Micro-nano operation robotic arm capable of automatically replacing end effector

Abstract

The invention discloses a micro-nano operation robotic arm capable of automatically replacing an end effector, and belongs to the technical field of robots, the micro-nano operation robotic arm comprises a fixed base, a horizontal rotating device and a vertical rotating device are arranged at the top of the fixed base, a telescopic rod is arranged on the left side of the vertical rotating device, and an effector mounting port is formed in the right side of the telescopic rod; a first fixing plate is fixedly connected to the interior of the actuator mounting opening, a first rotating shaft is movably connected to the interior of the first fixing plate, a second fixing plate is fixedly connected to the outer side of the first rotating shaft, a first precise driving hydraulic unit is fixedly connected to the surface of the rear side of the second fixing plate, and a spherical pushing block is movably connected to the top of the first precise driving hydraulic unit. The bottom of the first precise driving hydraulic unit is movably connected with the rotary fixing plate through a transmission piece. The method is used for achieving automatic replacement of the end effector of the micro-nano operation mechanical arm under the sterile condition, and the influence on the operation precision is reduced.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a micro-nano manipulator that automatically changes the end effector. Background Technology

[0002] Micro- and nano-robotic arms, currently used in robots for precision operations, mostly employ fixed end effector structures. However, in scenarios such as digital operating rooms, microsurgical procedures, or precision implantation of scaffolds, their positioning accuracy and repeatability are insufficient to meet micrometer-level or even higher precision requirements. Furthermore, in complex or continuous operation scenarios, achieving efficient coordination between end effector replacement and precision operations is challenging. Therefore, there is an urgent need for a method that can automatically replace the end effector under sterile conditions without human intervention, while simultaneously achieving millimeter-level precision docking, reducing the impact of equipment linkage on operational accuracy. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a micro / nano manipulator arm that automatically changes the end effector, thus solving the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention provides a micro-nano manipulator arm that automatically changes the end effector, including a fixed base, a horizontal rotating device on the top of the fixed base, protective plates on both sides of the horizontal rotating device, a vertical rotating device on the top of the horizontal rotating device, a telescopic rod on the left side of the vertical rotating device, and an actuator mounting port on the right side of the telescopic rod. A fixing plate is fixedly connected inside the actuator mounting port. An electric hydraulic cylinder is fixedly connected inside the fixing plate. A rotating shaft is movably connected inside the fixing plate. A fixing plate is fixedly connected to the outer side of the rotating shaft. An actuator mounting plate is fixedly connected to the right side of the rotating shaft. The actuator mounting plate has a mounting slot inside, and an actuator is movably connected inside the mounting slot. A precision drive hydraulic unit is fixedly connected to the rear surface of the fixing plate. A spherical push block is movably connected to the top of the precision drive hydraulic unit. A spring is fixedly connected between the spherical push block and the precision drive hydraulic unit. The bottom of the precision drive hydraulic unit is movably connected to the rotating fixing plate through a transmission component. The rotating fixing plate and actuator mounting plate allow for automatic actuator replacement. When the actuator needs to be replaced during use, the motor and electric hydraulic cylinder are started, causing the actuator mounting plate to rotate. This drives the required actuator to the front operating port, making precision operation more convenient.

[0005] Preferably, the transmission component includes a power transmission channel one, a precision drive hydraulic unit two, a push block one, a rotating block, and a fixed block. The bottom of the precision drive hydraulic unit one is fixedly connected to one end of the power transmission channel one, and the other end of the power transmission channel one is fixedly connected to the top of the precision drive hydraulic unit two. The top of the precision drive hydraulic unit two is fixedly connected to the actuator mounting plate via a fixing block. The push block one is movably connected to the right side of the precision drive hydraulic unit two, and the rotating block is fixedly connected to the top of the push block one. A fixed block is fixedly connected to the outside of the actuator mounting plate, and a rotating shaft is movably connected inside the fixed block. A rotating fixing plate is fixedly connected to the outside of the rotating shaft.

