpendicular to the predetermined direction, and the second axis intersects the first axis, and in this embodiment, the second axis is parallel to the x direction shown in fig. 16.

The multiple degree of freedom motion mechanism shown in fig. 33 is increased in freedom of adjustment around the second axis perpendicular to the preset direction from the multiple degree of freedom motion mechanism shown in fig. 27.

Referring to fig. 34 and 35, the second arc-shaped driving mechanism 503 includes a fifth stator 5031 provided on one of the second support plate 501 and the second slide plate 502, and a fifth mover 5032 provided on the other of the second support plate 501 and the second slide plate 502; the fifth stator 5031 and the fifth rotor 5032 are comb-shaped structures extending oppositely along a preset direction, and the end surfaces of the fifth stator 5031 and the fifth rotor 5032 are cambered surfaces corresponding to the second cambered driving mechanism 503; the fifth stator 5031 cooperates with the fifth mover 5032 to slide the second slide plate 502 about a second axis perpendicular to the preset direction.

In some examples of the present application, a fifth stator 5031 is fixed on the second support plate 501, and a fifth mover 5032 is fixed on the second slide plate 502, where the fifth stator 5031 includes stator cores arranged in a comb-tooth shape at intervals, the fifth mover 5032 includes mover cores with circular arc end surfaces, and similar to the fourth stator and the fourth mover, one mover core is disposed between adjacent stator cores. The circumferential surface of the mover core abuts against the stator core, so that when the second arc-shaped driving mechanism 503 is energized, the fifth stator 5031 and the fifth mover 5032 cooperate with each other to slide the second slide plate 502 around the second axis perpendicular to the preset direction.

In some examples of the present application, the number of the second arc-shaped driving mechanisms 503 is 1, and is disposed in the middle between the second support plate 501 and the second slide plate 502.

Referring to fig. 33, in order to increase stability of the second slider 502 when sliding with respect to the first support plate 401, a second arc-shaped support rail 504 is further provided between the second slider 502 and the second support plate 501. Further, in order to facilitate installation of the second arc-shaped supporting rail 504, a seventh positioning portion 5011 is provided on a side of the second supporting plate 501 adjacent to the second sliding plate 502, the second sliding plate 502 is adjacent to the eighth positioning portion 5021 opposite to the second supporting plate 501 and spaced apart, and the eighth positioning portion 5021 is opposite to the seventh positioning portion 5011 and spaced apart; the multiple degree of freedom motion mechanism further includes a second arc-shaped support rail 504 interposed between the seventh positioning portion 5011 and the eighth positioning portion 5021, and the second slide plate 502 is suspended from the second support plate 501 by the second arc-shaped support rail 504.

The second arc support rail 504 includes a third arc chute 5041 fixed to the seventh positioning portion 5011, a fourth arc chute 5042 fixed to the eighth positioning portion 5021, and a second arc guide member sandwiched between the third arc chute 5041 and the fourth arc chute 5042, where the second arc guide member and the third arc chute 5041 extend in the same direction as the fourth arc chute 5042, and the second arc guide member is respectively engaged with the third arc chute 5041 and the fourth arc chute 5042.

In order to better regulate the inclination angle of the second angle adjustment platform 500, as shown in fig. 34, the second angle adjustment platform 500 further includes a second inclination angle detection mechanism 505, where the second inclination angle detection mechanism 505 includes a third angle device 5051 disposed on the circumferential surface of the fifth mover 5032 and a third angle collector 5052 disposed on the second slide plate 502 for sensing the inclination angle, and the third angle collector 5052 cooperates with the third angle device 5051 to read the inclination angle of the second slide plate 502 sliding around a second axis perpendicular to the preset direction.

The third angle device 5051 is, but is not limited to, an arcuate grating ruler and the third angle collector 5052 is, but is not limited to, a photosensor readhead.

Further, as shown in fig. 35, the second angle adjustment platform 500 further includes a second in-place switch 506, a second in-place sensing member 5061 disposed on one of the second support plate 501 and the second slide plate 502, and a second in-place sensing switch 5062 disposed on the other of the second support plate 501 and the second slide plate 502, where the second in-place sensing switch 5062 cooperates with the second in-place sensing member 5061 to sense tilting of the second slide plate 502 to a limit position. In some examples of the present application, a second in-place sensing element 5061 is disposed on the second slide 502, and a second in-place sensing switch 5062 is disposed on the second support plate 501. Further, the number of second in-place sensing members 5061 is one, and the number of second in-place sensing switches 5062 is one or more. Preferably, the number of the second in-place sensing switches 5062 is two, and the second in-place sensing switches are respectively located at two sides of the second in-place sensing member 5061, and at this time, the second sliding plate 502 has two limit positions, namely a first limit position and a second limit position. When the second slide plate 502 is tilted to the first limit position, one of the two second in-place sensing switches 5062 of the second in-place sensing member 5061 senses each other to prevent excessive displacement of the second slide plate 502 at one side. When the second slide plate 502 is tilted to the second limit position, the other of the two second in-place sensing switches 5062 of the second in-place sensing piece 5061 senses each other to prevent excessive displacement of the second slide plate 502 on one side.

