Magnetic coupling piezoelectric driving type micromanipulation workstation for artificial insemination

Abstract

The invention discloses a magnetic coupling piezoelectric driving type micromanipulation workstation for artificial insemination, and belongs to the technical field of assisted reproduction. The workstation comprises a platform base, and a two-axis culture dish positioning device, a left three-axis fixed pipettor driving device and a right three-axis injection pipettor driving device which are arranged on the platform base, the X axis and the Y axis of the two-axis culture dish positioning device are respectively driven by a magnetic coupling piezoelectric driving unit, and the left three-axis fixed pipettor driving device and the right three-axis injection pipettor driving device respectively comprise a three-axis driving unit; motions in three directions of the three-axis driving unit are respectively and independently driven by a magnetic coupling piezoelectric driving unit. According to the invention, the adopted magnetic coupling configuration is compact, the number of connecting magnet components is reduced, the piezoelectric ceramic is free from the effects of shear stress and tensile stress, the piezoelectric ceramic with a protective shell is not needed any more, the potential of longer service life is achieved, the driving system is simplified, and the cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of assisted reproduction, and in particular relates to a magnetically coupled piezoelectrically driven micromanipulation workstation for artificial insemination. Background Art

[0002] Artificial insemination (especially intracytoplasmic sperm injection (ICSI)) is widely used in the field of assisted reproductive technology (ART). Its core technology relies on micromanipulation workstations. Micromanipulation systems currently on the market typically consist of a micromanipulator, microinjector, fixed pipette, and microscope system. Mainstream micromanipulation systems primarily utilize mechanical or motorized micromanipulators, combined with Hoffman modulation contrast or differential interference contrast microscopy to achieve high-precision cell manipulation.

[0003] Currently, well-known global brands such as Eppendorf, Narishige, Sutter Instruments, Leica, Nikon, and Olympus all provide ICSI-specific micromanipulation systems. Mechanical systems primarily rely on high-precision spiral structures for manual control. Electromagnetic-driven systems developed in recent years offer stronger control capabilities. However, automated minimally invasive cell puncture still requires a series piezoelectric drill drive, making the system more complex. The drive life issues of current cross-scale piezoelectric operating systems due to wear and tear are not compatible with the high reliability and long life requirements of assisted reproductive technology.

[0004] Current artificial insemination micromanipulation workstations have been widely used in reproductive medicine laboratories, but they still have certain limitations and technical bottlenecks that hinder further improvements in operational accuracy, stability, and system complexity. For example:

[0005] 1. Although some electric manipulators can achieve higher resolution, they are still limited by the control accuracy of stepper motors or DC motors, resulting in poor stability of micro-movement;

[0006] 2. If automated minimally invasive cell puncture is required, a piezoelectric drill drive device must still be connected in series, making the system more complex.

[0007] 3. Limitations of piezoelectric drive. Some high-end micromanipulation platforms use piezoelectric drive to improve control accuracy, but its cost is high and the problem of drive life caused by wear in cross-scale piezoelectric operating systems is not solved. It is not compatible with the high reliability and long life requirements of assisted reproductive technology. We previously applied for a patent for a durable three-axis drive mechanism for a minimally invasive cell puncture instrument that achieves friction and wear adaptation through a cascaded magnet configuration, but requires three cascaded magnets to be coupled, and the piezoelectric ceramics will be subjected to additional tensile stress and shear stress when driven. Excessive amplitude will cause damage to the piezoelectric ceramics, making it necessary to use piezoelectric ceramics with a protective shell, which increases the size and complexity of the system.

[0008] 4. Existing high-precision ICSI micromanipulation workstations are expensive, especially those containing electric micromanipulators. Their purchase and maintenance costs are high, which limits their popularity in ordinary laboratories or small and medium-sized reproductive medicine institutions. Summary of the Invention

[0009] In order to solve the problems in the prior art, the present invention proposes a magnetically coupled piezoelectrically driven micromanipulation workstation for artificial insemination.

[0010] The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination provided by the present invention comprises a platform base, and a two-axis culture dish positioning device, a left three-axis fixed pipette driving device, and a right three-axis injection pipette driving device arranged on the platform base;

[0011] The two-axis culture dish positioning device includes a positioning module and a culture dish, wherein the positioning module has two degrees of freedom of movement in the X-axis and Y-axis directions, and can drive the culture dish to slide in any direction in the XY two-axis plane, wherein the X-axis and Y-axis of the positioning module are respectively driven by a magnetically coupled piezoelectric drive unit.

[0012] The left three-axis fixed pipette drive device and the right three-axis injection pipette drive device are symmetrically arranged on the platform base, and both include a three-axis drive unit. The left three-axis fixed pipette drive device also includes a left clamper arranged on the three-axis drive unit and a fixed pipette clamped by the left clamper. The right three-axis injection pipette drive device also includes a right clamper arranged on the three-axis drive unit and an injection pipette clamped by the right clamper; the three directions of movement of the three-axis drive unit are independently driven by a magnetically coupled piezoelectric drive unit.

[0013] According to a preferred embodiment of the present invention, the magnetically coupled piezoelectric drive unit includes a piezoelectric ceramic, a vibrating magnet, a pre-stressing magnet, a friction plate and an output platform; wherein the fixed end of the piezoelectric ceramic and the pre-stressing magnet are fixed to the mounting base of the magnetically coupled piezoelectric drive unit, and the movable end of the piezoelectric ceramic is driven by an external excitation signal to extend or retract along the preset movement direction of the output platform; the pre-stressing magnet is arranged opposite to the movable end, with a distance between the two; the vibrating magnet and the friction plate are bonded, and the combination of the two is arranged between the pre-stressing magnet and the movable end of the piezoelectric ceramic; the output platform is a ferromagnetic material, and the vibrating magnet and the output platform are attracted by magnetic force and fix the friction plate between the two; the vibrating magnet and the pre-stressing magnet are both single-pole magnetized, and the internal magnetic fields are in opposite directions; when the piezoelectric ceramic is driven by an excitation signal, under the action of the repulsive force between the vibrating magnet and the pre-stressing magnet and the adsorption force between the vibrating magnet and the output platform, the vibrating magnet can only always adhere to the movable end of the piezoelectric ceramic and drive the output platform to move along the preset movement direction.