[0006] Preferably, a fixed mounting plate is fixedly connected to the right side surface of the vertical rotating device, a rotating joint is movably connected to the right side of the telescopic rod, an actuator fixing assembly is movably connected inside the actuator mounting port, and a sterile positive pressure air curtain assembly is movably connected inside the actuator mounting port.

[0007] Preferably, the inner surface of the rotating fixing plate is in contact with the outer surface of the actuator, a magnetic layer is fixedly connected to the inner surface of the mounting slot, a PLC control module is fixedly connected to the inside of the actuator mounting port, a standard interface is fixedly connected to the rear of each actuator, and vibration sensors are fixedly connected to the front interior of the actuator mounting port and the inside of the mounting slot. An actuator fine-tuning vibration damping device is movably connected to the front interior of the actuator mounting port. The vibration sensor detects the vibration value and uploads it to the PLC control module in real time. The PLC control module determines whether the signal exceeds a threshold. When the signal exceeds the threshold, the PLC control module transmits a fine-tuning signal to the actuator fine-tuning vibration damping device, causing the device to fine-tune the actuator.

[0008] Preferably, the actuator fixing assembly includes a slide rail, a slider, a second pusher block, a third precision drive hydraulic unit, a second power transmission channel, a fourth precision drive hydraulic unit, a third pusher block, a second spring, a fixing ring, and a fixing slider. A slide rail is fixedly connected to the upper inner side of the actuator mounting port. A slider is movably connected inside the slide rail. A slider is fixedly connected to the outer side of the telescopic rod of the electric hydraulic cylinder. The third precision drive hydraulic unit is fixedly connected inside the slide rail. The second pusher block is movably connected to the left side of the third precision drive hydraulic unit. The right side of the third precision drive hydraulic unit is fixedly connected to one end of the second power transmission channel, and the other end of the second power transmission channel is fixedly connected to the rear side of the fourth precision drive hydraulic unit. A fixing ring is fixedly connected inside the actuator mounting port. The fourth precision drive hydraulic unit is fixedly connected inside the fixing ring. A third pusher block is movably connected to the front side of the fourth precision drive hydraulic unit. A second spring is fixedly connected between the third pusher block and the fourth precision drive hydraulic unit. A fixing slider is fixedly connected to the front side of the third pusher block. An actuator fixing component is installed so that when the device is in use, the actuator is driven to the operating port by the electric hydraulic cylinder, causing the fixing slider to move inward and fixing the actuator around its perimeter, thereby making the actuator more stable during operation.

[0009] Preferably, the surface of the fixed ring is provided with a sliding groove, and the fixed slider is slidably connected to the fixed ring through the sliding groove. Each of the four precision drive hydraulic units is fixedly connected with a connecting pipe, and the connecting pipe is fixedly connected to the second power transmission channel.

[0010] Preferably, the inner surface of the fixed slider has the same shape as the outer surface of the actuator, and the length of the slide rail is the same as the distance between the fixed plate and the front side of the actuator mounting port.

[0011] Preferably, the sterile positive pressure air curtain assembly includes a push block four, a precision drive hydraulic unit five, a power transmission channel three, a precision drive hydraulic unit six, a valve, an air inlet pipe, a fixed rod, a circular plate, air jet blocks, and nozzles. The precision drive hydraulic unit five is fixedly connected inside the slide rail. The push block four is movably connected to the right side of the precision drive hydraulic unit five. The left side of the precision drive hydraulic unit five is fixedly connected to one end of the power transmission channel three, and the other end of the power transmission channel three is fixedly connected to the rear side of the precision drive hydraulic unit six. The rear side of the precision drive hydraulic unit six is ​​fixedly connected to a fixed plate one via a fixed buckle. The push block five is movably connected to the right side of the precision drive hydraulic unit six. A valve is fixedly connected to the right side of the push block five. A fixed rod is fixedly connected inside the actuator mounting port. An air inlet pipe is fixedly connected to the right side of the fixed rod. A valve is movably connected inside the air inlet pipe. A circular plate is fixedly connected to one end of the left side of the fixed rod. Multiple air jet blocks are fixedly connected to the surface of the circular plate, and nozzles are opened inside the air jet blocks. The sterile positive pressure air curtain assembly is installed. After the equipment has been used for a long time, a lot of dust and impurities will accumulate on the surface of the actuator. The actuator is easily affected by impurities and will produce errors when it is in precision operation. When the actuator is replaced, the valve will open automatically, and the nozzle will blow air onto the surface of the actuator, so that the dust on the surface of the actuator will be blown off.

