A power and fluid cooperative working system and control method

Abstract

The application relates to the technical field of power operation equipment, and provides a power and fluid cooperative operation system and a control method, which comprise a power output module, a fluid control module and a main control module; the main control module acquires an execution end identity identifier and a scene mode instruction, matches a corresponding power and fluid control parameter set, and drives corresponding modules to operate, and in an operation process, the output parameter of the fluid control module is dynamically adjusted based on the real-time operation state of the power output module to maintain cooperative linkage. The application realizes adaptive matching and real-time closed-loop cooperation of power and fluid in multiple scenes, improves cross-scene operation efficiency and environmental stability, and effectively guarantees operation precision and safety.

Description

Technical Field

[0001] This application relates to the field of power operation equipment technology, and in particular to a power and fluid coordinated operation system and control method. Background Technology

[0002] Currently, in fields such as precision machining and micro-manufacturing, multi-functional power equipment is typically equipped with multiple actuators to adapt to different operating scenarios. However, when switching between different actuators or operating scenarios, existing equipment often operates with independent power output control and fluid control (such as coolant supply and waste liquid recovery), requiring operators to manually adjust and set parameters separately. This separate control method not only leads to low efficiency in cross-scenario reuse but also makes it difficult to achieve dynamic synchronization and coordination between power output and fluid operation states. This can easily cause problems such as poor temperature control in the operating area and untimely debris removal, thereby affecting operational accuracy and process safety. Therefore, there is an urgent need for a system and control method that can achieve adaptive and coordinated operation of power and fluid in multiple scenarios and with multiple actuators. Summary of the Invention

[0003] The technical problem to be solved by this application is that the existing technology has problems such as the independent operation of power output and fluid control, poor cross-scene coordination, resulting in low operation efficiency and poor environmental maintenance. This application realizes the adaptive matching of parameters based on the dual dimensions of end recognition and scene mode, as well as the real-time coordinated linkage of power and fluid through a power and fluid coordinated operation system and control method.

[0004] To solve the above-mentioned technical problems, the technical solution adopted in this application is: A power and fluid coordinated operation system is provided, including a power output module, a fluid control module and a main control module; The main control module is used to obtain the identity identifier of the currently connected execution terminal and to obtain the scene mode instructions; Based on the identity identifier and scene mode command, match the corresponding power control parameter set and fluid control parameter set; The power output module is driven to operate based on the power control parameter set, and the fluid control module is driven to operate based on the fluid control parameter set. During operation, the output parameters of the fluid control module are dynamically adjusted based on the real-time operating status of the power output module to maintain the coordinated linkage between power output and fluid control.

[0005] The aforementioned system introduces a dual input mechanism of end-point identification and scene mode commands, enabling the main control module to automatically call up matching power and fluid control parameter sets and dynamically adjust fluid output according to the real-time status of power output during operation. This breaks the limitation of independent power and fluid control in traditional equipment, realizes adaptive collaboration between the two under multi-dimensional working conditions, and significantly improves work efficiency and the stability of the working environment.

[0006] Preferably, the main control module obtains the identity identifier of the currently accessed execution terminal, including: The identity identifier of the execution end is read by the electrical impedance characteristics of the quick-connect self-locking interface or the built-in communication chip. The scenario mode instructions include a set of control instructions for different operating environment configuration data. The main control module calls the corresponding power control parameter set and fluid control parameter set based on the control instruction set.

[0007] The aforementioned system embeds identity recognition into the electrical characteristics or communication protocol of the physical interface, and defines the scenario mode as a set of control instructions containing configuration data rather than a simple human selection, ensuring the hardware-level reliability of parameter matching and the determinism of control logic, and avoiding the risk of parameter mismatch caused by human error.

[0008] Preferably, the power control parameter set includes the target speed range, maximum torque limit, acceleration ramp time and working time limit, and the fluid control parameter set includes the positive fluid supply flow rate, negative pressure suction pressure, pulse frequency and fluid temperature threshold. Different scene mode commands correspond to different combinations of parameter thresholds, and the combinations of parameter thresholds include a first scene mode, a second scene mode, and a third scene mode; In the first scenario mode, the target speed range is a low speed range, the positive fluid supply flow rate and the negative pressure suction pressure are both at a high threshold state, and the pulse frequency is synchronized with the target speed range. In the second scenario mode, the target speed range is the medium speed range, the positive fluid supply flow rate is at a low threshold state, the negative pressure suction pressure is at a medium threshold state, and the fluid control module outputs fluid in a preset pulse mode. In the third scenario mode, the target speed range is the high speed range, the maximum torque limit is in a high threshold state, and the positive fluid supply flow rate and negative pressure suction pressure both increase proportionally with the real-time load of the power output module.

[0009] The aforementioned system refines the combinations of power and fluid parameter thresholds under different scenario modes, and in particular defines differentiated collaborative strategies for three typical working conditions: low, medium, and high. This enables the system to accurately adapt to various needs, from delicate operations to high-intensity cutting, and ensures that the optimal working environment and safety boundaries are maintained under different load conditions.

[0010] Preferably, during operation, the main control module dynamically adjusts the output parameters of the fluid control module based on the real-time operating status of the power output module, including: The operating status parameters of the power output module are acquired in real time, including the motor load current and actual speed. Based on the aforementioned operating status parameters, calculate the real-time workload at the execution end. Based on the changing trend of the real-time operating load, the output parameters of the fluid control module are adjusted proportionally, including the positive fluid supply flow rate or the negative pressure suction pressure.

[0011] The system establishes a real-time operating load calculation model based on motor load current and actual speed, and uses this as the feedback basis for fluid regulation. This realizes the control upgrade from "static preset" to "dynamic closed loop", ensuring that the fluid supply can respond to fluctuations in operating load in real time and prevent overheating or debris accumulation caused by sudden load changes.

[0012] Preferably, adjusting the output parameters of the fluid control module proportionally according to the changing trend of the real-time operating load includes: When the motor load current increases or the actual speed increases, causing the real-time operating load to exceed the preset load reference value, the main control module generates flow compensation command and pressure compensation command. Based on the flow compensation command, the flushing pump in the fluid control module is controlled to increase its speed, so that the positive fluid supply flow rate increases linearly with the increase of the motor load current according to the first preset proportional coefficient. Based on the pressure compensation command, the suction pump in the fluid control module is controlled to increase its power, so that the negative pressure suction pressure increases stepwise with the increase of the actual rotation speed according to the second preset proportional coefficient. When the real-time operating load is lower than the load reference value, the flushing pump and suction pump are restored to the basic maintenance state set by the fluid control parameter set.

[0013] The above system further clarifies the specific compensation logic for flow rate and pressure, namely, the flow rate increases linearly with the load current to enhance cooling, the pressure increases stepwise with the speed to match the chip removal requirements, and returns to the basic maintenance state under low load to save energy and reduce noise. This refined linkage strategy optimizes the system's energy efficiency ratio while ensuring operational safety.