It should be noted that, the first axial direction and the second axial direction intersect, and may be a preset angle, and the first axial direction and the second axial direction are preferably perpendicular to each other.

Referring to fig. 36 and 37, first sled 402 is used to mount second angle-adjustment platform 500, wherein the end surface of first sled 402 on which second angle-adjustment platform 500 is mounted is planar, or first sled 402 has a centrally recessed mounting groove 4022, and second support plate 501 is mounted within mounting groove 4022. Preferably, the first sliding plate 402 mounts the second angle-adjusting platform 500 by providing the mounting groove 4022, thus, the space occupied by the preset direction is reduced, and thus, the volume of the preset direction is reduced.

Similarly, the first support plate 401 is matched with the shape of the first slider 402, so as to further reduce the volume of the multi-degree-of-freedom motion mechanism in the preset direction.

Compared with the motion platform in the first embodiment, the multi-degree-of-freedom motion mechanism in the embodiment further increases the degree of freedom in the rotation direction, and motions in the degrees of freedom are independently adjusted.

Further, in a preferred embodiment of the present application, the multi-degree of freedom motion mechanism described above may be used in a biochemical detecting instrument, such as a gene detecting device. In the gene detection device, the multi-degree-of-freedom motion mechanism supports a sample to be detected and adjusts the position of the sample to be detected, and the sample to be detected can be a chip for carrying DNA molecules, for example.

Example III

Referring to fig. 38, an embodiment of the present application discloses a sample supporting system, which includes a multi-degree-of-freedom motion mechanism as in the second embodiment and a carrying platform 600 installed on the multi-degree-of-freedom motion mechanism, wherein the carrying platform 600 accommodates a sample, and the carrying platform 600 is driven by a multi-degree-of-freedom device and adjusts the position of the sample. The multi-degree-of-freedom device has the effects, and the sample support system comprising the multi-degree-of-freedom motion mechanism also has the corresponding effects. The sample can be a DNA chip, a tissue slide glass and the like, and the sample support system can be applied to different biochemical detection instruments, such as a gene sequencer and the like, corresponding to different samples.

Example IV

The embodiment of the application discloses a microfluidic chip detection platform, which comprises a multi-degree-of-freedom motion mechanism of the second embodiment and a chip seat arranged on the multi-degree-of-freedom motion mechanism, wherein a microfluidic chip is accommodated in the chip seat, and the chip seat is driven by a multi-degree-of-freedom device and adjusts the position of the microfluidic chip. The microfluidic chip can be carried with different biochemical test samples and corresponds to the different test samples, and can be applied to different biochemical detection instruments, such as a gene sequencer and the like.

Example five

Referring to fig. 39, an embodiment of the application discloses a multi-degree-of-freedom supporting mechanism, which comprises a linear motion platform 10, a rotary platform 20 and a bearing platform 30, wherein the linear motion platform 10 and the rotary platform 20 are stacked in sequence along a preset direction, the bearing platform 30 is installed on the rotary platform 20, the bearing platform 30 moves along with the rotary platform 20, the rotary platform 20 is installed on the linear motion platform 10 and moves along with the linear motion platform 10, a mounting plate 1061 is arranged on the linear motion platform 10, and the rotary platform 20 is provided with a lead wire which extends to the mounting plate 1061 and is electrically connected with the linear motion platform 10.

The linear motion platform 10 of the present embodiment includes a first direction motion platform 10a, a second direction motion platform 10b, and a third direction motion platform 10c, wherein the first direction motion platform 10a, the second direction motion platform 10b, and the third direction motion platform 10c are stacked in sequence in a direction close to the rotation platform, the third direction oz is perpendicular to the first direction ox and the second direction oy, and one of the third direction oz is parallel to a preset direction.

The first direction moving platform 10a and the second direction moving platform 10b of the present embodiment have a structure corresponding to the moving platform 100 of the first embodiment, that is, the first direction moving platform 10a includes a first base 101, a second base 102, a first supporting rail 107 and a first driving mechanism 104 that are sequentially stacked along a preset direction, wherein: the first driving mechanism 104 includes a first stator 1041 provided on one of the first base 101 and the second base 102, and a first mover 1042 provided on the other of the first base 101 and the second base 102, the first stator 1041 cooperating with the first mover 1042 to drive the second base 102 to move in a first direction ox with respect to the first base 101, the first direction ox being perpendicular to a preset direction; the first support rail 107 is sandwiched between the first base 101 and the second base 102, and the second base 102 is suspended from the first base 101 by the first support rail 107.