[0012] Preferably, the nozzle is oriented towards the front end of the actuator, and the left side surface of the circular plate does not contact the right side surface of the actuator mounting plate.

[0013] Preferably, a jet pump is fixedly connected to the left side of the air inlet pipe.

[0014] The advantages of this application are: (1) When the actuator needs to be replaced during use, the motor and electric hydraulic cylinder are started to rotate the actuator mounting plate, so that the required actuator is driven to the front operating port by the electric hydraulic cylinder, thereby realizing automatic actuator replacement, making the equipment more convenient to perform precision operation, reducing human intervention, improving the continuity of operation, and achieving millimeter-level precision docking.

[0015] (2) When the equipment is in use, the actuator is driven to the operating port by the electric hydraulic cylinder, causing the fixed slider to move inward, so that the actuator is fixed around, thereby making the actuator more stable during operation, enabling the actuator to be automatically positioned, and improving the accuracy of the equipment.

[0016] (3) After the equipment has been used for a long time, a lot of dust and impurities will accumulate on the surface of the actuator. When the actuator is operated in precision, it is easy to be affected by impurities and cause errors. When the actuator is replaced, the valve will open automatically, and the nozzle will blow air onto the surface of the actuator, so that the dust on the surface of the actuator will be blown off, thereby reducing the equipment error. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall internal structure of the present invention; Figure 3 This is a schematic diagram of some components of the present invention; Figure 4 This is the present invention. Figure 3 Enlarged structural diagram at point A in the middle; Figure 5 This is a schematic diagram of the actuator fixing assembly structure of the present invention; Figure 6 This is the present invention. Figure 5 Enlarged structural diagram at point B; Figure 7 This is a schematic diagram of the aseptic positive pressure air curtain assembly of the present invention; Figure 8 This is the present invention. Figure 7 Enlarged structural diagram at point C.

[0018] Explanation of key figure labels: 100. Fixed base; 200. Horizontal rotating device; 300. Protective plate; 400. Vertical rotating device; 500. Telescopic rod; 600. Fixed mounting plate; 700. Rotating joint; 800. Actuator mounting port; 901. Fixed plate one; 902. Electric hydraulic cylinder; 903. Rotating shaft one; 904. Fixed plate two; 905. Actuator mounting plate; 906. Actuator; 907. Mounting slot; 908. Spherical push block; 909. Spring one; 910. Precision drive hydraulic unit one; 911. Power transmission channel one; 912. Precision drive hydraulic unit two; 913. Push block one; 914. Rotating block; 915. Fixed block; 916. Rotating fixed plate; 1000. Actuator fixing assembly; 1001. Slide rail; 1002. Slider; 1003. Push block two; 1004. Precision drive hydraulic unit three; 1005. Power transmission channel two; 1006. Precision drive hydraulic unit four; 1007. Push block three; 1008. Spring two; 1009. Fixing ring; 1010. Fixing slider; 1100. Sterile positive pressure air curtain assembly; 1101. Push block four; 1102. Precision drive hydraulic unit five; 1103. Power transmission channel three; 1104. Precision drive hydraulic unit six; 1105. Push block five; 1106. Valve; 1107. Air inlet pipe; 1108. Fixing rod; 1109. Circular plate; 1110. Air jet block; 1111. Nozzle. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort should fall within the scope of protection of the present application.