[0014] Preferably, the execution terminal and the power output module are physically connected via a quick-connect self-locking interface; The actuator has an integrated fluid channel that communicates with the fluid control module. The fluid channel includes a positive supply channel and / or a negative pressure suction channel. When the quick-connect self-locking interface is locked, the fluid channel and the pipeline interface of the fluid control module automatically connect and form a sealed connection.

[0015] The system described above achieves simultaneous mechanical connection and fluid pathway connection through quick-connect self-locking interface, which not only simplifies the replacement process of the end effector, but also ensures the sealing reliability of the fluid channel during docking, providing a structural basis for intraoperative aseptic rapid replacement and fluid coordination.

[0016] Preferably, the execution terminal includes a first type of execution terminal and a second type of execution terminal; The first type of execution end is a hard material processing end, which integrates a forward supply channel inside. The outlet of the forward supply channel is located on the side of the working tip of the first type of execution end, and is used to continuously rinse and cool the working area during the operation. The second type of execution end is a soft tissue cutting end, which integrates a negative pressure suction channel. The inlet of the negative pressure suction channel is located behind the cutting edge of the second type of execution end, and is used to simultaneously suction the stripped tissue debris and waste liquid during the cutting process. When the same execution end integrates a positive supply channel and a negative pressure suction channel, the outlet of the positive supply channel and the inlet of the negative pressure suction channel are arranged at a preset angle in space to form a directional fluid circulation.

[0017] The aforementioned system design incorporates differentiated fluid channel layouts for different types of execution terminals. In particular, for dual-channel terminals, a spatial angle arrangement is adopted to form directional fluid circulation, effectively avoiding short-circuit interference between inlet and outlet fluids and maximizing the coverage efficiency and cleaning capability of fluids in the work area.

[0018] Preferably, the main control module is also configured to execute a security protection mechanism: The current and temperature status of the power output module, as well as the pipeline pressure status of the fluid control module, are monitored in real time. When the current exceeds the overload threshold, the temperature exceeds the overheat threshold, or the pipeline pressure fluctuates abnormally, the linkage protection action is triggered. The linkage protection action includes: immediately cutting off the drive signal of the power output module to stop it, and simultaneously closing the fluid output valve of the fluid control module.

[0019] The aforementioned system constructs a safety monitoring system covering both power and fluid dimensions, and performs linkage cut-off protection when an anomaly occurs, preventing a chain reaction caused by a single system failure (such as overheating and burnout due to stalling or liquid leakage due to pipeline rupture), significantly improving the overall safety of the system.

[0020] Preferably, it also includes a human-computer interaction unit, which is communicatively connected to the main control module; The human-machine interaction unit includes a touch screen and physical buttons, which are used to display the currently effective scene mode command, the type of execution end, the real-time operating status of the power output module, and the working status of the fluid control module in real time. The human-machine interaction unit is also used to receive mode switching instructions and parameter fine-tuning instructions input by the user, and transmit the mode switching instructions and parameter fine-tuning instructions to the main control module to update the power control parameter set and fluid control parameter set.

[0021] The system provides intuitive status visualization and convenient interactive interfaces, enabling operators to monitor the collaborative working status of the system in real time and make necessary interventions, thereby enhancing the system's controllability and human-machine collaboration efficiency.

[0022] This application also provides a power and fluid coordinated operation control method, applied to the power and fluid coordinated operation system as described above, characterized in that it includes: Obtain the identity identifier of the currently connected execution endpoint and obtain the scene mode instruction; Based on the identity identifier and scenario mode instructions, match the corresponding power control parameter set and fluid control parameter set; The power output module is driven by the power control parameter set, and the fluid control module is driven by the fluid control parameter set. During operation, the output parameters of the fluid control module are dynamically adjusted based on the real-time operating status of the power output module to maintain the coordinated linkage between power output and fluid control.

[0023] The above method solidifies the collaborative logic of power and fluid into executable steps through standardized control processes, ensuring that the system can achieve consistent adaptive collaborative operation effects on different hardware platforms.

[0024] The beneficial effects of this application are as follows: By constructing a dual-dimensional parameter matching mechanism based on the execution end's identity identifier and scenario mode commands, combined with a dynamic adjustment strategy for fluid control parameters based on the real-time status of power output, it fundamentally solves the technical problems of the separation between power and fluid control and poor cross-scenario adaptability in existing technologies. Its core principle lies in abstracting discrete hardware capabilities into a standardized parameter set and achieving spatiotemporal synchronization between the two through closed-loop feedback. The resulting technical effects include: firstly, significantly improving the preparation efficiency and switching speed for multi-scenario operations, reducing manual debugging time; secondly, ensuring constant temperature and cleanliness of the operating area under different load conditions through real-time collaborative linkage, effectively reducing the risk of thermal damage and secondary damage; and thirdly, significantly improving the operational safety and reliability of the system under complex operating conditions based on a dual-state monitoring linkage protection mechanism. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the present application will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a block diagram of the overall structure of the power and fluid collaborative operation system according to a preferred embodiment of this application; Figure 2 This is a schematic diagram of the main control host connection according to a preferred embodiment of this application; Figure 3 This is a schematic diagram of the execution end structure of a preferred embodiment of this application; Figure 4 This is a scene mode and fluid control matching logic diagram of a preferred embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this application. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application.

[0027] A preferred embodiment of this application discloses a power and fluid collaborative operation system, which constitutes the upper-level hardware architecture and control logic foundation for realizing multi-scenario adaptive operation. The system includes a power output module 200, a fluid control module 300, and a main control module 100. The power output module 200 provides the rotational or reciprocating driving force required for mechanical operation, the fluid control module 300 provides the fluid medium support required during operation, such as cooling, lubrication, or waste liquid recovery, and the main control module 100, as the core processing unit of the system, establishes communication connections and drive control links with both the power output module 200 and the fluid control module 300 to achieve unified scheduling and collaborative management of both. It should be noted that, although... Figure 1 The components are shown as discrete modules, but in other embodiments, the main control module 100, the power output module 200 and the fluid control module 300 may also be integrated in the same housing or interconnected using a distributed bus architecture, as long as the following control logic can be implemented.

[0028] Specifically, the main control module 100 acquires the identity of the currently connected execution terminal 400 and obtains the scene mode command. As components that directly contact the work object, the execution terminal 400 varies in type and function. The identity is used to uniquely characterize the physical specifications and performance boundaries of the currently connected execution terminal 400, such as inherent attributes like rated speed range and fluid channel type. The scene mode command reflects the specific environmental requirements of the current work task, such as process preferences under different working conditions like fine processing mode and high-intensity removal mode. By reading input information from these two dimensions, the main control module 100 constructs dual constraints of hardware capabilities and process requirements, thereby avoiding parameter mismatches or performance waste that might result from relying solely on a single dimension for control.