[0014] According to a preferred embodiment of the present invention, a working cycle of the magnetically coupled piezoelectric drive unit includes a stationary phase, a sticking phase, and a sliding phase; when no excitation signal is applied to the piezoelectric ceramic, the magnetically coupled piezoelectric drive unit is in the stationary phase;

[0015] When the input voltage of the excitation signal changes slowly, it enters the sticking stage. In this stage, the piezoelectric ceramics extend or retract with the slow change of voltage, pushing the combination of the vibration magnet and the friction plate to move slowly. Due to the friction between the combination and the output platform under the action of the magnetic force, and due to the slow movement in this stage, the friction is static friction. Under the action of static friction, the combination drives the output platform to move a distance d is ;

[0016] When the input voltage of the excitation signal changes rapidly, it enters the sliding stage. In this stage, the piezoelectric ceramics rapidly extend or contract with the rapid change of voltage, and the combination also moves rapidly. Due to the friction between the combination and the output platform under the action of magnetic force, and due to the rapid movement in this stage, relative motion will occur between the combination and the output platform. The friction force is dynamic friction. Under the action of dynamic friction, the output platform moves a distance d id ;

[0017] The moving direction of the output platform in the sticking stage is opposite to that in the sliding stage. In one cycle, the magnetically coupled piezoelectric drive unit obtains a net displacement of d is -d id .

[0018] According to a preferred embodiment of the present invention, the net displacement of the magnetically coupled piezoelectric driving unit within a single cycle is in the nanometer or micrometer order.

[0019] According to a preferred embodiment of the present invention, the excitation signal of the magnetically coupled piezoelectric drive unit is a periodic sawtooth wave signal, and the signal waveform of a single cycle includes a sticking phase in which the voltage changes linearly and a sliding phase in which the voltage changes linearly; the absolute value of the slope of the voltage change curve in the sticking phase is relatively small, and the combination and the output platform do not move relative to each other; the absolute value of the slope of the voltage change curve in the sliding phase is relatively large, and there is relative sliding between the combination and the output platform;

[0020] When the output platform needs to produce a net displacement movement toward the extension direction of the piezoelectric ceramic, the bonding section is selected as the voltage rising stage, and the sliding stage is selected as the voltage falling stage; when the output platform needs to produce a net displacement movement toward the retraction direction of the piezoelectric ceramic, the bonding section is selected as the voltage falling stage, and the sliding stage is selected as the voltage rising stage.

[0021] According to a preferred embodiment of the present invention, the platform base is fixed on an external Hoffman microscope, and a circular constant temperature plate mounting groove and a rectangular constant temperature plate mounting groove are provided on the platform base, which are used to assemble a circular constant temperature plate and a rectangular constant temperature plate respectively to ensure cell activity.

[0022] According to a preferred embodiment of the present invention, the two-axis culture dish positioning device also includes a culture dish clamping V-block and a culture dish fixing plate, wherein the culture dish is detachably arranged on the culture dish fixing plate, and the culture dish fixing plate can adjust the clamping and loosening of the culture dish; the culture dish fixing plate is connected to the positioning module via the culture dish clamping V-block.

[0023] Compared with the existing technology, the magnetically coupled piezoelectrically driven micromanipulation workstation for artificial insemination of the present invention uses a full piezoelectric drive system to improve the displacement accuracy of the drive and reduce the number of drive units required to achieve minimally invasive cell puncture. For example, Eppendorf's most advanced cell micromanipulation platform currently requires a three-axis injection pipette drive device and an additional piezoelectric vibration device to provide high-frequency excitation to penetrate the cell membrane when performing minimally invasive cell operations. The present invention uses piezoelectric drive in all degrees of freedom to provide the high-frequency excitation required for minimally invasive cell operations.

[0024] Compared to traditional piezoelectric drive devices, the drive device of the present invention also has the characteristics of long service life through the configuration relationship of magnetic coupling self-adsorption; compared to the cascaded magnet configuration used in our previously proposed patent (CN202411607812.2) for a durable three-axis drive mechanism for minimally invasive cell puncture, the magnetic coupling configuration used in the present invention is more compact and reduces the number of connected magnetic components. The piezoelectric ceramics are protected from shear stress and tensile stress, and the piezoelectric ceramics with protective shells are no longer required. It has the potential for longer service life, simplifies the drive system, and reduces costs. In addition, the developed puncture instrument drive mechanism can also be used in precision scientific instruments and medical devices such as scanning electron microscopes, micromanipulation systems, and total internal reflection fluorescence microscopy, and has great application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Overall schematic diagram of the integrated cell micromanipulation platform;

[0026] Figure 2 Schematic diagram of the platform base;

[0027] Figure 3 Schematic diagram of the components of the two-axis culture dish positioning device;

[0028] Figure 4 Schematic diagram of the exploded view of the positioning module;

[0029] Figure 5 Schematic diagram of the two-axis drive assembly;

[0030] Figure 6 Schematic diagram of the two-axis base;

[0031] Figure 7 Schematic diagram of the middle bracket;

[0032] Figure 8 Schematic diagram of the end cap;

[0033] Figure 9 Schematic diagram of the V-block holding the culture dish;

[0034] Figure 10 Schematic diagram of culture dish fixing plate 2-3;

[0035] Figure 11 Exploded view of the left three-axis fixed pipette drive device and drive unit;

[0036] Figure 12 Schematic diagram of the right three-axis injection pipette drive;

[0037] Figure 13 Schematic diagram of the left X-axis drive unit structure;

[0038] Figure 14 Schematic diagram of the left X-axis base structure;

[0039] Figure 15 Working principle diagram of the magnetically coupled piezoelectrically driven micromanipulation workstation for artificial insemination.

[0040] In the figure, the platform base 1, the two-axis culture dish positioning device 2, the left three-axis fixed pipette drive device 3, and the right three-axis injection pipette drive device 4;

[0041] Platform base assembly surface 1-1, two-axis positioning device fixing threaded hole 1-2, right three-axis drive device fixing threaded hole 1-3, circular constant temperature plate mounting slot 1-4, upper platform base fixing hole 1-5, left three-axis drive device fixing threaded hole 1-6, lower platform base fixing hole 1-8, rectangular constant temperature plate mounting slot 1-9, platform base assembly slot 1-11, platform bottom boss 1-12;

[0042] Positioning module 2-1, culture dish clamping V-shaped block 2-2, culture dish fixing plate 2-3, culture dish 2-4;

[0043] Second-axis drive assembly 2-1-1, bottom slide rail 2-1-2, middle bracket 2-1-3, bracket upper slide rail 2-1-4, end cover slide rail 2-1-5, end cover 2-1-6, bracket lower slide rail 2-1-7;

[0044] Second-axis base 2-1-1-1, piezoelectric ceramic 2-1-1-2, ceramic fixing screw 2-1-1-3, second-axis vibration magnet 2-1-1-4, second-axis friction plate 2-1-1-5, second-axis pre-tightening magnet 2-1-1-6, second-axis magnet fixing screw 2-1-1-7;

[0045] Second-axis base guide rail mounting surface 2-1-1-1-2, second-axis base guide rail mounting threaded hole 2-1-1-1-3, second-axis vibration transmission boss 2-1-1-1-8, flexible mechanism 2-1-1-1-9, piezoelectric ceramic slot 2-1-1-1-10, second-axis base assembly boss 2-1-1-1-12, second-axis base cable slot 2-1-1-1-13, second-axis magnet assembly slot 2-1-1-114;