[0020] Example 1, as Figures 1-4 As shown, a micro / nano manipulator arm that automatically changes its end effector includes: A fixed base 100 is provided, and a horizontal rotating device 200 is provided on the top of the fixed base 100. The horizontal rotating device 200 is provided to rotate the telescopic rod 500 in the horizontal direction. Protective plates 300 with protective function are provided on both sides of the horizontal rotating device 200. A vertical rotating device 400 is provided on the top of the horizontal rotating device 200. The vertical rotating device 400 is provided to rotate the telescopic rod 500 in the vertical direction. The telescopic rod 500 is provided on the left side of the vertical rotating device 400, so that the length of the device can be adjusted. An actuator mounting port 800 is provided on the right side of the telescopic rod 500. A fixing plate 901 is fixedly connected inside the actuator mounting port 800. An electric hydraulic cylinder 902 is fixedly connected inside the fixing plate 901. A rotating shaft 903 is movably connected inside the fixing plate 901. A fixing plate 904 is fixedly connected to the outside of the rotating shaft 903. An actuator mounting plate 905 is fixedly connected to the right side of the rotating shaft 903. An installation slot 907 is provided inside the actuator mounting plate 905. An actuator 906 is movably connected inside the installation slot 907. A precision drive hydraulic unit 910 is fixedly connected to the rear surface of the fixing plate 904. A spherical push block 908 is movably connected to the top of the precision drive hydraulic unit 910. A spring 909 is fixedly connected between the spherical push block 908 and the precision drive hydraulic unit 910. The spring 909 is provided to automatically reset the spherical push block 908. The bottom of the precision drive hydraulic unit 910 is movably connected to the rotating fixing plate 916 through a transmission component.

[0021] The transmission components include a power transmission channel 911, a precision drive hydraulic unit 912, a push block 913, a rotating block 914, and a fixed block 915. The bottom of the precision drive hydraulic unit 910 is fixedly connected to one end of the power transmission channel 911, and the other end of the power transmission channel 911 is fixedly connected to the top of the precision drive hydraulic unit 912. The power transmission channel 911 is provided so that the interior of the precision drive hydraulic unit 910 communicates with the interior of the precision drive hydraulic unit 912. The top of the precision drive hydraulic unit 912 is fixedly connected to the actuator mounting plate 905 via a fixed clip. The push block 913 is movably connected to the right side of the precision drive hydraulic unit 912, and the rotating block 914 is fixedly connected to the top of the push block 913. The fixed block 915 is fixedly connected to the outside of the actuator mounting plate 905. The rotating shaft is movably connected inside the fixed block 915, and the rotating fixed plate 916 is fixedly connected to the outside of the rotating shaft.

[0022] A fixed mounting plate 600 is fixedly connected to the right side surface of the vertical rotating device 400, and a rotating joint 700 is movably connected to the right side of the telescopic rod 500. The rotating joint 700 is provided so that the device can adapt to more complex scenarios and achieve precision movements in multiple directions and postures. An actuator fixing assembly 1000 is movably connected inside the actuator mounting port 800, and a sterile positive pressure air curtain assembly 1100 is movably connected inside the actuator mounting port 800.

[0023] The inner surface of the rotating fixed plate 916 is in contact with the outer surface of the actuator 906. A magnetic layer is fixedly connected to the inner surface of the mounting slot 907. A PLC control module is fixedly connected inside the actuator mounting port 800. The PLC control module enables coordinated control of the movement of the robotic arm and the replacement and micro-nano operation of the actuator 906. A standard interface is fixedly connected to the rear of each actuator 906. When the standard interface of the actuator 906 is fixed to the actuator mounting port 800, the PLC control module can identify the mounting tools (such as scalpels, surgical clips, etc.) of different actuators 906 through the information transmitted from the standard interface. At the same time, it can identify the disinfection status and expiration date of the actuator 906 to avoid using contaminated actuators to contaminate the wound of patients. Vibration sensors are fixedly connected to the front interior of the actuator mounting port 800 and the interior of the mounting slot 907. The actuator mounting port 800 is movably connected to the front interior of the actuator fine-tuning and vibration damping device. The vibration sensor detects the vibration value and uploads it to the PLC control module in real time. The PLC control module determines whether the signal exceeds the threshold. When the signal exceeds the threshold, the PLC control module transmits the fine-tuning signal to the actuator fine-tuning and vibration damping device, so that the actuator fine-tuning and vibration damping device can fine-tune the actuator.