[0029] Furthermore, the main control module 100 matches the corresponding power control parameter set and fluid control parameter set based on the identity identifier and scene mode command. It should be noted that the power control parameter set and fluid control parameter set are not isolated values, but rather a set of associated configuration data pre-stored in the mode storage unit 120 of the main control module 100's internal or external memory. Once the dual input conditions are determined, the main control module 100 calls the optimal control strategy package matching the combination from the preset parameter library. For example, for an execution terminal 400 with a specific identity identifier, upon receiving a first-type scene mode command, the system automatically loads a power and fluid parameter combination emphasizing stability and low damage; while upon receiving a second-type scene mode command, it automatically switches to another parameter combination emphasizing high efficiency and strong heat dissipation. This dual-dimensional automatic matching mechanism allows the system to adapt to complex operational requirements without tedious manual debugging. After parameter matching is completed, the main control module 100 drives the power output module 200 based on the power control parameter set and drives the fluid control module 300 based on the fluid control parameter set. During this stage, the power output module 200 outputs mechanical energy according to the set target speed, torque limit and other parameters, while the fluid control module 300 outputs fluid medium according to the set flow rate, pressure and other parameters. The two establish a basic cooperative relationship adapted to the current working conditions in the initial state, ensuring the safety and environmental suitability at the moment of start-up.

[0030] Furthermore, during operation, the main control module 100 dynamically adjusts the output parameters of the fluid control module 300 based on the real-time operating status of the power output module 200 to maintain the coordinated linkage between power output and fluid control. The load during actual operation is often time-varying and non-linear, making it difficult to maintain optimal operating conditions throughout the entire process using only initial static parameter settings. Therefore, this application establishes a real-time feedback adjustment path from the power side to the fluid side. The main control module 100 continuously monitors the operating status of the power output module 200 (such as load fluctuations, speed changes, etc.) and uses this as the trigger for fluid adjustment. When a change in the power output status is detected, the main control module 100 immediately calculates and adjusts the output parameters of the fluid control module 300, causing the fluid supply or suction force to adaptively change with the power load. For example, when the operating load suddenly increases, causing the load on the power output module 200 to rise, the system automatically increases the fluid supply flow rate to enhance heat dissipation and chip removal; conversely, when the load decreases, the fluid output is reduced accordingly to avoid excessive flushing or energy waste. Through a dynamic closed-loop adjustment mechanism, this application breaks through the control limitations of independent power and fluid in traditional equipment, and realizes deep coupling and real-time tracking of the two in the spatiotemporal dimension, thereby significantly improving the stability, safety and maintenance of the working environment of the operation process, and effectively solving the problems of poor temperature control and debris accumulation caused by poor coordination in the prior art.

[0031] Furthermore, such as Figure 2 and Figure 4 As shown, the main control module 100 obtains the identity identifier of the currently connected execution terminal 400, which can be read through the electrical impedance characteristics of the quick-connect self-locking interface 410 or the built-in communication chip. The identification unit 110, as a sub-unit of the main control module 100, is electrically connected to the quick-connect self-locking interface 410. When the execution terminal 400 is inserted into and locked in the quick-connect self-locking interface 410, the identification unit 110 parses the identity identifier by detecting the resistance value between the interface pins. For example, a precision resistor with a specific resistance value can be set inside the execution terminal 400 as an ID tag. The identification unit 110 is excited by a constant current source and samples the voltage divider value, determining the type of execution terminal currently connected according to a preset resistance-type mapping table. For execution terminals with higher information capacity requirements, a single-bus or I2C communication chip can be integrated into the quick-connect self-locking interface 410. The identification unit 110 directly reads the serial number, rated parameters, and calibration data stored in the chip through a digital communication protocol. This automatic identification mechanism, based on physical layer electrical characteristics or digital protocols, embeds the identity identifier into the hardware connection, effectively avoiding the risk of misoperation that may be caused by manual selection of the terminal type, and ensuring the accuracy and security of subsequent parameter matching.

[0032] Furthermore, the scene mode instructions include a set of control instructions for different operating environment configuration data. The main control module 100 calls the corresponding power control parameter set and fluid control parameter set based on this set of control instructions. It is important to emphasize that the scene mode instructions here are not simply user-defined names or UI options, but rather essentially encapsulate all the underlying configuration data required for the coordinated operation of power and fluid under specific operating conditions. When a user triggers a scene mode, the system actually loads a validated control strategy package containing multi-dimensional parameter thresholds. This design, which materializes "modes" as "data instruction sets," gives scene switching a clear technical meaning and reproducible control logic, rather than merely subjective rule settings, thus ensuring that the system can output the expected technical effects under different operating conditions.

[0033] Furthermore, to more clearly illustrate the above parameter matching mechanism, this application provides three typical scenario modes and their corresponding parameter threshold combination examples. The power control parameter set includes the target speed range, maximum torque limit, acceleration ramp time, and operating time limit; the fluid control parameter set includes the positive fluid supply flow rate, negative pressure suction pressure, pulse frequency, and fluid temperature threshold. Different scenario mode commands correspond to different parameter threshold combinations, including the first scenario mode, the second scenario mode, and the third scenario mode.

[0034] In the first scenario mode, the target speed range is the low speed range, with both the positive fluid supply flow rate and the negative pressure suction pressure at high thresholds, and the pulse frequency synchronized with the target speed range. This mode is mainly suitable for precision machining of heat-sensitive or fragile materials. The low speed range limits the rate of mechanical energy input, reducing frictional heat generation at the source; while the high threshold fluid supply and suction pressure create a powerful active cooling and debris removal environment, ensuring that the working area remains clean and cool even during low-speed cutting. In particular, the synchronization strategy between pulse frequency and speed allows for precise timing coupling between fluid impact and tool movement, avoiding disturbance to fragile structures caused by continuous high-flow-rate scouring, and ensuring sufficient fluid intervention for cooling in each cutting cycle, effectively solving the problem of heat accumulation damage that easily occurs in precision operations.

[0035] In the second scenario mode, the target speed range is the medium speed range, the forward fluid supply flow rate is at a low threshold, the negative pressure suction pressure is at a medium threshold, and the fluid control module 300 outputs fluid in a preset pulse mode. This mode is designed for routine operation scenarios under medium loads. In this mode, the system employs a differentiated fluid ratio strategy: reducing the forward supply flow rate to minimize unnecessary liquid consumption and splashing, while maintaining a moderate negative pressure suction to ensure basic chip removal capability. The preset pulse mode fluid output is an intermittent liquid supply strategy with optimized duty cycle and frequency. This allows the system to meet basic cooling requirements while utilizing the pulsating effect of the fluid to help loosen debris adhering to the work surface, improving cleaning efficiency. This parameter combination significantly reduces fluid medium consumption while ensuring operational quality, reflecting the system's energy efficiency optimization considerations under normal operating conditions.