The second direction moving platform 10b includes a second base 102, a third base 103, a second support rail 108, and a second driving mechanism 105, which are sequentially stacked in a preset direction, wherein: the second driving mechanism 105 includes a second stator 1051 provided on one of the second base 102 and the third base 103, and a second mover 1052 provided on the other of the second base 102 and the third base 103, the second stator 1051 cooperating with the second mover 1052 to drive the third base 103 to move in a second direction oy with respect to the second base 102, the second direction oy intersecting the first direction ox and being perpendicular to the preset direction; the second support rail 108 is sandwiched between the second base 102 and the third base 103, and the third base 103 is suspended from the second base 102 by the first support rail 107.

The third direction platform 10c has a structure corresponding to the elevating platform 200 of the second embodiment, including a support 201 moving in a preset direction, a third driving mechanism 203 provided between the support 201 and the third base 103, and a third support rail 203; the third driving mechanism 203 includes a third stator 2022 fixed to one of the third base 103 and the support 201, and a third stator 2021 fixed to the other of the third base 103 and the support 201; the third support rail 203 is sandwiched between the third stator 2022 and the third mover 2021, and the third mover 2021 is suspended from the third stator 2021 by the third support rail 203.

The linear motion stage 10 further includes an electrical connection device 106, wherein the electrical connection device 106 is electrically connected to the first driving mechanism 104, the second driving mechanism 105, and the third driving mechanism 203 through a mounting plate 1061.

The rotating platform 20 includes a rotating platform 20a mounted on the third moving platform 10c, the rotating platform 20a having a rotation axis parallel to a preset direction, and the rotating platform 20a having a structure corresponding to the embodiment shown in fig. 21 to 24.

The rotating platform 20 further comprises an angle adjusting platform 20b which is overlapped on the rotating platform 20a, the bearing platform 30 is supported by the angle adjusting platform and moves along with the angle adjusting platform, the angle adjusting platform 20b comprises a supporting plate fixed on the rotating platform 20a and a sliding plate which is slidably connected with the supporting plate, an arc-shaped supporting guide rail is clamped between the sliding plate and the supporting plate, and the sliding plate axially slides around the direction vertical to the preset direction through the arc-shaped supporting guide rail; the load-bearing platform 30 is fixed to the skid plate. The angle-adjustment stage 20b has a structure corresponding to the first angle-adjustment stage 400 and/or the second angle-adjustment stage 500 shown in fig. 26-35.

Further, the multi-degree-of-freedom supporting mechanism of the present embodiment can be used for a biochemical detecting instrument, such as a gene detecting device. In the gene detection device, the multi-degree-of-freedom supporting mechanism supports a sample to be detected and adjusts the position of the sample to be detected, and the sample to be detected can be a chip for carrying DNA molecules, for example.

Example six

Referring to fig. 40, an embodiment of the present application discloses a multi-degree-of-freedom motion platform positioning system 61, which includes a multi-degree-of-freedom supporting mechanism 611, a position detecting mechanism 612 and a controller 613, wherein the multi-degree-of-freedom supporting mechanism 611 corresponds to any one of the first to fifth embodiments, the position detecting mechanism 612 is used for acquiring position information of a linear motion platform and/or a rotary platform, and the controller 613 controls the multi-degree-of-freedom supporting mechanism 611 to adjust to a target position in combination with the position information.

The controller 613 acquires the spatial coordinates of the target position and converts the spatial coordinates into displacement amounts of the linear motion platform and the rotary platform through a spatial coordinate system; the controller 613 controls the linear motion stage and the rotary stage to move according to the corresponding position information until the multi-degree-of-freedom supporting mechanism 611 is adjusted to the target position.

Similar to the fifth embodiment, the linear motion stage includes a first direction motion stage 10a, a second direction motion stage 10b, and a third direction motion stage 10c, each of which is perpendicular to the first direction ox and the second direction oy and one of which is parallel to a preset direction, each of which is operated in a first direction ox, a second direction oy, and a third direction oz, which are sequentially stacked in a direction close to the rotation stage.

In some examples of the present application, position detection mechanism 612 includes at least three displacement detection mechanisms disposed on first directional motion stage 10a, second directional motion stage 10b, and third directional motion stage 10 c.

The displacement detection mechanism reads the current displacement amounts of the corresponding motion platforms among the first-direction motion platform 10a, the second-direction motion platform 10b and the third-direction motion platform 10 c.

The controller acquires the space coordinates of the target position, combines the corresponding current displacement amount, converts the space coordinates into corresponding target displacement amounts in the first direction moving platform 10a, the second direction moving platform 10b and the third direction moving platform 10c, and controls corresponding moving platforms in the first direction moving platform 10a, the second direction moving platform 10b and the third direction moving platform 10c to move until the target displacement amounts are reached.

In some examples of the application, the rotating platform 20 includes a rotating platform 20a mounted to the third moving platform 10 c.

The position detecting mechanism further includes a rotation angle detecting mechanism 303 provided at the rotary table 20a, the rotation angle detecting mechanism 303 being for reading the rotation angle of the rotary table 20 a.

The rotation angle detection mechanism 303 reads the current rotation angle of the rotation platform 20 a.