[0024] The rotating fixed plate 916 and the actuator 906 mounting plate are configured so that when the actuator 906 needs to be replaced during use, the motor and the electric hydraulic cylinder 902 are started, causing the actuator mounting plate 905 to rotate. The required actuator 906 is then driven by the electric hydraulic cylinder 902 to the front operating port, thereby realizing automatic replacement of the actuator 906. This makes it more convenient for the equipment to perform precision operations, reduces human intervention, and improves the continuity of operation.

[0025] In practical use, when the above-mentioned equipment is used in digital operating rooms, microsurgical operations, or for precision placement of implantable stents, multiple actuators 906 are required due to the need for clamping, cutting, and injection operations. When it is necessary to change the actuator 906, the motor is started, causing the rotating shaft 903 to rotate. After the actuator mounting plate 905 rotates to the top of the required actuator 906, the electric hydraulic cylinder 902 is activated, causing the spherical push block 908 to move downwards. This increases the internal pressure of the precision drive hydraulic unit 910, which is then transmitted through the power transmission channel 911 to the precision drive hydraulic unit 912. The increased internal pressure of the precision drive hydraulic unit 912 causes the push block 913 to push outwards, rotating the rotating block 914 and causing the rotating fixing plate 916 to follow. Rotating block 914 opens, separating actuator 906 from actuator mounting plate 905. The required actuator 906 is then driven to the front operating port by electric hydraulic cylinder 902, enabling automatic replacement of actuator 906. This allows the equipment to automatically replace the required actuator 906 as needed, thereby improving the equipment's working efficiency. Simultaneously, when replacing actuator 906, the vibration sensor inside the equipment monitors the vibration magnitude in real time. When the vibration exceeds the threshold set by the PLC control module, the vibration sensor transmits a signal to the PLC control module, causing the PLC control module to issue an adjustment command to the actuator fine-tuning and vibration damping device. This allows the system to promptly detect and automatically fine-tune actuator 906 when it encounters resistance during replacement and installation, thus preventing vibration from damaging surgical consumables such as vascular stents.

[0026] Example 2, as Figures 1-6As shown, a micro-nano manipulator arm that automatically changes the end effector, based on Embodiment 1, includes an actuator fixing assembly 1000 comprising a slide rail 1001, a slider 1002, a pusher block 2 1003, a precision drive hydraulic unit 3 1004, a power transmission channel 2 1005, a precision drive hydraulic unit 4 1006, a pusher block 3 1007, a spring 2 1008, a fixing ring 1009, and a fixing slider 1010. The slide rail 1001 is fixedly connected to the upper inner side of the actuator mounting port 800. The slide rail 1001 is configured to allow the slider 1002 to move along the slide rail 1001. The slider 1002 is movably connected inside the slide rail 1001. The slider 1002 is fixedly connected to the outer side of the telescopic rod 500 of the electric hydraulic cylinder 902. The precision drive hydraulic unit 3 1004 is fixedly connected inside the slide rail 1001. Push block 2 1003 is movably connected to the left side of 004. The right side of precision drive hydraulic unit 3 1004 is fixedly connected to one end of power transmission channel 2 1005. The other end of power transmission channel 2 1005 is fixedly connected to the rear side of precision drive hydraulic unit 4 1006. Power transmission channel 2 1005 is set so that the interior of precision drive hydraulic unit 3 1004 communicates with the interior of precision drive hydraulic unit 4 1006. A fixing ring 1009 is fixedly connected inside the actuator mounting port 800. Precision drive hydraulic unit 4 1006 is fixedly connected inside the fixing ring 1009. Push block 3 1007 is movably connected to the front side of precision drive hydraulic unit 4 1006. Spring 2 1008 is fixedly connected between push block 3 1007 and precision drive hydraulic unit 4 1006. Fixed slider 1010 is fixedly connected to the front side of push block 3 1007.