[0036] In the third scenario mode, the target speed range is the high-speed range, and the maximum torque upper limit is at a high threshold. Both the positive fluid supply flow rate and the negative pressure suction pressure increase proportionally with the real-time load of the power output module 200. This mode is specifically designed for machining hard materials with high strength and high removal rate. Under high speed and high torque output conditions, a large amount of heat and debris will be generated in the working area, and fixed fluid parameters are often insufficient to cope with drastically fluctuating working conditions. Therefore, this mode introduces a dynamic positive correlation adjustment mechanism: when the real-time load increases, indicating increased cutting resistance and intensified heat generation, the system automatically and linearly increases the fluid supply flow rate to enhance convective heat transfer; at the same time, the negative pressure suction pressure also increases accordingly to ensure that sufficient flow rate can be maintained to discharge debris in time under high chip generation rate, preventing blockage or secondary grinding. This adaptive and enhanced collaborative strategy based on load fundamentally solves the problems of overheating and poor chip removal that are prone to occur during high-strength cutting, ensuring the continuity and safety of operation under extreme conditions.

[0037] The three scenario modes described above are merely illustrative examples. In practical applications, the system can pre-set more combinations of modes based on specific work objects and process requirements, or allow users to fine-tune parameters on the basic modes. Regardless of the specific parameter configuration used, the core is to establish the intrinsic relationship between power output characteristics and fluid control characteristics, so that the two can form an optimal synergistic effect under specific operational objectives, rather than simply adding functions together.

[0038] Furthermore, such as Figure 4 As shown, during operation, the main control module 100 dynamically adjusts the output parameters of the fluid control module 300 based on the real-time operating status of the power output module 200. This dynamic adjustment process is not a simple synchronous start-stop or fixed-ratio following, but a closed-loop control strategy executed by the collaborative control unit 130, which includes state perception, load calculation, and differentiated compensation. The collaborative control unit 130 acquires the operating status parameters of the power output module 200 in real time, including the motor load current and actual speed. In the actual hardware link, the collaborative control unit 130 reads the effective value of the phase current fed back by the motor driver and the instantaneous speed value resolved by the encoder at millisecond intervals via a high-speed bus or analog sampling circuit, thereby constructing a data foundation reflecting the real working conditions at the operation end.

[0039] Furthermore, the collaborative control unit 130 calculates the real-time workload of the execution end 400 based on the operating status parameters. It should be noted that the real-time workload here is a comprehensive quantitative representation of the current cutting or grinding resistance. The real-time workload can be estimated by multiplying the motor load current by the actual rotational speed to obtain the instantaneous mechanical power, or by using a weighted fusion algorithm, i.e. ,in For load current, This refers to the actual rotational speed. and The weighting coefficients are determined based on the type of execution end. This composite calculation method can more accurately identify the actual heat load and chip removal requirements under different operating conditions such as "high speed and light load" and "low speed and heavy load", avoiding misjudgments that may be caused by relying on a single current value.

[0040] Furthermore, the collaborative control unit 130 proportionally adjusts the output parameters of the fluid control module 300 based on the changing trend of the real-time operating load. These output parameters include the positive fluid supply flow rate or the negative pressure suction pressure. To more accurately match the physical process, this application employs a differentiated adjustment strategy. When an increase in motor load current or an increase in actual speed is detected, causing the real-time operating load to exceed a preset load reference value, the main control module 100 generates flow compensation and pressure compensation commands. The load reference value is a threshold that distinguishes between no-load / light-load and effective operating states; its set value is typically slightly higher than the background noise level when the system is idling to prevent false triggering.

[0041] Furthermore, considering the continuous nature of heat accumulation, based on flow compensation commands, the flushing pump 310 in the fluid control module 300 is controlled to increase its speed, causing the forward fluid supply flow rate to increase linearly with the increase of the motor load current according to a first preset proportional coefficient. Since frictional heat generation is approximately positively correlated with the load current, the linearly increased flow rate can provide continuous and smooth convective heat transfer, avoiding abrupt temperature fluctuations. The typical range of the first preset proportional coefficient can be set from 0.5 mL / min / A to 2.0 mL / min / A, with the specific value depending on the specific heat capacity of the fluid medium and the heat dissipation conditions of the working area.

[0042] Furthermore, based on the threshold characteristics of debris discharge and the pump's response characteristics, and using pressure compensation commands, the suction pump 320 in the fluid control module 300 is powered up, causing the negative pressure suction pressure to increase stepwise with increasing actual rotational speed according to a second preset proportional coefficient. Unlike heat, debris generation is often explosive, and establishing negative pressure requires overcoming pipeline damping. The stepwise increase strategy provides sufficient suction to handle the surge in debris when the rotational speed crosses critical levels, while avoiding frequent fluctuations in negative pressure caused by minor rotational speed variations, thus maintaining flow field stability and reducing pump noise. The second preset proportional coefficient reflects the mapping slope between the rotational speed range and the negative pressure level; for example, increasing the negative pressure by 5 kPa for every 1000 RPM increase until a safe upper limit is reached. This nonlinear matching mechanism ensures that during high-speed cutting, the negative pressure suction capacity is always slightly greater than the debris generation rate, effectively preventing pipeline blockage or blurred surgical field.

[0043] Furthermore, when the real-time operating load is lower than the load baseline, the flushing pump 310 and suction pump 320 are restored to the basic maintenance state set by the fluid control parameter set. The basic maintenance state does not completely stop fluid output, but rather maintains a low constant flow rate and negative pressure (e.g., 10%-20% of maximum capacity). This design has dual technical benefits: firstly, it significantly reduces energy and media consumption during non-operating intervals; secondly, it maintains fluid continuity and a positive / negative pressure environment within the pipeline, avoiding pipeline cavitation and cavitation caused by complete shutdown, as well as pressure build-up delays during restart, ensuring that the fluid system can achieve a zero-delay instantaneous response when the operating load increases again. Through this refined dynamic closed-loop regulation method, deep coupling of power output and fluid control in both energy and temporal dimensions is achieved, fundamentally solving the problem of uncontrolled operating environment caused by lag or excess fluid supply in traditional equipment.