[0046] Upper slide rail assembly surface 2-1-3-2 of the bracket, upper slide rail fixing threaded hole 2-1-3-3 of the bracket, upper slide rail limiting plate 2-1-3-4 of the bracket, fixing countersunk hole 2-1-3-7 of the lower slide rail of the bracket, lower slide rail assembly surface 2-1-3-10 of the bracket, lower slide rail limiting surface 2-1-3-11 of the bracket;

[0047] End cover bearing mounting threaded hole 2-1-6-1, upper slide rail mounting hole 2-1-6-2, end cover slide rail limiting surface 2-1-6-6, end cover slide rail mounting surface 2-1-6-7, end cover drive surface 2-1-6-8;

[0048] V-shaped block side plate 2-2-1, V-shaped block through hole 2-2-2, V-shaped groove 2-2-3, V-shaped block fixing through hole 2-2-4, V-shaped block extension arm 2-2-5;

[0049] Culture dish fixing plate main plate 2-3-1, culture dish fixing plate threaded hole 2-3-2;

[0050] Left X-axis drive unit 3-1, left Y-axis drive unit 3-2, left Z-axis drive unit 3-3, left gripper 3-4, fixed pipette 3-5;

[0051] Right X-axis drive unit 4-1, right Y-axis drive unit 4-2, right Z-axis drive unit 4-3, right gripper 4-4, injection pipette 4-5.

[0052] Left X-axis base 3-1-1, left X-axis piezoelectric ceramic 3-1-2, left X-axis vibration magnet 3-1-3, left X-axis preload plate 3-1-4, left X-axis preload magnet 3-1-5, left X-axis platform guide 3-1-6, left X-axis friction plate 3-1-7, left X-axis cover 3-1-8;

[0053] Left X-axis base mainboard 3-1-1-1, left X-axis base fixing hole 3-1-1-2, platform guide rail fixing threaded hole 3-1-1-3, left X-axis piezoelectric ceramic assembly slot 3-1-1-4, left X-axis base chamfer 3-1-1-5, left X-axis base side plate 3-1-1-6, left X-axis base wiring hole 3-1-1-7, left X-axis vibration magnet limiter 3-1-1-8, left X-axis preload magnet mounting surface 3-1-1-9, left X-axis preload plate mounting threaded hole 3-1-1-10, left X-axis preload magnet limiter 3-1-1-11; DETAILED DESCRIPTION

[0054] The present invention will be further described and illustrated below in conjunction with specific embodiments. The embodiments are merely illustrative of the present disclosure and do not limit its scope. The technical features of the various embodiments of the present invention may be combined accordingly, provided that there is no conflict between them.

[0055] The overall schematic diagram of a magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination designed by the present invention is as follows: Figure 1As shown, it mainly includes a platform base 1, a two-axis culture dish positioning device 2, a left three-axis fixed pipette drive device 3 and a right three-axis injection pipette drive device 4. The two-axis culture dish positioning device, the left three-axis fixed pipette drive device and the right three-axis injection pipette drive device are all arranged on the platform base. The X-axis and Y-axis of the two-axis culture dish positioning device 2 of the present invention are respectively driven by a magnetically coupled piezoelectric drive unit, and the left three-axis fixed pipette drive device 3 and the right three-axis injection pipette drive device 4 each include a three-axis drive unit, and the three directions of movement of the three-axis drive unit are independently driven by a magnetically coupled piezoelectric drive unit. The workstation adopts a full piezoelectric drive system to improve the displacement accuracy of the driver and reduce the number of drive units required to achieve minimally invasive cell puncture.

[0056] Among them, the platform base 1 serves as the installation base of the workstation of the present invention, and its structural diagram is shown as follows: Figure 2 As shown, the platform base 1 is fixed on the external Hoffman microscope during operation. The platform base is provided with circular constant temperature plate mounting grooves 1-4 and rectangular constant temperature plate mounting grooves 1-9, which are used to assemble circular constant temperature plates and rectangular constant temperature plates respectively to ensure cell activity.

[0057] like Figure 2 As shown, in a specific embodiment of the present invention, the platform base 1 includes a platform base assembly surface 1-1, a two-axis positioning device fixing threaded hole 1-2, a right three-axis drive device fixing threaded hole 1-3, a circular constant temperature plate mounting groove 1-4, an upper platform base fixing hole 1-5, a left three-axis drive device fixing threaded hole 1-6, a lower platform base fixing hole 1-8, a rectangular constant temperature plate mounting groove 1-9, a platform base assembly groove 1-11 and a platform bottom boss 1-12. Among them, the two-axis culture dish positioning device 2, the left three-axis fixed pipette drive device 3 and the right three-axis injection pipette drive device 4 are respectively fixed to the platform base including the platform base assembly surface 1-1 by screwing into the two-axis positioning device fixing threaded hole 1-2, the left three-axis drive device fixing threaded hole 1-6 and the right three-axis drive device fixing threaded hole 1-3; the setting of the platform bottom boss 1-12 forms a rectangular constant temperature plate mounting groove 1-9, the circular constant temperature plate mounting groove 1-4 and the rectangular constant temperature plate mounting groove 1-9 are respectively used to assemble commercial constant temperature plates to ensure cell activity; the platform base assembly groove 1-11 is used to limit the platform base 1, and the screws pass through the upper platform base fixing hole 1-5 and the lower platform base fixing hole 1-8 to fix the platform base 1 on the Hoffman microscope.

[0058] The structural diagram of the two-axis culture dish positioning device 2 is as follows Figure 3As shown, it mainly includes a positioning module 2-1 and a culture dish 2-4; wherein, the positioning module 2-1 has two degrees of freedom of movement in the X-axis and Y-axis directions, and can drive the culture dish to slide in any direction in the XY two-axis plane, wherein the X-axis and Y-axis of the positioning module are respectively driven by a magnetically coupled piezoelectric drive unit. In a specific embodiment of the present invention, the two-axis culture dish positioning device 2 is composed of a two-axis culture dish positioning device 2-1, a culture dish clamping V-block 2-2, a culture dish fixing plate 2-3 and a culture dish 2-4; wherein, the culture dish is detachably arranged on the culture dish fixing plate, and the culture dish fixing plate can adjust the clamping and loosening of the culture dish; the culture dish fixing plate is connected to the positioning module via the culture dish clamping V-block.