The controller acquires the spatial coordinates of the target position, converts the spatial coordinates into the target rotation angle of the rotation platform 20a through a spatial coordinate system in combination with the rotation angle, and controls the rotation of the rotation platform 20a until the rotation reaches the target rotation angle.

In some examples of the application, the rotating platform further includes an angle adjustment platform 20b mounted to the rotating platform 20a.

The position detecting mechanism 612 further includes an inclination angle detecting mechanism of the angle adjusting stage 20b provided in the rotating stage 20a, the inclination angle detecting mechanism being for reading the inclination angle of the angle adjusting stage.

In some examples of the application, the tilt angle detection mechanism reads the current tilt angle of the angle adjustment platform.

Further, the multi-degree-of-freedom motion platform positioning system of the present embodiment can be used for a biochemical detection instrument, such as a gene detection device. In the genetic testing apparatus, the multi-degree-of-freedom motion platform positioning system 61 supports a sample to be tested and adjusts the position of the sample to be tested, and the sample to be tested may be a chip carrying DNA molecules, for example.

The positioning system of the application also has the following effects: to a certain extent, the input of focusing manpower is reduced, the efficiency of focusing work is improved, and the whole focusing system is more intelligent.

The multi-degree-of-freedom motion platform positioning system has the advantages of large working space of the platform, low cost, high rigidity, strong bearing capacity, high response speed, high precision, simple structure, easy control, relatively easy resolving analysis and the like.

The motion of each degree of freedom is independently controlled and independent.

The motion platform is more compact than the traditional structure. Meanwhile, the vertical axis platform adopts a sinking installation mode, so that the space utilization rate of the whole system can be improved to the maximum extent. Meanwhile, the rotating platform and the angle adjusting platform are adopted to realize the accurate adjustment of multiple postures, so that the whole system is more flexible and intelligent.

Example seven

As shown in fig. 40, in some embodiments of the present application, a detection apparatus 60 is provided, which includes an optical system 63 and a multi-degree-of-freedom motion platform positioning system 61 corresponding to the optical system 63 in the above technical solution. The detection device 60 is used for gene detection, and the multi-degree-of-freedom motion platform positioning system supports the gene detection sample 62 and adjusts the position of the gene detection sample 62 relative to the optical system 63 at any time.

The positioning system has certain beneficial effects, and the detection equipment comprising the positioning system also has corresponding effects.

It should be noted that, for convenience of description, only a portion related to the related application is shown in the drawings. Embodiments of the application and features of the embodiments may be combined with each other without conflict.

It is to be understood that the terms "system," "apparatus," "unit," and/or "module" as used herein are one means for distinguishing between different components, elements, parts, portions, or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element defined by the phrase "comprising one … …" does not preclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.

Wherein, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" means two or more than two.

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

A flowchart is used in the present application to describe the operations performed by a system according to embodiments of the present application. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.

The above description is only illustrative of the preferred embodiments of the present application and the technical principles applied, and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. The scope of the present application is not limited to the specific combination of the above technical features, but also includes other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the present application. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.

Claims

The utility model provides a motion platform, its characterized in that includes first base, second base and the third base of following the range upon range of setting in proper order of default direction to and first actuating mechanism and second actuating mechanism, wherein:

The first driving mechanism comprises a first stator arranged on one of the first base and the second base and a first rotor arranged on the other of the first base and the second base, wherein the first stator and the first rotor are mutually matched to drive the second base to move along a first direction relative to the first base, and the first direction is perpendicular to the preset direction;

The second driving mechanism comprises a second stator arranged on one of the second base and the third base and a second rotor arranged on the other of the second base and the third base, wherein the second stator and the second rotor are mutually matched to drive the third base to move relative to the second base in a second direction, and the second direction is intersected with the first direction and perpendicular to the preset direction.
The motion platform of claim 1, wherein the first base includes a base opposite the second base and spaced apart therefrom, and a first positioning portion extending from the base toward the second base, the first positioning portion extending in a first direction;

The second base comprises a body opposite to the base and arranged at intervals, and a second positioning part extending from the body seat towards the first base, wherein the first positioning part and the second positioning part are opposite and arranged at intervals and the orthographic projections of the first positioning part and the second positioning part on the base along the preset direction are not overlapped with each other;