[0044] Furthermore, such as Figure 3 As shown, the actuator 400 and the power output module 200 are physically connected via a quick-connect self-locking interface 410. The quick-connect self-locking interface 410 not only serves as a mechanical connection for transmitting rotational torque or reciprocating motion, but also acts as a coupling interface for fluid medium transmission. When the actuator 400 is inserted into the quick-connect self-locking interface 410 and the locking mechanism is triggered, the mechanical latch and the fluid sealing valve core move in tandem: the mechanical latch first completes axial positioning and circumferential anti-rotation, then pushes the fluid connector to overcome spring resistance and open the check valve, automatically opening the fluid passage and forming an interference seal. This synchronous mechanical and fluid connection design eliminates the need for manual pipe connections or valve adjustments when replacing the actuator 400, ensuring both airtightness and liquid tightness of the connection interface, preventing media leakage or pressure loss during operation, and significantly shortening the end-point switching time. This meets the stringent requirements for efficiency and a sterile environment in continuous multi-scenario operations. It should be understood that although this embodiment uses a spring-loaded check valve as an example to illustrate the sealing structure, in other embodiments, magnetic sealing valves, spinning plane seals, or other fluid coupling structures that can achieve automatic opening and closing upon insertion and removal can also be used, as long as the function of locking for connection and unlocking for closure is met.

[0045] Furthermore, the actuator 400 integrates a fluid channel communicating with the fluid control module 300. This fluid channel includes a positive supply channel 420 and / or a negative pressure suction channel 430. This means that the fluid delivery pipeline is embedded within the actuator 400's main structure, rather than being externally attached to an external surface. The built-in flow channel design eliminates the obstruction of the operator's view and interference with the feel of operation caused by external pipelines, while also avoiding the risk of accidental detachment due to snagging, providing a cleaner and safer physical carrier for precision operations.

[0046] Furthermore, to adapt to different types of work objects, this application differentiates the execution end 400 into types and configures its flow channels accordingly. The execution end 400 includes a first type and a second type. The first type of execution end is for machining hard materials, and it integrates a forward supply channel 420. The outlet of the forward supply channel 420 is located on the side of the working tip of the first type of execution end, used for continuous flushing and cooling of the working area during operation. Since frictional heat generation is concentrated and temperature sensitive during machining hard materials (such as bone, metal, ceramics, etc.), arranging the outlet of the forward supply channel 420 on the side adjacent to the working tip allows the cooling fluid to directly cover the center of the heat source via the shortest path. The impact heat transfer effect of the high-speed jet quickly removes cutting heat, effectively preventing thermal deformation of the workpiece surface or thermal damage to surrounding tissues. In contrast, if the outlet is located on the shank far from the tip, the fluid's kinetic energy decreases when it reaches the working point and it is easily blocked by splashing debris, resulting in a significant decrease in cooling efficiency. The second type of end effector is a soft tissue cutting end effector, which integrates a negative pressure suction channel 430. The inlet of the negative pressure suction channel 430 is located behind the cutting edge of the second type of end effector, and is used to simultaneously suction the detached tissue debris and waste fluid during the cutting process. The debris generated by soft tissue cutting is usually viscous and easily diffuses with the fluid. By placing the inlet of the negative pressure suction channel 430 in the near-field region behind the cutting edge, it is possible to capture the debris the moment it detaches from the tissue and suck it into the channel, forming a local negative pressure field of "cut and suction immediately". This layout minimizes the residence time and diffusion range of debris in the working area, maintains the clarity of the surgical field or processed surface, and also reduces the probability of secondary adhesion of debris or blockage of subsequent pipelines.

[0047] Furthermore, when the same execution end 400 integrates both a positive supply channel 420 and a negative pressure suction channel 430, the outlet of the positive supply channel 420 and the inlet of the negative pressure suction channel 430 are arranged at a preset angle in space to form a directional fluid circulation. This preset angle is typically set between 30° and 90°, allowing the positive fluid ejected from the outlet and the negative fluid sucked in from the inlet to converge in the working area to form a specific vector composite flow field. This directional fluid circulation structure has dual technical advantages: First, the angle offset avoids the "fluid short circuit" phenomenon caused by direct alignment of the positive and negative pressure ports, preventing freshly sprayed coolant from being directly sucked away without fully participating in heat exchange and debris carrying, thereby improving the utilization rate of the fluid medium and the effective work time; second, the composite directional flow field can guide debris to converge towards the suction inlet along a predetermined trajectory, rather than splashing randomly, which is equivalent to building an invisible "fluid barrier" at the working point, significantly enhancing the directional removal capability of small particles. For example, during high-intensity grinding operations, the inclined flushing jet can both wash the grinding surface and, with the aid of momentum transfer, push the grinding chips towards the rear-side suction inlet, achieving a synergistic effect of cooling and chip removal. It should be understood that the specific value of the preset included angle can be optimized and adjusted according to the geometry of the execution end 400, the fluid velocity, and the physical characteristics of the workpiece, and is not limited to the above range. Its core lies in constructing a controllable, non-short-circuit fluid dynamic environment through the relative constraints of spatial position.

[0048] Furthermore, such as Figure 2 As shown, the main control module 100 is also configured to implement a safety protection mechanism: real-time monitoring of the current and temperature status of the power output module 200, and the pipeline pressure status of the fluid control module 300. The safety monitoring unit 140, as a sub-unit of the main control module 100, constructs a multi-dimensional state perception layer through a high-precision sampling circuit and sensor network. For the current status, the safety monitoring unit 140 acquires instantaneous phase current values ​​at a microsecond-level sampling rate using a Hall current sensor or shunt connected in series in the motor drive circuit, to identify stall, short circuit, or overload anomalies. For the temperature status, it collects temperature data of key heat source points in real time through NTC thermistors or thermocouples attached to the surface of the motor stator windings and power devices. For the pipeline pressure status, pressure transmitters are integrated into the positive supply pipeline and negative pressure suction pipeline of the fluid control module 300 respectively to dynamically monitor actual pressure fluctuations within the pipeline, detecting faults such as pipeline bends, blockages, or leaks. This multi-source heterogeneous real-time monitoring system provides the system with a comprehensive safety barrier that transcends single-dimensional protection.

[0049] Furthermore, when the current exceeds the overload threshold, the temperature exceeds the overheat threshold, or abnormal fluctuations occur in the pipeline pressure, a linkage protection action is triggered. This linkage protection action is not merely a software-level audible and visual alarm or interface prompt, but a mandatory intervention at the hardware driver level. The linkage protection action includes: immediately cutting off the drive signal of the power output module 200 to stop it, and simultaneously closing the fluid output valve of the fluid control module 300. In the execution chain, once the safety monitoring unit 140 determines that any state parameter exceeds the limit, it will directly send a low-level shutdown signal to the enable terminal of the motor driver, or forcibly pull down the PWM output through hardware circuitry, ensuring that the power source loses driving force within milliseconds; simultaneously, the main control module 100 sends a shutdown command to the solenoid valve or pump driver in the fluid control module 300, blocking the continued output of the fluid medium. The emphasis on "synchronous" cutoff is because, in precision operation scenarios, the imbalance between power and fluid is often more destructive than a single fault: if only power is stopped without interrupting fluid flow, the high-pressure jet may cause localized scouring damage or fluid accumulation on the static work surface; if only fluid flow is stopped without interrupting power, the high-speed rotating actuator 400 will instantly overheat and burn out or generate high-temperature debris splashing without cooling or lubrication. Therefore, this hardware-level linkage cutoff mechanism eliminates the path to secondary disasters at the physical level, significantly improving the inherent safety of the system under extreme abnormal operating conditions.