[0059] All magnetically coupled piezoelectric drive units of the present invention adopt the same working principle, and structurally include piezoelectric ceramics, vibrating magnets, pre-stressing magnets, friction plates and output platforms; wherein the fixed end of the piezoelectric ceramic and the pre-stressing magnet are fixed on the mounting base of the magnetically coupled piezoelectric drive unit, and the movable end of the piezoelectric ceramic is driven by an external excitation signal to achieve extension or retraction along the preset movement direction of the output platform; the pre-stressing magnet and the movable end are arranged opposite to each other, and there is a distance between the two; the vibrating magnet and the friction plate are bonded, and the combination of the two is arranged between the pre-stressing magnet and the movable end of the piezoelectric ceramic, and the output platform is made of ferromagnetic material, and the vibrating magnet and the output platform are attracted by magnetic force and the friction plate is fixed between the two; the vibrating magnet and the pre-stressing magnet are both single-pole magnetized, and the internal magnetic fields are in opposite directions; when the piezoelectric ceramic is driven by an excitation signal, under the action of the repulsive force between the vibrating magnet and the pre-stressing magnet and the adsorption force between the vibrating magnet and the output platform, the vibrating magnet can only always adhere to the movable end of the piezoelectric ceramic and drive the output platform to move along the preset movement direction.

[0060] like Figure 15 As shown in FIG, a working cycle of the magnetically coupled piezoelectric drive unit includes a stationary phase, a sticking phase, and a sliding phase. When no excitation signal is applied to the piezoelectric ceramic, the magnetically coupled piezoelectric drive unit is in the stationary phase.

[0061] When the input voltage of the excitation signal changes slowly, it enters the sticking stage. In this stage, the piezoelectric ceramics extend or retract with the slow change of voltage, pushing the combination of the vibration magnet and the friction plate to move slowly. Due to the friction between the combination and the output platform under the action of the magnetic force, and due to the slow movement in this stage, the friction is static friction. Under the action of static friction, the combination drives the output platform to move a distance d is ;

[0062] When the input voltage of the excitation signal changes rapidly, it enters the sliding stage. In this stage, the piezoelectric ceramics rapidly extend or contract with the rapid change of voltage, and the combination also moves rapidly. Due to the friction between the combination and the output platform under the action of magnetic force, and due to the rapid movement in this stage, relative motion will occur between the combination and the output platform. The friction force is dynamic friction. Under the action of dynamic friction, the output platform moves a distance d id ;

[0063] The moving direction of the output platform in the sticking stage is opposite to that in the sliding stage. In one cycle, the magnetically coupled piezoelectric drive unit obtains a net displacement of d is -d id .

[0064] by Figure 15 Taking the excitation signal shown as an example, this excitation signal is a periodic sawtooth wave signal. The signal waveform of a single cycle includes a sticking phase with linear voltage variation and a sliding phase with linear voltage variation. During the sticking phase, the absolute value of the voltage variation curve slope is small, and there is no relative movement between the assembly and the output platform. During the sliding phase, the absolute value of the voltage variation curve slope is large, and there is relative sliding between the assembly and the output platform. In this embodiment, the sticking phase is selected as the voltage rising phase, and the sliding phase is selected as the voltage falling phase. The output platform produces a net displacement in the direction of the piezoelectric ceramic extension. It should be noted that by changing the waveform of the excitation signal (for example, selecting the sticking phase as the voltage falling phase and the sliding phase as the voltage rising phase), the output platform can produce a net displacement in the direction of the piezoelectric ceramic retraction.

[0065] like Figure 15 As shown in the figure, when the input voltage of the excitation signal increases slowly, it enters the sticking stage. In this stage, the piezoelectric ceramics stretch as the voltage slowly increases, pushing the combination of the vibration magnet and the friction plate to move forward slowly. Due to the friction between the combination and the output platform under the action of the magnetic force, and due to the slow movement in this stage, the friction is static friction. Under the action of static friction, the output platform moves forward a distance d is ;

[0066] When the input voltage of the excitation signal drops rapidly, it enters the sliding stage. In this stage, the piezoelectric ceramic shrinks rapidly with the rapid drop of voltage. Under the magnetic repulsion of the pre-loaded magnet, the combination shrinks rapidly. Because there is friction between the combination and the output platform under the action of the magnetic force, and the friction is dynamic friction due to the rapid movement in this stage, the output platform moves backward a distance d under the action of the dynamic friction. id ;

[0067] In one cycle, the magnetically coupled piezoelectric drive unit obtains a net displacement of d is -d id >0.

[0068] The excitation signal of the magnetically coupled piezoelectric drive unit of the present invention is a periodic signal, and the signal waveform includes a voltage rising phase and a voltage falling phase. The voltage rising phase is relatively gentle, during which the piezoelectric ceramic slowly stretches, driving the combination to move slowly, and no relative movement occurs between the combination and the output platform; the voltage falling phase is relatively rapid, during which the combination quickly resets to its initial position and moves relative to the output platform.

[0069] In a specific embodiment of the present invention, the two magnetically coupled piezoelectric drive units in the positioning module, which are used to drive movement in the X-axis and Y-axis directions respectively, share an output platform, that is, the combination of the two is connected to the same output platform, the two magnetically coupled piezoelectric drive units are arranged on the same mounting base, and the movement directions of the piezoelectric ceramics of the two are perpendicular to each other; the output platform has an X-axis guide rail and a Y-axis guide rail, which are used to realize the movement of two degrees of freedom in the X-axis and Y-axis under the magnetically coupled piezoelectric drive units; the two magnetically coupled piezoelectric drive units can work synchronously or in steps.

[0070] Specifically, in a detailed embodiment, the positioning module 2-1 is as follows Figure 4 As shown, it consists of a two-axis drive assembly 2-1-1, a bottom slide rail 2-1-2, a middle bracket 2-1-3, an upper slide rail 2-1-4 on the bracket, an end cover slide rail 2-1-5, an end cover 2-1-6 and a lower slide rail 2-1-7 on the bracket.

[0071] The schematic diagram of the two-axis drive assembly 2-1-1 is as follows Figure 5 As shown, it consists of a two-axis base 2-1-1-1, a piezoelectric ceramic 2-1-1-2, a ceramic fixing base screw 2-1-1-3, a two-axis vibration magnet 2-1-1-4, a two-axis friction plate 2-1-1-5, a two-axis pre-tightening magnet 2-1-1-6 and a two-axis magnet fixing screw 2-1-1-7.

[0072] The schematic diagram of the two-axis base 2-1-1-1 is as follows Figure 6 As shown, it includes a two-axis base guide rail mounting surface 2-1-1-1-2, a two-axis base guide rail mounting threaded hole 2-1-1-1-3, a two-axis vibration transmission boss 2-1-1-1-8, a flexible mechanism 2-1-1-1-9, a piezoelectric ceramic groove 2-1-1-1-10, a two-axis base assembly boss 2-1-1-1-12, a two-axis base wiring groove 2-1-1-1-13 and a two-axis magnet assembly groove 2-1-1-1-14.