The motion platform further comprises a first supporting guide rail clamped between the first positioning part and the second positioning part, and the second base is supported on the first base in a suspending way through the first supporting guide rail.
The motion platform of claim 2, wherein the first support rail includes a first runner fixed to the first positioning portion, a second runner fixed to the second positioning portion, and a first guide member interposed between the first runner and the second runner, the first guide member extending in the first direction and being engaged with the first runner and the second runner, respectively.
The motion platform of claim 3, wherein the first runner and the first positioning portion are spaced apart from the second base; the second sliding groove and the second positioning part are arranged at intervals with the first base.
The motion platform of claim 4, further comprising a first displacement detection mechanism disposed between the base and the body, the first displacement detection mechanism comprising a first scale device secured to one of the base and the body and a first displacement collector secured to the other of the base and the body, the first scale device extending in the first direction, the first displacement collector cooperating with the first scale device to obtain relative displacement between the first base and the second base in the first direction.
The motion platform of claim 2, wherein the first support rails are symmetrically disposed on opposite sides of the second base.
The motion platform as in any one of claims 2-6, wherein the first stator is fixed to the base and has a 匚 -shaped structure with an opening facing the second positioning portion, the first stator is fixed to the body and is snap-fit accommodated in the 匚 -shaped structure, the first stator extends along the first direction, and a moving gap is left between the first stator and the first stator.
The motion platform of claim 7, wherein the first stators are symmetrically arranged on two sides of the base and are in one-to-one correspondence with the first movers, and the orthographic projection of the second base on the first base is positioned between the first stators.
The motion platform of claim 2, wherein the second base further comprises a third positioning portion extending from a side of the body near a third base along the second direction, the third base comprises a supporting seat opposite to the body and arranged at intervals, and a fourth positioning portion extending from the supporting seat towards the body, and the fourth positioning portion is opposite to the third positioning portion and arranged at intervals, and orthographic projections of the fourth positioning portion on the body along the preset direction are not overlapped with each other; the motion platform further comprises a second supporting guide rail clamped between the third positioning part and the fourth positioning part, and the third base is supported on the third base in a suspending way through the second supporting guide rail.
The motion platform of claim 9, wherein the second support rail includes a third runner fixed to the third positioning portion, a fourth runner fixed to the fourth positioning portion, and a second guide interposed between the third runner and the fourth runner, the second guide extending in the second direction and engaging the third runner and the fourth runner, respectively.
The motion platform of claim 9, further comprising a second displacement detection mechanism disposed between the third base and the second base, the second displacement detection mechanism comprising a second scale device secured to one of the third base and the second base and a second displacement collector secured to the other of the third base and the second base, the second scale device extending in the second direction, the second displacement collector cooperating with the scale device to obtain relative displacement between the third base and the second base in the second direction.
The motion platform of claim 11, wherein the second scale device is fixed to a side of the fourth positioning portion away from the second support rail, and the second displacement collector is mounted to the body opposite to and spaced apart from the second scale device.
The motion platform as claimed in claim 9, wherein the second stator is fixed to the support base and has a 冂 -shaped structure with an opening facing the body, the second mover is fixed to the body and is snap-fit accommodated in the 冂 -shaped structure, the second stator extends along the second direction, and a moving gap is left between the second stator and the second mover.
The motion platform of claim 11, wherein the second drive mechanism is mounted on a side of the support base remote from the second displacement detection mechanism.
The motion platform of any one of claims 9-14, further comprising an electrical connection device secured to the body and a mounting plate secured to the third base, an end of the electrical connection device remote from the body being electrically connected to the mounting plate, the mounting plate being slidable relative to the electrical connection device, the first drive mechanism being electrically connected to the second drive mechanism via the electrical connection device and the mounting plate.
The motion platform of claim 15, wherein the electrical connection device is a U-shaped drag chain, and comprises a first connection arm which is attached to the body and is electrically connected with the first driving mechanism, and a second connection arm which is bent from the first connection arm towards a direction away from the body and is arranged at a distance from the body; one end of the mounting plate is fixed on the supporting seat and is electrically connected with the second driving mechanism, and the other end of the mounting plate is electrically connected with the second connecting arm in a sliding manner.
A gene assaying device comprising: the motion platform according to any one of claims 1 to 16, and a sample to be detected mounted on the motion platform, the motion platform driving and adjusting the position of the sample to be detected.
A multi-freedom-degree movement mechanism is characterized in that: comprising the following steps: the motion platform of any one of claims 1 to 16;