[0050] Furthermore, it also includes a human-machine interface unit 500, which is communicatively connected to the main control module 100. The human-machine interface unit 500 includes a touchscreen display and physical buttons, used to display in real time the currently active scene mode commands, the type of the execution end 400, the real-time operating status of the power output module 200, and the operating status of the fluid control module 300. The touchscreen display can use a capacitive or resistive touch panel, capable of intuitively presenting information such as speed curves, flow bar graphs, pressure values, and end-point identification icons in a graphical interface, allowing the operator to clearly understand the collaborative working status of the system. The physical buttons serve as redundant backups and quick access points for touch operation, typically designed as large, waterproof and dustproof mechanical switches or sensor keys, facilitating blind operation or emergency confirmation in special environments such as when wearing gloves or with hands contaminated with liquid. This dual interactive architecture of visual feedback and tactile control ensures both the richness of information display and the reliability and fault tolerance of operation in complex working environments.

[0051] Furthermore, the human-machine interface unit 500 is also used to receive mode switching commands and parameter fine-tuning commands input by the user, and transmit these commands to the main control module 100 to update the power control parameter set and fluid control parameter set. This indicates that the human-machine interface unit 500 is not merely a passive information display terminal, but also an active parameter configuration entry point and control logic trigger. When the user selects a new scene mode or rotates the knob to fine-tune a parameter (such as increasing the flushing flow rate by 10%) via the touch screen, the human-machine interface unit 500 encapsulates this operation into a standardized control command frame and sends it to the main control module 100. After receiving the command, the main control module 100 does not simply modify the display variables, but immediately executes the parameter set reload process: first, it verifies the legality and safety boundaries of the new parameters, then writes the updated power control parameter set and fluid control parameter set into the runtime memory, and notifies the cooperative control unit 130 to apply the new strategy in the next control cycle. This interactive command directly triggers the control logic of parameter set overload, enabling the system to respond instantly and adapt to changes in operating conditions without interrupting operations or restarting equipment. For example, in the event of sudden bleeding during surgery requiring a temporary increase in suction, the doctor can quickly raise the negative pressure threshold through the human-machine interface unit 500. The system immediately updates the fluid control parameter set and drives the suction pump 320 to increase its power, without needing to exit the current interface or reselect a mode, greatly improving the smoothness of clinical operations and emergency response capabilities. The human-machine interface unit 500 can also take various forms, such as a voice recognition module, gesture sensor, or foot pedal controller, as long as it can achieve two-way interactive functions of status display and parameter update.

[0052] A preferred embodiment of this application provides a power and fluid coordinated operation control method, which is applied to the power and fluid coordinated operation system described in the foregoing embodiments. This method achieves adaptive coordination of power and fluid through a standardized timing control process. Figure 1 and Figure 4 As shown, the control method includes the following steps: Step S100: Obtain the identity identifier of the currently connected execution terminal and obtain the scene mode instruction.

[0053] Specifically, after the system powers on or the end-effector is replaced, the main control module first automatically parses the physical specifications and performance boundaries of the current end-effector through electrical detection or digital communication protocols via the quick-connect self-locking interface; simultaneously, it receives scene mode selection signals from the human-machine interface unit or foot control unit. It is important to emphasize that these acquisition actions have strict time priority; that is, before the power and fluid modules are activated, the confirmation and verification of dual input information must be completed to prevent malfunctions or equipment damage caused by unidentified end-effector type or unselected mode. For example, if an abnormal interface impedance is detected or a valid mode command is not received, the system will remain in a safe standby state and prompt the user to check the connection, thus establishing the certainty of safety and matching from the source of the process flow, forming the data perception foundation for collaborative operations.

[0054] Step S200: Based on the identity identifier and scene mode command, match the corresponding power control parameter set and fluid control parameter set.

[0055] Specifically, the main control module has a pre-built parameter library containing multiple sets of associated configuration data. Once the identity identifier and scene mode command are determined, the system uses these two as index keys to retrieve and load a uniquely corresponding set of power thresholds and fluid strategies. This matching mechanism is not a simple numerical call, but rather establishes a three-dimensional integrated correlation model of hardware capabilities, process requirements, and control parameters. For example, for the same grinding end effector, a low-speed, high-flow parameter set is matched when selecting the fine machining mode, while a high-speed, high-torque, and dynamic fluid parameter set is automatically switched when selecting the rough machining mode. Through this automated parameter reconfiguration, the cumbersome process of manually setting power and fluid parameters separately, which is traditionally done in equipment, is eliminated at the method level. This ensures the optimality and consistency of the control strategy at the start of each operation, thereby transforming discrete input conditions into executable control strategies.

[0056] Step S300: Drive the power output module to run based on the power control parameter set, and drive the fluid control module to run based on the fluid control parameter set.

[0057] Specifically, the main control module synchronously sends control commands to the motor driver and pump / valve driver, ensuring that power output and fluid supply reach a preset coordinated baseline state immediately upon startup. Unlike the common timing sequence in existing technologies, which involves "starting power first, then fluid" or "manually starting separately," this step emphasizes parallel driving and initial synchronization of both. For example, during the ramp-up time when the motor accelerates to the target speed, the flushing pump also synchronously establishes its flow rate according to a preset curve, ensuring that cooling and chip removal environments are ready when the pump contacts the workpiece at the end of its operation. This precise timing effectively avoids instantaneous overheating or debris accumulation caused by fluid lag in the early stages of operation, laying a stable initial operating condition foundation for subsequent dynamic adjustments and marking the system's transition from the configuration phase to the steady-state operation phase.

[0058] In step S400, during the operation, the output parameters of the fluid control module are dynamically adjusted based on the real-time operating status of the power output module to maintain the coordinated linkage between power output and fluid control.