[0027] The surface of the fixed ring 1009 is provided with a sliding groove, and the fixed slider 1010 is slidably connected to the fixed ring 1009 through the sliding groove. Each precision drive hydraulic unit 1006 is fixedly connected with a connecting pipe, and the connecting pipe is fixedly connected to the power transmission channel 1005.

[0028] The inner surface of the fixed slider 1010 has the same shape as the outer surface of the actuator 906, and the length of the slide rail 1001 is the same as the distance between the fixed plate 901 and the front side of the actuator mounting port 800.

[0029] The actuator fixing component 1000 is set up so that when the equipment is in use, the actuator 906 is driven to the operating port by the electric hydraulic cylinder 902, causing the fixing slider 1010 to move inward, fixing the actuator 906 around its perimeter, thereby making the actuator 906 more stable during operation, enabling the actuator 906 to be automatically positioned, and improving the accuracy of the equipment.

[0030] In practical use, when the above-mentioned equipment is performing precision operations, the electric hydraulic cylinder 902 is activated, causing the actuator 906 to move to the right. This causes the slider 1002 to move to the right along the slide rail 1001, and the push block 1003 to move to the right. This increases the internal pressure of the precision drive hydraulic unit 1004, which is then transmitted through the power transmission channel 1005 to the precision drive hydraulic unit 1006. This increases the internal pressure of the precision drive hydraulic unit 1006, causing the push block 1007 to move inward. This moves the fixed slider 1010 inward and fixes the actuator 906 around its perimeter. As a result, when the equipment performs piercing, clamping, or other actions, the actuator 906 operates more stably, reducing unnecessary shaking and ensuring the overall stability of the equipment during precision operations, thus improving the success rate.

[0031] Example 3, as Figures 1-8 As shown, a micro-nano robotic arm for automatically changing end effectors, based on Embodiments 1 and 2, includes a sterile positive pressure air curtain assembly 1100 comprising a push block four 1101, a precision drive hydraulic unit five 1102, a power transmission channel three 1103, a precision drive hydraulic unit six 1104, a push block five 1105, a valve 1106, an air inlet pipe 1107, a fixing rod 1108, a circular plate 1109, an air jet block 1110, and a nozzle 1111. The precision drive hydraulic unit five 1102 is fixedly connected inside the slide rail 1001. The push block four 1101 is movably connected to the right side of the precision drive hydraulic unit five 1102. The left side of the precision drive hydraulic unit five 1102 is fixedly connected to one end of the power transmission channel three 1103, and the other end of the power transmission channel three 1103 is fixedly connected to the rear side of the precision drive hydraulic unit six 1104. The power transmission channel is thus configured. 3103 connects the interior of precision drive hydraulic unit 51102 with the interior of precision drive hydraulic unit 61104. The rear side of precision drive hydraulic unit 61104 is fixedly connected to fixed plate 1901 via a fixing buckle. Push block 51105 is movably connected to the right side of precision drive hydraulic unit 61104. Valve 1106 is fixedly connected to the right side of push block 51105. Fixed rod 1108 is fixedly connected inside actuator mounting port 800. Air inlet pipe 1107 is fixedly connected to the right side of fixed rod 1108. Valve 1106 is movably connected inside air inlet pipe 1107. Circular plate 1109 is fixedly connected to one end of fixed rod 1108. Multiple jet blocks 1110 are fixedly connected to the surface of circular plate 1109. Nozzle 1111 is opened inside jet block 1110. The nozzle 1111 is set so that the nozzle 1111 sprays air towards actuator 906.

[0032] The nozzle 1111 is oriented towards the front end of the actuator 906, and the left side surface of the circular plate 1109 does not contact the right side surface of the actuator mounting plate 905.

[0033] A jet pump is fixedly connected to the left side of the air inlet duct 1107.

[0034] The sterile positive pressure air curtain assembly 1100 is installed so that after the equipment has been used for a long time, mechanical wear debris generated during operation can easily adhere to the surface of the actuator 906. If mechanical wear debris falls during operation, it can be life-threatening to the patient. When the actuator 906 is replaced, the valve 1106 is automatically opened so that the nozzle 1111 blows sterile air onto the surface of the actuator 906, which blows off the mechanical wear debris generated during operation and prevents bacteria in the air or mechanical wear debris from falling into the operating position.