The support can move along the preset direction relative to the third base, and the third driving mechanism is arranged between the support and the third base; the third driving mechanism includes a third stator fixed to one of the third base and the support, and a third mover fixed to the other of the third base and the support.
The multiple degree of freedom motion mechanism of claim 18 further comprising a third support rail sandwiched between the third stator and the third mover.
The multiple degree of freedom motion mechanism of claim 19 wherein the third support rail extends in the predetermined direction and includes a fifth runner secured to the third mover, a sixth runner secured to the driving portion, and a third guide sandwiched between the fifth runner and the sixth runner.
The multiple degree of freedom motion mechanism of claim 19 wherein the third base defines a receiving aperture therethrough, the third stator being secured to a side of the third base remote from the second base and extending into the receiving aperture, the third mount being supported within the receiving aperture.
The multiple degree of freedom motion mechanism of claim 21 wherein the support is stacked on a side of the third base away from the second base, the third stator is fixed to the support and extends into the receiving hole, the third stator includes a driving portion received in the receiving hole and a wing portion extending from an outer periphery of the driving portion toward the third base, and the wing portion is fixed to the third base; the third rotor comprises a supporting frame which is arranged on the periphery of the driving part in a surrounding mode, and the supporting frame is provided with an avoidance opening for avoiding the wing part.
The multiple degree of freedom motion mechanism of claim 22 wherein the third stator further comprises a magnet portion fixed to the wing portion and extending into the receiving hole, the third stator being formed with a magnetic ring corresponding to the magnet portion, the magnet portion being disposed through the magnetic ring in the predetermined direction and having an outer peripheral dimension smaller than an aperture of the magnetic ring, the magnet portion interacting with the magnetic ring to form a magnetic spring.
The multiple degree of freedom motion mechanism of claim 18 further comprising a rotating platform mounted to the support, the rotating platform having a rotational axis parallel to the predetermined direction.
The multiple degree of freedom motion mechanism of claim 24 wherein the rotary platform includes a rotary motor rotatable about the rotational axis relative to the support and a limit stop secured relative to the support, the rotary motor having a limit projection disposed on a periphery thereof, the limit stop being positioned in a rotational path of the limit projection.
The multiple degree of freedom motion mechanism of claim 18 wherein the rotating platform further comprises a rotation angle detection mechanism including a first angle device fixed relative to the support and a first angle collector disposed on the rotating electrical machine, the first angle collector cooperating with the first angle device to obtain a rotation angle between a rotational axis of the rotating electrical machine and the limit stop.
The multiple degree of freedom motion mechanism of claim 26 further comprising a first angle adjusting platform stacked on a side of the rotating platform away from the support along the predetermined direction, the first angle adjusting platform comprising a first support plate coupled to and rotatable with the rotating motor, a first slide plate slidably coupled to the first support plate, and a first arcuate drive mechanism interposed between the first support plate and the first slide plate, the first slide plate being driven by the first arcuate drive mechanism to slide about a first axis perpendicular to the predetermined direction.
The multiple degree of freedom motion mechanism of claim 27 wherein a fifth location portion is provided on a side of the first support plate adjacent to the first slide plate, the first slide plate adjacent to a sixth location portion opposite to and spaced from the first support plate, the sixth location portion opposite to and spaced from the fifth location portion; the multi-freedom-degree movement mechanism further comprises a first arc-shaped support guide rail clamped between the fifth positioning part and the sixth positioning part, and the first sliding plate is suspended and supported by the first arc-shaped support guide rail to be supported by the first supporting plate.
The multiple degree of freedom motion mechanism of claim 28 wherein the first arcuate support rail includes a first arcuate runner secured to the fifth location portion, a second arcuate runner secured to the sixth location portion and extending in a direction generally parallel to the first arcuate runner, and a first arcuate guide sandwiched between the first arcuate runner and the second arcuate runner, the first arcuate guide extending in a direction generally parallel to the second arcuate runner and engaging the first arcuate runner and the second arcuate runner, respectively.
The multiple degree of freedom motion mechanism of claim 28 wherein the first arcuate drive mechanism includes a fourth stator disposed on one of the first support plate and the first slide plate and a fourth mover disposed on the other of the first support plate and the first slide plate; the fourth stator and the fourth rotor extend oppositely along the preset direction and are provided with arc-shaped end faces; the fourth stator and the fourth rotor are mutually matched so that the first sliding plate slides around a first axial direction perpendicular to the preset direction.
The multiple degree of freedom motion mechanism of claim 28 wherein the number of first arcuate drive mechanisms is two and opposed and spaced between the first support plate and the first slide plate.
The multiple degree of freedom motion mechanism of claim 28 wherein the first angle adjustment stage further comprises a first tilt angle detection mechanism including a second angle collector disposed on the first slide plate and a second angle means disposed on the first support plate for sensing a tilt angle, the second angle collector cooperating with the second angle means to read a tilt angle of the first slide plate about a first axial direction perpendicular to the predetermined direction.
The multiple degree of freedom motion mechanism of claim 28 wherein the first angle adjustment stage further includes a first in-place switch including a first in-place sensing member disposed on one of the first support plate and the first slide plate and a first in-place sensing switch disposed on the other of the first support plate and the first slide plate, the first in-place sensing switch cooperating with the first in-place sensing member to limit tilting of the first slide plate to a limit position.
The multiple degree of freedom motion mechanism of claim 28 further comprising a second angle adjustment platform overlying the first slide in the predetermined direction on a side of the first slide remote from the first support plate, the second angle adjustment platform comprising a second support plate coupled to and movable with the first slide, a second slide slidably coupled to the second support plate, and a second arcuate drive mechanism interposed between the second support plate and the second slide, the second slide being driven by the second arcuate drive mechanism to slide about a second axis perpendicular to the predetermined direction, the second axis intersecting the first axis.
The multiple degree of freedom motion mechanism of claim 34 wherein a seventh location portion is provided on a side of the second support plate adjacent to the second slide plate, the second slide plate adjacent to an eighth location portion opposite to and spaced from the second support plate, the eighth location portion opposite to and spaced from the seventh location portion; the multi-freedom-degree movement mechanism further comprises a second arc-shaped support guide rail clamped between the seventh positioning part and the eighth positioning part, and the second sliding plate is suspended and supported on the second support plate through the second arc-shaped support guide rail.
The multiple degree of freedom motion mechanism of claim 35 wherein the second arcuate support rail includes a third arcuate runner secured to the seventh location portion, a fourth arcuate runner secured to the eighth location portion, and a second arcuate guide sandwiched between the third arcuate runner and the fourth arcuate runner, the second arcuate guide, the third arcuate runner, and the fourth arcuate runner all extending in the same direction and the second arcuate guide engaging the third arcuate runner and the fourth arcuate runner, respectively.
The multiple degree of freedom motion mechanism of claim 34 wherein the second arcuate drive mechanism includes a fifth stator disposed on one of the second support plate and the second slide plate and a fifth mover disposed on the other of the second support plate and the second slide plate; the fifth stator and the fifth rotor extend oppositely along the preset direction and are provided with arc-shaped end faces; the fifth stator and the fifth rotor are mutually matched to enable the second sliding plate to slide around a second shaft perpendicular to the preset direction.