[0059] Specifically, during steady-state operation, the main control module continuously collects state variables such as motor load current and actual speed, using them as real-time triggers for fluid regulation. When load fluctuations are detected, indicating a change in operating conditions, the system no longer adheres to the initial parameters matched in step S200, but instead adjusts the fluid output in real time according to a preset linkage algorithm. For example, when a sudden increase in load current indicates increased cutting resistance, the method automatically executes flow compensation logic, linearly increasing the flushing flow rate to enhance heat dissipation; when an increase in speed indicates an increase in chip production, the negative pressure suction pressure is increased in stages to prevent pipeline blockage. Conversely, when the load decreases, it automatically returns to the basic maintenance state to save energy and reduce noise. Through this dynamic adjustment mechanism throughout the entire operation, this method achieves real-time tracking and adaptive matching of fluid control to power status, forming a high-frequency execution closed-loop feedback regulation process. This fundamentally solves the technical problem that fixed parameters cannot cope with time-varying operating conditions, ensuring optimal thermal balance and cleanliness throughout the entire operation cycle, significantly improving operational safety and processing quality. It should be understood that although this embodiment describes the control flow in a specific sequence of steps, in actual applications, step S400 is usually executed in parallel with step S300 as an independent background task. The data flow between each step can also be implemented in different ways, such as interrupt triggering or polling, depending on the specific hardware architecture, as long as the core logic of matching parameters based on dual inputs and dynamically adjusting the fluid based on real-time status is met.

[0060] This application also provides a specific implementation method for a power and fluid collaborative operation system in a multidisciplinary surgical scenario. Typical medical scenarios such as neurosurgery, otolaryngology, and orthopedics are used as examples for illustration, but this is merely a verification and exemplary explanation of the versatility of the aforementioned system and not a limitation on the scope of protection of this application. The power and fluid collaborative operation system of this application is also applicable to industrial precision machining, dental treatment, veterinary surgery, and any other field requiring the collaborative operation of power tools and fluid media.

[0061] In a typical neurosurgical application scenario, the system is configured to perform high-precision cranioplasty or laminectomy. When the operator inserts the grinding handle, which integrates a positive supply channel 420, as the end effector 400 into the quick-connect self-locking interface 410, the main control module 100 automatically reads the electrical impedance characteristics of the end effector through the identification unit 110 to confirm that it is an end effector for processing hard materials. Subsequently, the operator selects the scene mode command corresponding to the fine operation (i.e., the aforementioned first scene mode) through the human-machine interaction unit 500. Based on the command and the end effector identification, the main control module 100 automatically matches and loads a preset set of parameters, including a low-speed range, a high-threshold positive fluid supply flow rate, and a high-threshold negative pressure suction pressure. During the operation, although the motor operates at a low speed to reduce mechanical vibration disturbance to brain tissue or nerve roots, the fluid control module 300 maintains a high intensity of flushing and suction output, and the pulse frequency is strictly synchronized with the motor speed. The technical mechanism of this collaborative strategy lies in the following: while low rotation speed reduces the heat generation rate, it also weakens the centrifugal throwing ability of the debris, making it easy for the debris to accumulate in the narrow surgical field and generate local friction hotspots. By using high-threshold synchronous pulsed fluid, sufficient instantaneous coolant can be provided to remove heat in each cutting cycle, and pulsed shock waves can be used to assist in the removal of adhered bone powder. Combined with strong negative pressure for immediate removal, this effectively avoids the risk of nerve thermal damage caused by heat accumulation while ensuring the stability of precise operation. Compared to the cumbersome operation of traditional equipment that requires manually adjusting the rotation speed and increasing the suction flow rate, this system solidifies this complex collaborative logic into an automatically executed parameter set, significantly shortening preoperative preparation time and eliminating the risk of human error.

[0062] In another ENT surgical application scenario, the system is used for nasal polyp removal or laryngeal soft tissue trimming. In this case, the operator replaces the planer handle with an integrated negative pressure suction channel 430 as the end effector 400 and selects the scene mode command corresponding to the micro-operative procedure (i.e., the aforementioned second scene mode). The main control module 100 then calls the parameter combination of medium speed range, low threshold positive fluid supply flow rate, and medium threshold negative pressure suction pressure, and controls the fluid control module 300 to output pulsed fluid at a preset duty cycle. In this scenario, because soft tissue is rich in blood vessels and has a soft texture, excessively high continuous fluid pressure can easily cause tissue edema or blurred vision, while excessively low negative pressure cannot promptly remove tough tissue strands. The differentiated synergistic strategy adopted in this invention reduces the scouring stimulation to fragile mucosa by lowering the positive supply flow rate, while utilizing the relaxation-impact effect of intermittent pulsed fluid to help loosen embedded tissue debris, and then smoothly suctions it out with moderate continuous negative pressure. This perfect match between the fluid dynamics environment and the medium-speed cutting rhythm not only maintains a clear and clean surgical field, but also protects the integrity of the surrounding normal mucosal tissue to the greatest extent, demonstrating the system's adaptive control advantages in minimally invasive precision operations.

[0063] In another orthopedic surgical application scenario, the system is used for high-intensity bone cutting and drilling operations in knee replacement or spinal fusion surgeries. The operator connects a milling drill handle, which combines a positive supply channel 420 and a negative pressure suction channel 430, as the execution end 400, and selects the scene mode command corresponding to high-intensity removal (i.e., the aforementioned third scene mode). In this mode, the main control module 100 sets a high speed range and a high torque limit, and activates a dynamic collaborative linkage method. When the milling cutter cuts into dense cortical bone, causing a sharp increase in the motor load current, the collaborative control unit 130 calculates in real time that the working load exceeds the reference value and immediately generates flow compensation and pressure compensation commands. The speed of the flushing pump 310 increases linearly, so that the positive fluid supply flow rate increases with the increase of the load current according to a first preset proportional coefficient to cope with the large amount of heat energy generated by intense friction; at the same time, the power of the suction pump 320 increases stepwise according to a second preset proportional coefficient with the increase of the actual speed, ensuring that the negative pressure suction capacity is always slightly greater than the debris generation rate under high debris generation rate. When the milling cutter exits the bone and enters an idle or light-load state, the fluid parameters automatically return to the baseline maintenance state, avoiding excessive flushing of the wound and saving irrigation fluid consumption. This dynamic closed-loop adjustment mechanism based on real-time load feedback fundamentally solves the dilemma of "insufficient cooling leading to osteonecrosis under heavy load and excessive fluid leading to surgical field accumulation under light load" in traditional fixed-parameter equipment during high-intensity cutting, achieving optimal thermal balance and cleanliness management throughout the process.

[0064] In summary, by applying the aforementioned power and fluid collaborative operation system to the various surgical scenarios described above, the significant advancements of this application in practical applications can be verified. Firstly, based on the automatic identification mechanism of the quick-connect self-locking interface 410 and the automatic parameter matching mechanism of scene mode commands, "one machine for multiple departments, one-click mode switching" is achieved, reducing the time for cross-departmental equipment switching and debugging from minutes to seconds, significantly improving operating room turnover efficiency. Secondly, the deep collaborative linkage between power output and fluid control, especially the differentiated fluid strategies and dynamic compensation algorithms customized for different working conditions, ensures stable surgical field cleanliness and suitable temperature under various complex operating conditions, effectively reducing the risks of thermal damage, tissue collateral damage, and postoperative infection. Finally, the hardware-level safety monitoring and linkage protection mechanism provides inherent safety assurance for high-intensity, high-risk surgical operations. These technical effects fully demonstrate that this invention is not only innovative in its theoretical architecture but also has substantial contributions to solving the pain points of existing technologies and broad promotional value in practical clinical applications.