[0073] The schematic diagram of the middle bracket 2-1-3 is as follows Figure 7As shown, it includes the upper slide rail assembly surface 2-1-3-2 of the bracket, the upper slide rail fixing threaded hole 2-1-3-3 of the bracket, the upper slide rail limiting plate 2-1-3-4 of the bracket, the lower slide rail fixing countersunk hole 2-1-3-7 of the bracket, the lower slide rail assembly surface 2-1-3-10 of the bracket and the lower slide rail limiting surface 2-1-3-11 of the bracket.

[0074] The schematic diagram of end cover 2-1-6 is as follows Figure 8 As shown, it includes an end cover bearing mounting threaded hole 2-1-6-1, an upper slide rail mounting hole 2-1-6-2, an end cover slide rail limiting surface 2-1-6-6, an end cover slide rail mounting surface 2-1-6-7 and an end cover driving surface 2-1-6-8.

[0075] The following describes the detailed assembly process of positioning module 2-1:

[0076] First, embed the two two-axis pre-tightening magnets 2-1-1-6 into the two two-axis magnet assembly slots 2-1-1-1-14, and then use four two-axis magnet fixing screws 2-1-1-7 to screw into the four two-axis magnet fixing threaded holes 2-1-1-1-7 to fix the two two-axis pre-tightening magnets 2-1-1-6; embed the two piezoelectric ceramics 2-1-1-2 into the two piezoelectric ceramic slots 2-1-1-1-10, and fix them through two ceramic fixing screws. The fixed base screw 2-1-1-3 is screwed into the base screw mounting hole 2-1-1-1-4 of the second-axis base and respectively tightens the two piezoelectric ceramics 2-1-1-2 to fix them; the setting of the second-axis base assembly boss 2-1-1-1-12 avoids the interference between the wires of the piezoelectric ceramics 2-1-1-2 and the platform base 1 when assembling; the second-axis base wiring groove 2-1-1-1-13 is opened for wiring of the piezoelectric ceramics 2-1-1-2;

[0077] Then place the bottom rail 2-1-2 against the second-axis base rail mounting surface 2-1-1-1-2, and screw through the through-holes of the bottom rail 2-1-2 and screw into the second-axis base rail mounting threaded holes 2-1-1-1-3 to fix the two bottom rails 2-1-2 on the second-axis base 2-1-1-1; then assemble the lower rails 2-1-7 of the two brackets with the two bottom rails 2-1-2, and then assemble the middle bracket 2-1-3 to the lower rails 2 of the two brackets. -1-7, wherein the lower rail assembly surface 2-1-3-10 of the bracket is fitted with the lower rail limit surface 2-1-3-11 of the bracket and the lower rail 2-1-7 of the bracket, and the screw is passed through the fixing countersunk hole 2-1-3-7 of the lower rail of the bracket and screwed into the threaded hole of the lower rail 2-1-7 of the bracket; at this time, since the lower rail 2-1-7 of the bracket and the bottom rail 2-1-2 are a set of cross roller bearings, relative displacement can only occur along the axial direction after assembly is completed.

[0078] Then fit the two bracket upper slide rails 2-1-4 onto the bracket upper slide rail assembly surface 2-1-3-2 of the middle bracket 2-1-3 and the bracket upper slide rail limit plate 2-1-3-4, and screw the screws through the through holes of the bracket upper slide rail 2-1-4 and screw them into the bracket upper slide rail fixing threaded holes 2-1-3-3 to fix the bracket upper slide rail 2-1-4 on the middle bracket 2-1-3; assemble the two end cover slide rails 2-1-5 and the two bracket upper slide rails 2-1-4 to form two groups of cross roller guide rails, and then embed the end cover 2-1-6 into the end cover slide rail 2-1-5, where the end cover 2-1-6 The end cover slide rail limit surface 2-1-6-6 and the end cover slide rail mounting surface 2-1-6-7 are fitted with the end cover slide rail 2-1-5; the two are fixed by screws passing through the upper slide rail mounting hole 2-1-6-2 and screwing into the threaded holes in the end cover slide rail 2-1-5. At this time, under the constraints of the two sets of cross roller guides composed of the cover slide rail 2-1-5 and the upper slide rail 2-1-4 of the bracket and the two sets of cross roller guides composed of the lower rail 2-1-7 of the bracket and the bottom slide rail 2-1-2, the end cover 2-1-6 can slide in any direction in the two-axis plane relative to the two-axis base 2-1-1-1.

[0079] Finally, the second-axis friction plate 2-1-1-5 and the second-axis vibration magnet 2-1-1-4 are bonded. The two can also be layered composite materials or welded, and the assembly composed of the two is embedded into the second-axis base from the bottom, wherein the other unbonded section of the second-axis friction plate 2-1-1-5 is in contact with the end cover drive surface 2-1-6-8 of the end cover 2-1-6. The end cover 2-1-6 is a ferromagnetic corrosion-resistant material, such as bearing steel, etc. The second-axis friction plate 2-1-1-5 is a hard wear-resistant material, such as ceramic, chromium and other non-ferromagnetic materials; the second-axis vibration magnet The stone 2-1-1-4 and the two two-axis pre-tightening magnets 2-1-1-6 are all single-pole magnetized. The direction of the internal magnetic field of the two-axis vibrating magnet 2-1-1-4 is from the two-axis base 2-1-1-1 to the end cover 2-1-6; the direction of the internal magnetic field of the two two-axis pre-tightening magnets 2-1-1-6 is from the end cover 2-1-6 to the two-axis base 2-1-1-1, and the median line of the two-axis vibrating magnet 2-1-1-4 in the vertical direction is slightly higher than the two two-axis pre-tightening magnets 2-1-1-6. Working principle of magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination Figure 15(a) shows the details of the magnetic pole arrangement of the two-axis vibration magnet 2-1-1-4 and the two two-axis pre-tightening magnets 2-1-1-6. Under the adsorption force between the two-axis vibration magnet 2-1-1-4 and the ferromagnetic material end cover 2-1-6 and the repulsive force between the two two-axis pre-tightening magnets 2-1-1-6, the two-axis friction plate 2-1-1-5 and the end cover 2-1-6 maintain a stable friction force, and its other two side surfaces are tightly fitted on the end surface of the two-axis vibration transmission boss 2-1-1-1-8. At this point, the two-axis culture dish positioning device 2-1 is assembled, and the magnet controls the electrical signals of the two piezoelectric ceramics 2-1-1-2 using the piezoelectric ceramics 2- 1-1-2 causes the flexible mechanism 2-1-1-1-9 to deform and then causes the two-axis vibration transfer boss 2-1-1-1-8 to push the two-axis vibration magnet 2-1-1-4, controlling the vibration of the two-axis vibration magnet 2-1-1-4 in two directions. The two-axis drive can be realized based on the friction inertia drive principle through electrical signals and the friction difference between the two-axis vibration magnet 2-1-1-4 and the end cover 2-1-6. The travel is the travel of two sets of cross roller guides composed of the slide rail 2-1-5 and the upper slide rail 2-1-4 of the bracket and the two sets of cross roller guides composed of the lower slide rail 2-1-7 on the bracket and the bottom slide rail 2-1-2.