The multiple degree of freedom motion mechanism of claim 37 wherein the number of second arcuate drive mechanisms is two and opposed and spaced between the second support plate and the second slide plate.
The multiple degree of freedom motion mechanism of claim 34 wherein the second angle adjustment stage further comprises a second tilt angle detection mechanism including a third angle collector disposed on the second slide plate and a third angle device disposed on the second support plate for sensing a tilt angle, the third angle collector cooperating with the third angle device to read a tilt angle of the second slide plate sliding about a second axis perpendicular to the predetermined direction.
The multiple degree of freedom motion mechanism of claim 34 wherein the second angle adjustment stage further includes a second in-place switch including a second in-place sensing member disposed on one of the second support plate and the second slide plate and a second in-place sensing switch disposed on the other of the second support plate and the second slide plate, the second in-place sensing switch cooperating with the second in-place sensing member to limit tilting of the second slide plate to a limit position.
The multiple degree of freedom motion mechanism of claim 34 wherein the first axis is perpendicular to the second axis.
The multiple degree of freedom motion mechanism of claim 34 wherein the first slide plate is recessed in a central portion thereof to define a mounting slot and the second support plate is mounted in the mounting slot.
A genetic testing device comprising the multiple degree of freedom motion mechanism of any one of claims 18-42 and a carrier platform mounted on the multiple degree of freedom motion mechanism, the carrier platform housing a sample, the carrier platform being driven by the multiple degree of freedom device and adjusting the position of the sample.
A microfluidic chip detection platform comprising the multiple degree of freedom motion mechanism according to any one of claims 18 to 42 and a chip holder mounted on the multiple degree of freedom motion mechanism, the chip holder housing a microfluidic chip, the chip holder being driven by the multiple degree of freedom device and adjusting the position of the microfluidic chip.
The utility model provides a multi freedom supporting mechanism, its characterized in that includes along the linear motion platform and the rotation platform of predetermineeing the direction and stacking gradually the setting, and install the loading platform of rotation platform, the loading platform with the rotation platform removes, the rotation platform install in the linear motion platform and along with the linear motion platform removes, be provided with the mounting panel on the linear motion platform, the rotation platform has and extends to the mounting panel and with the lead wire that the linear motion platform electricity is connected.
The multi-degree of freedom support mechanism of claim 45 wherein the linear motion platform comprises a first direction motion platform, a second direction motion platform and a third direction motion platform, wherein the first direction motion platform, the second direction motion platform and the third direction motion platform are stacked in sequence in a direction close to the rotation platform, the third direction is perpendicular to the first direction and the second direction, and one of the third direction motion platform and the preset direction are parallel.
The multiple degree of freedom support mechanism of claim 46 wherein the first direction motion platform includes a first base, a second base, a first support rail and a first drive mechanism stacked in sequence along a predetermined direction, wherein: the first driving mechanism comprises a first stator arranged on one of the first base and the second base and a first rotor arranged on the other of the first base and the second base, wherein the first stator and the first rotor are mutually matched to drive the second base to move along a first direction relative to the first base, and the first direction is perpendicular to the preset direction; the first support guide rail is clamped between the first base and the second base, and the second base is supported on the first base in a suspension manner by the first support guide rail.
The multiple degree of freedom support mechanism of claim 46 wherein the second direction motion platform includes a second base, a third base, a second support rail and a second drive mechanism stacked in sequence along a predetermined direction, wherein: the second driving mechanism comprises a second stator arranged on one of the second base and the third base and a second rotor arranged on the other of the second base and the third base, wherein the second stator and the second rotor are mutually matched to drive the third base to move relative to the second base in a second direction, and the second direction is intersected with the first direction and is perpendicular to the preset direction; the second support guide rail is clamped between the second base and the third base, and the third base is suspended and supported on the second base by the first support guide rail.
The multiple degree of freedom support mechanism of claim 46 wherein the third direction platform includes a support that moves in the predetermined direction, a third drive mechanism disposed between the support and the third base, and a third support rail; the third driving mechanism comprises a third stator fixed on one of the third base and the support, and a third mover fixed on the other of the third base and the support; the third support guide rail is clamped between the third stator and the third rotor, and the third stator is suspended and supported by the third support guide rail in the third rotor.
The multiple degree of freedom support mechanism of claim 45 further comprising an electrical connection means electrically connected to the first drive mechanism, the second drive mechanism, the third drive mechanism via a mounting plate.
The multiple degree of freedom support mechanism of claim 45 wherein the rotating platform includes a rotating platform mounted to the third direction motion platform, the axis of rotation of the rotating platform being parallel to the predetermined direction.
The multi-degree of freedom support mechanism of claim 45 wherein the rotating platform further comprises an angle adjustment platform superposed on the rotating platform, the bearing platform being supported by and moving with the angle adjustment platform, the angle adjustment platform comprising a support plate fixed to the rotating platform, a slide plate slidably connected to the support plate, an arcuate support rail sandwiched between the slide plate and the support plate, the slide plate sliding axially through the arcuate support rail about a direction perpendicular to the predetermined direction; the bearing platform is fixed on the sliding plate.
A genetic testing device comprising a multiple degree of freedom support mechanism according to any one of claims 45 to 52 and a load-bearing platform mounted on the multiple degree of freedom support mechanism, the load-bearing platform housing a sample, the load-bearing platform being driven by the multiple degree of freedom device and adjusting the position of the sample.
A multi-degree-of-freedom motion platform positioning system comprising the multi-degree-of-freedom support mechanism according to any one of claims 45 to 52, a position detection mechanism and a controller, wherein the position detection mechanism is used for acquiring position information of the linear motion platform and the rotary platform, and the controller is combined with the position information to control the multi-degree-of-freedom motion platform to be adjusted to a target position.
The multi-degree of freedom motion platform positioning system of claim 54 wherein the controller obtains spatial coordinates of the target position and converts the spatial coordinates into displacement amounts of the linear motion platform and the rotary platform; and the controller controls the linear motion platform and the rotary platform to move according to the corresponding position information until the multi-degree-of-freedom motion platform is adjusted to the target position.
The multi-degree of freedom motion platform positioning system of claim 54 wherein the linear motion platform comprises a first direction motion platform, a second direction motion platform and a third direction motion platform, wherein the first direction motion platform, the second direction motion platform and the third direction motion platform are sequentially stacked in a direction close to the rotating platform, the third direction is perpendicular to the first direction and the second direction, and one of the third direction motion platform and the second direction motion platform is parallel to the preset direction;