[0035] When the aforementioned equipment is used in a precision operating environment for an extended period, frequent switching of actuators 906 causes significant contamination on the outer surface of each actuator 906. Since actuators 906 are susceptible to interference from these contaminants during micro- and nano-surgical operations, resulting in substantial errors, the inward retraction of the electric hydraulic cylinder 902 causes the slider 1002 to move to the left along the slide rail 1001, moving the push block 1101 to the left. This increases the internal pressure of the precision drive hydraulic unit 1102, allowing the pressure to be transmitted through the power transmission channel 110. 3. The pressure inside the precision drive hydraulic unit 1104 increases, causing the pusher block 1105 to push outward, automatically opening the valve 1106, activating the air pump, and allowing air to enter the fixed rod 1108 through the air inlet pipe 1107. This causes the nozzle 1111 to spray air outward, blowing away impurities from the outer surface of the actuator 906, keeping the outer surface of the actuator 906 clean, reducing errors during precision operation of the actuator 906, and preventing errors caused by impurities on the surface of the actuator 906, thus making the equipment safer to use.

[0036] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A micro / nano manipulator arm that automatically changes its end effector, comprising a fixed base, characterized in that, The fixed base is provided with a horizontal rotating device on the top, and protective plates with protective function are provided on both sides of the horizontal rotating device. The horizontal rotating device is provided with a vertical rotating device on the top, and a telescopic rod is provided on the left side of the vertical rotating device. An actuator mounting port is provided on the right side of the telescopic rod. A fixing plate is fixedly connected inside the actuator mounting port. An electric hydraulic cylinder is fixedly connected inside the fixing plate. A rotating shaft is movably connected inside the fixing plate. A fixing plate is fixedly connected to the outer side of the rotating shaft. An actuator mounting plate is fixedly connected to the right side of the rotating shaft. An actuator mounting plate has a mounting slot inside the actuator mounting plate. An actuator is movably connected inside the mounting slot. A precision drive hydraulic unit is fixedly connected to the rear surface of the fixing plate. A spherical push block is movably connected to the top of the precision drive hydraulic unit. A spring is fixedly connected between the spherical push block and the precision drive hydraulic unit. The bottom of the precision drive hydraulic unit is movably connected to the rotating fixing plate through a transmission component.

2. The micro / nano manipulator arm with automatic end effector changing according to claim 1, characterized in that, The transmission component includes a power transmission channel one, a precision drive hydraulic unit two, a push block one, a rotating block, and a fixed block. The bottom of the precision drive hydraulic unit one is fixedly connected to one end of the power transmission channel one, and the other end of the power transmission channel one is fixedly connected to the top of the precision drive hydraulic unit two. The top of the precision drive hydraulic unit two is fixedly connected to the actuator mounting plate via a fixing clip. The push block one is movably connected to the right side of the precision drive hydraulic unit two, and the rotating block is fixedly connected to the top of the push block one. A fixed block is fixedly connected to the outside of the actuator mounting plate, and a rotating shaft is movably connected inside the fixed block. A rotating fixing plate is fixedly connected to the outside of the rotating shaft.

3. The micro / nano manipulator arm with automatic end effector changing according to claim 1, characterized in that, A fixed mounting plate is fixedly connected to the right side surface of the vertical rotating device, a rotating joint is movably connected to the right side of the telescopic rod, an actuator fixing assembly is movably connected inside the actuator mounting port, and a sterile positive pressure air curtain assembly is movably connected inside the actuator mounting port.