[0065] It should be understood that this application has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this application. Furthermore, based on the teachings of this application, these features and embodiments can be modified to suit specific circumstances and materials without departing from the spirit and scope of this application. Therefore, this application is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this application.

Claims

1. A power and fluid coordinated operation system, characterized in that, Includes a power output module, a fluid control module, and a main control module: The main control module is used to obtain the identity identifier of the currently connected execution terminal and to obtain the scene mode instructions; Based on the identity identifier and scene mode command, match the corresponding power control parameter set and fluid control parameter set; The power output module is driven to operate based on the power control parameter set, and the fluid control module is driven to operate based on the fluid control parameter set. During operation, the output parameters of the fluid control module are dynamically adjusted based on the real-time operating status of the power output module to maintain the coordinated linkage between power output and fluid control.

2. The power and fluid coordinated operation system according to claim 1, characterized in that: The main control module obtains the identity identifier of the currently connected execution endpoint, including: The identity identifier of the execution end is read by the electrical impedance characteristics of the quick-connect self-locking interface or the built-in communication chip. The scenario mode instructions include a set of control instructions for different operating environment configuration data. The main control module calls the corresponding power control parameter set and fluid control parameter set based on the control instruction set.

3. The power and fluid coordinated operation system according to claim 2, characterized in that: The power control parameter set includes the target speed range, maximum torque limit, acceleration ramp time and working time limit; the fluid control parameter set includes the positive fluid supply flow rate, negative pressure suction pressure, pulse frequency and fluid temperature threshold. Different scene mode commands correspond to different combinations of parameter thresholds, and the combinations of parameter thresholds include a first scene mode, a second scene mode, and a third scene mode; In the first scenario mode, the target speed range is a low speed range, the positive fluid supply flow rate and the negative pressure suction pressure are both at a high threshold state, and the pulse frequency is synchronized with the target speed range. In the second scenario mode, the target speed range is the medium speed range, the positive fluid supply flow rate is at a low threshold state, the negative pressure suction pressure is at a medium threshold state, and the fluid control module outputs fluid in a preset pulse mode. In the third scenario mode, the target speed range is the high speed range, the maximum torque limit is in a high threshold state, and the positive fluid supply flow rate and negative pressure suction pressure both increase proportionally with the real-time load of the power output module.

4. The power and fluid coordinated operation system according to claim 1, characterized in that: During operation, the main control module dynamically adjusts the output parameters of the fluid control module based on the real-time operating status of the power output module, including: The operating status parameters of the power output module are acquired in real time, including the motor load current and actual speed. Based on the aforementioned operating status parameters, calculate the real-time workload at the execution end. Based on the changing trend of the real-time operating load, the output parameters of the fluid control module are adjusted proportionally, including the positive fluid supply flow rate or the negative pressure suction pressure.

5. The power and fluid coordinated operation system according to claim 4, characterized in that: The step of proportionally adjusting the output parameters of the fluid control module based on the changing trend of the real-time operating load includes: When the motor load current increases or the actual speed increases, causing the real-time operating load to exceed the preset load reference value, the main control module generates flow compensation command and pressure compensation command. Based on the flow compensation command, the flushing pump in the fluid control module is controlled to increase its speed, so that the positive fluid supply flow rate increases linearly with the increase of the motor load current according to the first preset proportional coefficient. Based on the pressure compensation command, the suction pump in the fluid control module is controlled to increase its power, so that the negative pressure suction pressure increases stepwise with the increase of the actual rotation speed according to the second preset proportional coefficient. When the real-time operating load is lower than the load reference value, the flushing pump and suction pump are restored to the basic maintenance state set by the fluid control parameter set.

6. The power and fluid coordinated operation system according to claim 1, characterized in that: The execution terminal and the power output module are physically connected via a quick-connect self-locking interface; The actuator has an integrated fluid channel that communicates with the fluid control module. The fluid channel includes a positive supply channel and / or a negative pressure suction channel. When the quick-connect self-locking interface is locked, the fluid channel and the pipeline interface of the fluid control module automatically connect and form a sealed connection.

7. The power and fluid coordinated operation system according to claim 6, characterized in that: The execution terminal includes a first type of execution terminal and a second type of execution terminal; The first type of execution end is a hard material processing end, which integrates a forward supply channel inside. The outlet of the forward supply channel is located on the side of the working tip of the first type of execution end, and is used to continuously rinse and cool the working area during the operation. The second type of execution end is a soft tissue cutting end, which integrates a negative pressure suction channel. The inlet of the negative pressure suction channel is located behind the cutting edge of the second type of execution end, and is used to simultaneously suction the stripped tissue debris and waste liquid during the cutting process. When the same execution end integrates a positive supply channel and a negative pressure suction channel, the outlet of the positive supply channel and the inlet of the negative pressure suction channel are arranged at a preset angle in space to form a directional fluid circulation.

8. The power and fluid coordinated operation system according to claim 1, characterized in that: The main control module is also configured to execute a security protection mechanism: The current and temperature status of the power output module, as well as the pipeline pressure status of the fluid control module, are monitored in real time. When the current exceeds the overload threshold, the temperature exceeds the overheat threshold, or the pipeline pressure fluctuates abnormally, the linkage protection action is triggered. The linkage protection action includes: immediately cutting off the drive signal of the power output module to stop it, and simultaneously closing the fluid output valve of the fluid control module.

9. The power and fluid coordinated operation system according to claim 1, characterized in that: It also includes a human-computer interaction unit, which is communicatively connected to the main control module; The human-machine interaction unit includes a touch screen and physical buttons, which are used to display the currently effective scene mode command, the type of execution end, the real-time operating status of the power output module, and the working status of the fluid control module in real time. The human-machine interaction unit is also used to receive mode switching instructions and parameter fine-tuning instructions input by the user, and transmit the mode switching instructions and parameter fine-tuning instructions to the main control module to update the power control parameter set and fluid control parameter set.

10. A power and fluid coordinated operation control method, applied to a power and fluid coordinated operation system as described in any one of claims 1 to 9, characterized in that, include: Obtain the identity identifier of the currently connected execution endpoint and obtain the scene mode instruction; Based on the identity identifier and scenario mode instructions, match the corresponding power control parameter set and fluid control parameter set; The power output module is driven by the power control parameter set, and the fluid control module is driven by the fluid control parameter set. During operation, the output parameters of the fluid control module are dynamically adjusted based on the real-time operating status of the power output module to maintain the coordinated linkage between power output and fluid control.

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