[0080] In one embodiment of the present invention, the schematic diagram of the culture dish clamping V-shaped block 2-2 is as follows Figure 9 As shown, it includes a V-shaped groove 2-2-3, a V-shaped block fixing through hole 2-2-4 and a V-shaped block extension arm 2-2-5; the schematic diagram of the culture dish fixing plate 2-3 is shown in Figure 10 As shown, it includes a culture dish fixing plate main board 2-3-1 and a culture dish fixing plate threaded hole 2-3-2;

[0081] After the assembly of the two-axis culture dish positioning device 2-1 is completed, the culture dish clamping V-shaped block 2-2 is fixed to the two-axis culture dish positioning device 2-1 by passing the screw through the V-shaped block fixing hole 2-2-4 and screwing it into the end cover bearing mounting threaded hole 2-1-6-1, and then the culture dish 2-4 is embedded in the V-shaped groove 2-2-3, and the culture dish 2-4 is fixed by passing the screw through the V-shaped block fixing hole 2-2-4 and screwing it into the culture dish fixing plate threaded hole 2-3-2 of the culture dish fixing plate 2-3, wherein the radius of the culture dish 2-4 is slightly larger than the diameter of the largest circle enclosed by the culture dish fixing plate 2-3 and the culture dish clamping V-shaped block 2-2, so the clamping and loosening of the culture dish 2-4 can be adjusted by controlling the tightness of the screw screwed into the culture dish fixing plate threaded hole 2-3-2;

[0082] Fix the two-axis culture dish positioning device assembly 2 on the platform base by screwing the screws into the two-axis positioning device fixing threaded holes 1-2;

[0083] like Figure 1As shown, the left three-axis fixed pipette drive device and the right three-axis injection pipette drive device are symmetrically arranged on the platform base, and both include a three-axis drive unit. The left three-axis fixed pipette drive device also includes a left clamper arranged on the three-axis drive unit and a fixed pipette clamped by the left clamper. The right three-axis injection pipette drive device also includes a right clamper arranged on the three-axis drive unit and an injection pipette clamped by the right clamper; the three directions of movement of the three-axis drive unit are independently driven by a magnetically coupled piezoelectric drive unit.

[0084] The three-axis drive unit includes an X-axis motion unit, a Y-axis motion unit and a Z-axis motion unit, which are independently driven by three magnetically coupled piezoelectric drive units, wherein the X-axis motion unit is installed on the platform base, and the output platform of the magnetically coupled piezoelectric drive unit in the X-axis motion unit moves along the X-axis direction, and the output platform serves as the installation base of the magnetically coupled piezoelectric drive unit in the Y-axis motion unit; the output platform of the magnetically coupled piezoelectric drive unit in the Y-axis motion unit moves along the Y-axis direction, and the output platform serves as the installation base of the magnetically coupled piezoelectric drive unit in the Z-axis motion unit, and the output platform of the magnetically coupled piezoelectric drive unit in the Z-axis motion unit moves along the Z-axis direction.

[0085] In a specific embodiment of the present invention, the exploded diagram of the left three-axis fixed pipette drive device and the drive unit is as follows Figure 11 As shown, it includes a left X-axis drive unit 3-1, a left Y-axis drive unit 3-2, a left Z-axis drive unit 3-3, a left clamp 3-4 and a fixed pipette 3-5; the schematic diagram of the right three-axis injection pipette drive device is shown in Figure 12 As shown, it includes a right X-axis driving unit 4-1, a right Y-axis driving unit 4-2, a right Z-axis driving unit 4-3, a right gripper 4-4 and an injection pipette 4-5.

[0086] The schematic diagram of the left X-axis drive unit is as follows: Figure 13 As shown, it consists of a left X-axis base 3-1-1, a left X-axis piezoelectric ceramic 3-1-2, a left X-axis vibration magnet 3-1-3, a left X-axis preload plate 3-1-4, a left X-axis preload magnet 3-1-5, a left X-axis platform guide 3-1-6, a left X-axis friction plate 3-1-7 and a left X-axis cover 3-1-8; the schematic diagram of the left X-axis base structure is shown in FIG. Figure 14 As shown, it includes the left X-axis base mainboard 3-1-1-1, the left X-axis base fixing hole 3-1-1-2, the platform guide rail fixing threaded hole 3-1-1-3, the left X-axis piezoelectric ceramic assembly groove 3-1-1-4, the left X-axis base wiring hole 3-1-1-7, the left X-axis pre-stress magnet mounting surface 3-1-1-9, the left X-axis pre-stress plate mounting threaded hole 3-1-1-10 and the left X-axis pre-stress magnet limit platform 3-1-1-11.

[0087] Aside from the commercially available pipettes, the left three-axis fixed pipette drive unit 3 and the right three-axis injection pipette drive unit 4 all have symmetrical components along the centerline of the cell micromanipulation integrated platform. The X and Y axis structures of the three-axis drive units are identical, and the only difference with the Z axis is the openings on the cover and base.

[0088] The three degrees of freedom are connected in series by screws. Due to the similarity of the structures, the structure and assembly relationship of the left X-axis drive unit 3-1 are introduced. First, one end of the left X-axis piezoelectric ceramic 3-1-2 is fixed to the left X-axis piezoelectric ceramic assembly groove 3-1-1-4 by gluing, and the wire of the left X-axis piezoelectric ceramic 3-1-2 is discharged through the left X-axis base wiring hole 3-1-1-7. The left X-axis platform guide rail 3-1-6 is a commercial guide rail platform made of ferromagnetic material. Screws are passed through its bottom through hole and screwed into the platform guide rail fixing threaded hole 3-1-1-3. The bottom fixed end of the left X-axis platform guide rail 3-1-6 is fitted with the left X-axis base mainboard 3-1-1-1. Then, the left X-axis preload magnet 3-1-5 is embedded in the left X-axis base 3-1-1, and the left X-axis preload magnet mounting surface 3-1-1- 9 and the left X-axis preload magnet limit table 3-1-1-11 are fitted with the left X-axis preload magnet 3-1-5 and limit it; a screw is used to pass through the left X-axis preload plate 3-1-4 and screwed into the left X-axis preload plate mounting threaded hole 3-1-1-10 to fix the left X-axis preload magnet 3-1-5; then the left X-axis vibration magnet 3-1-3 and the left X-axis friction plate 3-1-7 are bonded by glue, and the two can also be layered composite materials or welded relationships, and the combination of the two is embedded between the left X-axis piezoelectric ceramic 3-1-2 and the left X-axis preload magnet 3-1-5, wherein the left X-axis vibration magnet 3-1-3 and the left X-axis preload magnet 3-1-5 are both single-pole magnetized, and the internal magnetic field directions are opposite, and the axis of the left X-axis preload magnet 3-1-5 is slightly higher than the left X-axis vibration magnet 3-1-3, as shown Figure 15As shown in (b) to (d) in the figure; when the left X-axis piezoelectric ceramic 3-1-2 is driven by an electrical signal, the left X-axis vibration magnet 3-1-3 can only vibrate along the axial direction of the left X-axis platform guide 3-1-6 and always fit the end of the left X-axis piezoelectric ceramic 3-1-2 under the action of the repulsive force between the left X-axis vibration magnet 3-1-3 and the left X-axis pre-load magnet 3-1-5 and the adsorption force between the left X-axis vibration magnet 3-1-3 and the sliding part of the left X-axis platform guide 3-1-6. Finally, fix the left X-axis cover 3-1-8 on the left X-axis platform guide rail 3-1-6 by screws. At this point, the left X-axis drive unit 3-1 is assembled. The left three-axis fixed pipette drive device can be fixed as a whole on the platform base 1 by passing the screws through the left X-axis base fixing hole 3-1-1-2 and screwing them into the left three-axis drive device fixing threaded hole 1-6; the piezoelectric ceramics of each degree of freedom are driven based on the piezoelectric inertia drive principle to achieve positioning control of the target position.