4. The micro / nano manipulator arm with automatic end effector changing according to claim 1, characterized in that, The inner surface of the rotating fixing plate is in contact with the outer surface of the actuator. A magnetic layer is fixedly connected to the inner surface of the mounting slot. A PLC control module is fixedly connected inside the actuator mounting port. A standard interface is fixedly connected to the rear side of each actuator. Vibration sensors are fixedly connected to the front interior of the actuator mounting port and the interior of the mounting slot. An actuator fine-tuning vibration damping device is movably connected to the front interior of the actuator mounting port. The vibration sensor detects the vibration value and uploads it to the PLC control module in real time. The PLC control module determines whether the signal exceeds a threshold. When the signal exceeds the threshold, the PLC control module transmits a fine-tuning signal to the actuator fine-tuning vibration damping device, causing the actuator fine-tuning vibration damping device to fine-tune the actuator.

5. A micro / nano manipulator arm with an automatic end effector changing capability according to claim 3, characterized in that, The actuator fixing assembly includes a slide rail, a slider, a second pusher block, a third precision drive hydraulic unit, a second power transmission channel, a fourth precision drive hydraulic unit, a third pusher block, a second spring, a fixing ring, and a fixing slider. A slide rail is fixedly connected to the upper inner side of the actuator mounting port. A slider is movably connected inside the slide rail. A slider is fixedly connected to the outer side of the telescopic rod of the electric hydraulic cylinder. The third precision drive hydraulic unit is fixedly connected inside the slide rail. The second pusher block is movably connected to the left side of the third precision drive hydraulic unit. The right side of the third precision drive hydraulic unit is fixedly connected to one end of the second power transmission channel, and the other end of the second power transmission channel is fixedly connected to the rear side of the fourth precision drive hydraulic unit. A fixing ring is fixedly connected inside the actuator mounting port. The fourth precision drive hydraulic unit is fixedly connected inside the fixing ring. A third pusher block is movably connected to the front side of the fourth precision drive hydraulic unit. A second spring is fixedly connected between the third pusher block and the fourth precision drive hydraulic unit. A fixing slider is fixedly connected to the front side of the third pusher block.

6. A micro / nano manipulator arm with an automatic end effector changing capability according to claim 5, characterized in that, The surface of the fixed ring is provided with a sliding groove, and the fixed slider is slidably connected to the fixed ring through the sliding groove. Each of the four precision drive hydraulic units is fixedly connected with a connecting pipe, and the connecting pipe is fixedly connected to the second power transmission channel.

7. A micro / nano manipulator arm with an automatic end effector changing capability according to claim 5, characterized in that, The inner surface of the fixed slider has the same shape as the outer surface of the actuator, and the length of the slide rail is the same as the distance between the fixed plate and the front side of the actuator mounting port.

8. A micro / nano manipulator arm with an automatic end effector changing capability according to claim 3, characterized in that, The sterile positive pressure air curtain assembly includes a push block four, a precision drive hydraulic unit five, a power transmission channel three, a precision drive hydraulic unit six, a valve, an air inlet pipe, a fixed rod, a circular plate, air jet blocks, and nozzles. The precision drive hydraulic unit five is fixedly connected inside the slide rail. The push block four is movably connected to the right side of the precision drive hydraulic unit five. The left side of the precision drive hydraulic unit five is fixedly connected to one end of the power transmission channel three, and the other end of the power transmission channel three is fixedly connected to the rear side of the precision drive hydraulic unit six. The rear side of the precision drive hydraulic unit six is ​​fixedly connected to a fixed plate one via a fixed buckle. The push block five is movably connected to the right side of the precision drive hydraulic unit six, and a valve is fixedly connected to the right side of the push block five. A fixed rod is fixedly connected inside the actuator mounting port. An air inlet pipe is fixedly connected to the right side of the fixed rod, and a valve is movably connected inside the air inlet pipe. A circular plate is fixedly connected to one end of the left side of the fixed rod. Multiple air jet blocks are fixedly connected to the surface of the circular plate, and nozzles are opened inside the air jet blocks.

9. A micro / nano manipulator arm with an automatic end effector changing capability according to claim 8, characterized in that, The nozzle is oriented towards the front end of the actuator, and the left side surface of the circular plate does not contact the right side surface of the actuator mounting plate.

10. A micro / nano manipulator arm with an automatic end effector changing capability according to claim 8, characterized in that, A jet pump is fixedly connected to the left side of the air inlet pipe.

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