The position detection mechanism comprises at least three displacement detection mechanisms arranged on the first direction movement platform, the second direction movement platform and the third direction movement platform;

The displacement detection mechanism reads current displacement amounts of corresponding motion platforms in the first-direction motion platform, the second-direction motion platform and the third-direction motion platform;

The controller acquires the space coordinates of the target position, combines the corresponding current displacement, converts the space coordinates into corresponding target displacement in the first-direction moving platform, the second-direction moving platform and the third-direction moving platform, and controls the corresponding moving platforms in the first-direction moving platform, the second-direction moving platform and the third-direction moving platform to move until the target displacement is reached.
The multiple degree of freedom motion platform positioning system of claim 54 wherein the rotating platform includes a rotating platform mounted to the third direction motion platform;

The position detection mechanism further comprises a rotation angle detection mechanism arranged on the rotation platform, and the rotation angle detection mechanism is used for reading the rotation angle of the rotation platform;

the rotation angle detection mechanism reads the current rotation angle of the rotation platform;

The controller acquires the space coordinates of the target position, converts the space coordinates into the target rotation angle of the rotation platform through a space coordinate system in combination with the rotation angle, and controls the rotation of the rotation platform until the rotation platform rotates to the target rotation angle.
The multiple degree of freedom motion platform positioning system of claim 54 wherein the rotating platform further comprises an angle adjustment platform mounted to the rotating platform;

The position detection mechanism further comprises an inclination angle detection mechanism arranged on the rotary platform, and the inclination angle detection mechanism is used for reading the inclination angle of the rotary platform;

The inclination angle detection mechanism reads the current inclination angle of the angle adjustment platform;

The controller acquires the space coordinates of the target position, converts the space coordinates into the target inclination angle of the angle adjustment platform through a space coordinate system in combination with the inclination angle, and controls the angle adjustment platform to incline until the angle adjustment platform inclines to the target inclination angle.
A detection apparatus comprising an optical system and a multiple degree of freedom motion stage positioning system according to any one of claims 54 to 58 corresponding to the optical system.
The test device of claim 59, wherein the test device is for gene testing and the multiple degree of freedom motion platform positioning system supports a gene test sample and adjusts the position of the gene test sample relative to the optical system.