[0089] In the present invention, the magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination, the two-axis culture dish positioning device 2, the left three-axis fixed pipette driving device 3 and the right three-axis injection pipette driving device 4 all adopt the piezoelectric inertial driving principle. The working principle is as follows: Figure 15 As shown in the figure, cross-scale positioning from nanometers to millimeters is achieved through periodic sawtooth wave excitation; it is mainly divided into three stages. The first stage is the static stage, as shown in the figure. Figure 15 As shown in (b), no signal is applied to the piezoelectric ceramic and the magnet drive device is in a stationary state;

[0090] The second stage is the sticking stage, such as Figure 15As shown in (c); in the driving of the left three-axis fixed pipette drive device 3 and the right three-axis injection pipette drive device 4, taking the left X-axis drive unit 3-1 as an example for specific analysis, the left X-axis piezoelectric ceramic 3-1-2 elongates as the voltage slowly increases, pushing the connection body composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 to move slowly forward. Due to the friction between the connection body composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 and the left X-axis platform guide 3-1-6 under the action of magnetic force, at this stage, due to the slow movement, the connection body composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 and the left X-axis platform guide 3-1-6 is static friction. Under the action of static friction, the left X-axis platform guide 3-1-6 moves forward d is; For the two-axis culture dish positioning device 2, the drive of one degree of freedom is used as an example for analysis and explanation. As the voltage slowly increases, the piezoelectric ceramic 2-1-1-2 stretches, causing the flexible mechanism 2-1-1-1-9 to deform, thereby pushing the two-axis vibration transmission boss 2-1-1-1-8 to generate displacement. Under the push of the two-axis vibration transmission boss 2-1-1-1-8, the combination of the two-axis vibration magnet 2-1-1-4 and the two-axis friction plate 2-1-1-5 slowly moves forward. Under the action of the magnetic force, friction exists between the combination of the two-axis vibration magnet 2-1-1-4 and the two-axis friction plate 2-1-1-5 and the end cover 2-1-6. Due to the slow movement speed, static friction exists between the two. Under the action of the static friction, the end cover 2-1-6 is driven to move forward a displacement dis;

[0091] The third stage is the sliding stage, such as Figure 15In (d), first, take the left X-axis drive unit 3-1 as an example for specific analysis. The left X-axis piezoelectric ceramic 3-1-2 shrinks rapidly with the rapid drop of voltage. Under the magnetic repulsion of the left X-axis pre-loaded magnet 3-1-5, the connector composed of the X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 shrinks rapidly. Since there is friction between the connector composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 and the left X-axis platform guide 3-1-6 under the action of magnetic force, at this stage, due to the rapid contraction movement of the connector composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7, the connector composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 and the left X-axis platform guide 3-1-6 is dynamic friction. Under the action of dynamic friction, the left X-axis The platform guide rail 3-1-6 moves backward. Then, taking the two-axis culture dish positioning device 2 and the drive of one degree of freedom as an example for analysis and explanation, the piezoelectric ceramic 2-1-1-2 contracts rapidly as the voltage decreases rapidly, causing the flexible mechanism 2-1-1-1-9 to recover quickly from deformation, and then the two-axis vibration transmission boss 2-1-1-1-8 contracts rapidly. The combination of the two-axis vibration magnet 2-1-1-4 and the two-axis friction plate 2-1-1-5 contracts rapidly under the magnetic force of the two-axis pre-tightening magnet 2-1-1-6. There is friction between the combination of the two-axis vibration magnet 2-1-1-4 and the two-axis friction plate 2-1-1-5 and the end cover 2-1-6. Due to the rapid speed of movement, there is dynamic friction between the two. Under the action of the dynamic friction, the end cover 2-1-6 is driven to move backward for a displacement of did.

[0092] A sticking phase and a sliding phase constitute a cycle. A single drive voltage excitation cycle enables the drive device to obtain a single-step net displacement. The net displacement is called dis-did. The resolution of the piezoelectric ceramic can reach 1nm. By controlling the voltage of the periodic excitation signal, the size of the single step can be controlled. Single-step displacement can achieve nanometer-level to micrometer-level displacement. Through periodic excitation, long-stroke displacement of millimeters can be achieved. The excitation waveform can be a sawtooth wave, a power exponential wave, a cycloid wave, etc. This specific embodiment only uses a sawtooth wave as an example for description.

[0093] In addition, the friction pair formed by the friction plate and the guide rail is in surface contact and is more wear-resistant. When the friction plate is worn, under the action of the magnetic coupling force, the friction pair between the friction plate and the guide rail can still maintain stable friction, and has wear-adaptive characteristics. Specifically, taking the left X-axis drive unit 3-1 as an example, when the left X-axis friction plate 3-1-7 is worn, under the magnetic repulsion force of the left X-axis pre-load magnet 3-1-5 and the adsorption force of the connector composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 and the left X-axis platform guide rail 3-1-6, the connector composed of the left X-axis vibrating magnet 3-1-3 and the left X-axis friction plate 3-1-7 and the left X-axis platform guide rail 3-1-6 can still maintain stable friction.

[0094] When performing minimally invasive cell puncture, adjusting the duty cycle and amplitude ratio can make the puncture needle generate high-frequency excitation and thus puncture the zona pellucida or cell membrane.

[0095] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. Persons skilled in the art will readily appreciate that variations and modifications may be made without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination, characterized in that: It includes a platform base, a two-axis culture dish positioning device, a left three-axis fixed pipette driving device and a right three-axis injection pipette driving device arranged on the platform base; The two-axis culture dish positioning device includes a positioning module and a culture dish, wherein the positioning module has two degrees of freedom of movement in the X-axis and Y-axis directions, and can drive the culture dish to slide in any direction in the XY two-axis plane, wherein the X-axis and Y-axis of the positioning module are respectively driven by a magnetically coupled piezoelectric drive unit. The left three-axis fixed pipette drive device and the right three-axis injection pipette drive device are symmetrically arranged on the platform base, and both include a three-axis drive unit. The left three-axis fixed pipette drive device also includes a left clamper arranged on the three-axis drive unit and a fixed pipette clamped by the left clamper. The right three-axis injection pipette drive device also includes a right clamper arranged on the three-axis drive unit and an injection pipette clamped by the right clamper; the three directions of movement of the three-axis drive unit are independently driven by a magnetically coupled piezoelectric drive unit.

2. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 1, characterized in that: The magnetically coupled piezoelectric drive units all include piezoelectric ceramics, vibrating magnets, pre-stressed magnets, friction plates and output platforms; wherein the fixed end of the piezoelectric ceramic and the pre-stressed magnet are both fixed on the mounting base of the magnetically coupled piezoelectric drive unit, and the movable end of the piezoelectric ceramic is driven by an external excitation signal to extend or retract along the preset movement direction of the output platform; the pre-stressed magnet is arranged opposite to the movable end, and there is a distance between the two; the vibrating magnet and the friction plate are bonded, and the combination of the two is arranged between the pre-stressed magnet and the movable end of the piezoelectric ceramic, and the output platform is made of ferromagnetic material, and the vibrating magnet and the output platform are attracted by magnetic force and the friction plate is fixed between the two; the vibrating magnet and the pre-stressed magnet are both single-pole magnetized, and the internal magnetic fields are in opposite directions; when the piezoelectric ceramic is driven by an excitation signal, under the action of the repulsive force between the vibrating magnet and the pre-stressed magnet and the adsorption force between the vibrating magnet and the output platform, the vibrating magnet can only always fit the movable end of the piezoelectric ceramic and drive the output platform to move along the preset movement direction.

3. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 2, characterized in that: A working cycle of the magnetically coupled piezoelectric drive unit includes a static phase, a sticking phase, and a sliding phase. When no excitation signal is applied to the piezoelectric ceramic, the magnetically coupled piezoelectric drive unit is in the static phase. When the input voltage of the excitation signal changes slowly, it enters the sticking stage. In this stage, the piezoelectric ceramics extend or retract with the slow change of voltage, pushing the combination of the vibration magnet and the friction plate to move slowly. Due to the friction between the combination and the output platform under the action of the magnetic force, and due to the slow movement in this stage, the friction is static friction. Under the action of static friction, the combination drives the output platform to move a distance d is ; When the input voltage of the excitation signal changes rapidly, it enters the sliding stage. In this stage, the piezoelectric ceramics rapidly extend or contract with the rapid change of voltage, and the combination also moves rapidly. Due to the friction between the combination and the output platform under the action of magnetic force, and due to the rapid movement in this stage, relative motion will occur between the combination and the output platform. The friction force is dynamic friction. Under the action of dynamic friction, the output platform moves a distance d id ; The moving direction of the output platform in the sticking stage is opposite to that in the sliding stage. In one cycle, the magnetically coupled piezoelectric drive unit obtains a net displacement of d is -d id .

4. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 3, characterized in that: The net displacement of the magnetically coupled piezoelectric drive unit in a single cycle is in the nanometer or micrometer order.

5. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 3, characterized in that: The excitation signal of the magnetically coupled piezoelectric drive unit is a periodic sawtooth wave signal. The signal waveform of a single cycle includes a sticking phase in which the voltage changes linearly and a sliding phase in which the voltage changes linearly. During the sticking phase, the combination and the output platform do not move relative to each other. During the sliding phase, there is relative sliding between the combination and the output platform. When the output platform needs to produce a net displacement movement toward the extension direction of the piezoelectric ceramic, the bonding section is selected as the voltage rising stage, and the sliding stage is selected as the voltage falling stage; when the output platform needs to produce a net displacement movement toward the retraction direction of the piezoelectric ceramic, the bonding section is selected as the voltage falling stage, and the sliding stage is selected as the voltage rising stage.

6. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 2, characterized in that: The two magnetically coupled piezoelectric drive units in the positioning module, which are used to drive movement in the X-axis and Y-axis directions respectively, share an output platform. That is, the combination of the two is connected to the same output platform, and the two magnetically coupled piezoelectric drive units are arranged on the same mounting base. The movement directions of the piezoelectric ceramics of the two are perpendicular to each other. The output platform has an X-axis guide rail and a Y-axis guide rail, which are used to realize the movement of the two degrees of freedom of the X-axis and Y-axis under the magnetically coupled piezoelectric drive units. The two magnetically coupled piezoelectric drive units can work synchronously or in steps.

7. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 1, characterized in that: The three-axis drive unit includes an X-axis motion unit, a Y-axis motion unit and a Z-axis motion unit, which are independently driven by three magnetically coupled piezoelectric drive units, wherein the X-axis motion unit is installed on the platform base, and the output platform of the magnetically coupled piezoelectric drive unit in the X-axis motion unit moves along the X-axis direction, and the output platform serves as the installation base of the magnetically coupled piezoelectric drive unit in the Y-axis motion unit; the output platform of the magnetically coupled piezoelectric drive unit in the Y-axis motion unit moves along the Y-axis direction, and the output platform serves as the installation base of the magnetically coupled piezoelectric drive unit in the Z-axis motion unit, and the output platform of the magnetically coupled piezoelectric drive unit in the Z-axis motion unit moves along the Z-axis direction.

8. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 1, characterized in that: The platform base is fixed on the external Hoffman microscope. A circular constant temperature plate mounting groove and a rectangular constant temperature plate mounting groove are provided on the platform base, which are used to assemble the circular constant temperature plate and the rectangular constant temperature plate respectively to ensure cell activity.

9. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 1, characterized in that: The two-axis culture dish positioning device also includes a culture dish clamping V-block and a culture dish fixing plate, wherein the culture dish is detachably arranged on the culture dish fixing plate, and the culture dish fixing plate can adjust the clamping and loosening of the culture dish; the culture dish fixing plate is connected to the positioning module through the culture dish clamping V-block.

10. The magnetically coupled piezoelectric driven micromanipulation workstation for artificial insemination according to claim 1, characterized in that: The left clamp and the right clamp can both rotate in a vertical plane to adjust the rotation angle of the pipette clamped therein.

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