End effector structure

Abstract

The utility model provides an end effector structure which is characterized in that the end effector structure comprises an effector body, an upper fixing rod, a lower fixing rod, an upper T-shaped groove, an upper T-shaped groove locking block, a lower T-shaped groove, a lower T-shaped groove locking block and a positioning ball, the upper fixing rod and the lower fixing rod are hinged to the effector body, the upper fixing rod can slide, the lower fixing rod can slide, and the upper T-shaped groove locking block can slide. The upper T-shaped groove locking block and the lower T-shaped groove locking block can slide and can fix the needle guide and the tracker which are clamped into the upper T-shaped groove and the lower T-shaped groove, and the needle guide and the tracker which are clamped into the upper T-shaped groove and the lower T-shaped groove are light and thin, are made of PA, are wider in applicability compared with stainless steel, and are simple in structure, convenient to install and stable in fixation. The needle bodies such as a puncture needle and a biopsy needle can be controlled to replace manual control of the needle bodies for operation by matching the positioning of the positioning bead with the driving of the positioning platform of the surgical robot.

Description

Technical Field

[0001] The utility model relates to the field of medical equipment, in particular to an end effector structure. Background Art

[0002] The robot end effector refers to a tool with certain functions connected to the edge (joint) of the robot's mechanical arm. It is usually considered as a peripheral device of the robot, an accessory of the robot, a robot tool, an end-of-arm tool (EOA), etc. The design mainly considers the structure and execution method, as well as the mass, shape, center of gravity position, size, dimensional tolerance, surface condition, material, strength, operating parameters, operating space environment, operating accuracy, operating speed and acceleration, clamping time, clamping force, etc. Whether it is a clamping or adsorption structure, the robot's end effector also needs to have the repetitive accuracy required for the operation, and should be as simple and compact as possible, and light in weight to reduce the load on the mechanical arm.

[0003] The existing end effector of surgical robots is complex in structure, relatively bulky, cumbersome to install, and has low reciprocating precision. A structure that is light in weight, simple in structure, and easy to pick up and place is needed. Utility Model Content

[0004] The utility model aims to provide an end effector structure to solve the problems in the prior art that the end effector part of a surgical robot is relatively bulky, complicated to install and adjust.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An end actuator structure includes an actuator body 1, an upper fixing rod 2, a lower fixing rod 3, an upper T-slot 4, an upper locking block 5, a lower T-slot 6, a lower locking block 7 and a positioning bead 8, wherein the upper fixing rod 2 and the lower fixing rod 3 are respectively hinged to the actuator body 1, and the position of the upper fixing rod 2 can slide, the upper T-slot 4 and the lower T-slot 6 are located on the side of the actuator body 1 away from the upper fixing rod 2 and the lower fixing rod 3, the upper locking block 5 and the lower locking block 7 are respectively located above the upper T-slot 4 and the lower T-slot 6, the upper locking block 5 and the lower locking block 7 can slide, and can be lowered and inserted into the needle guide and tracker in the upper T-slot 4 and the lower T-slot 6 for fixation.

[0007] The actuator body 1 is a strip-shaped rectangular parallelepiped, and four positioning bead fixing grooves 18 are distributed at different positions on the left and right sides of the actuator body 1. At the same time, the actuator body 1 is provided with a main body protrusion 11 on the side facing the upper fixing rod 2 and the lower fixing rod 3, and the main body protrusion is also provided with the positioning bead fixing groove 18. A positioning bead assembly groove 181 is provided on the inner side wall of each positioning bead fixing groove 18, and the positioning bead 8 can be fixed in the positioning bead assembly groove 181; the actuator body 1 is provided with a long strip groove 121 at the corresponding position of the upper fixing rod 2, and long upper fixing rod sliding grooves 122 are also provided on both sides of the long strip groove 121; the actuator body 1 is provided with an actuator lower hinge hole 131 at the corresponding position of the lower fixing rod 3.

[0008] As a possible implementation, the main body of the upper fixed rod 2 is cylindrical, an upper fixed rod limiting protrusion 21 is provided in the middle of the actuator body 1, and two grooves are provided in the direction away from the actuator body 1, namely, an upper fixed rod position confirmation groove 22 and an upper fixed rod fixing groove 23, wherein the upper fixed rod fixing groove 23 is deeper, and the end of the upper fixed rod 2 away from the actuator body 1 is truncated, and the end close to the actuator body 1 is a flat upper fixed rod hinge joint 24, and the upper fixed rod hinge The joint 24 can be inserted into the long strip groove 121 and slide therein. The upper fixed rod hinge joint 24 is provided with an upper fixed rod hinge hole 241, and a corresponding upper fixed rod hinge rod 242 is provided which can be inserted into and cooperate with the upper fixed rod hinge hole 241. The upper fixed rod hinge rod 242 can also pass through and cooperate with the upper fixed rod slide groove 122, so that the upper fixed rod 2 and the actuator body 1 are hinged at the upper fixed rod slide groove 122 and can slide in the upper fixed rod slide groove 122.

[0009] As a possible implementation mode, the main body of the lower fixing rod 3 is cylindrical, and two grooves are respectively provided in the direction away from the actuator body 1, namely a lower fixing rod position confirmation groove 32 and a lower fixing rod fixing groove 33, wherein the lower fixing rod fixing groove 33 is deeper, and the end of the lower fixing rod 3 away from the actuator body 1 is truncated, and the end close to the actuator body 1 is a U-shaped hinge head 34, and the actuator body 1 can just be inserted into the opening of the U-shaped hinge head 34, and the U-shaped hinge head 34 is provided with lower fixing rod hinge holes 341 on both sides of the end close to the actuator body 1, and correspondingly provided with a lower fixing rod hinge rod 342 that can be inserted into the lower fixing rod hinge hole 341 and cooperate with it, and the lower fixing rod hinge rod 342 can also pass through the actuator lower hinge hole 131 and cooperate with it, so that the lower fixing rod 3 and the actuator body 1 are hinged at the actuator lower hinge hole 131.

[0010] As a possible implementation mode, the main body of the upper locking block 5 is U-shaped, and the position of the actuator body 1 above the upper T-slot 4 has a groove that is just enough for the upper locking block 5 to be inserted horizontally. The upper locking block 5 is provided with a chamfer on one side close to the upper T-slot 4, and an upper T-slot connecting hole 51 is provided near the corner of the actuator body 1. The corresponding position of the actuator body 1 is provided with a long upper locking block slide groove 52 that matches the diameter of the upper T-slot connecting hole 51, and an upper locking block connecting rod 53 that can connect the upper T-slot connecting hole 51 and the upper locking block slide groove 52 is provided. An upper locking block spring fixing hole 54 is provided on the inner middle plane of the upper locking block 5, and an upper locking block spring guide hole 55 is provided at the corresponding position of the actuator body 1.

[0011] The upper locking block 5 is connected to the actuator body 1 by inserting the upper locking block connecting rod 53 into the upper T-slot connecting hole 51 and the upper locking block sliding groove 52. At the same time, the upper locking block 5 is connected to the actuator body 1 by arranging the spring 9 in the upper locking block spring fixing hole 54 and the upper locking block spring guide hole 55. The upper locking block 5 can slide relatively on the actuator body 1, and will automatically be pushed outward under the action of the spring 9, so that the upper locking block 5 blocks the upper T-slot 4 and fixes the device inserted into the upper T-slot 4.

[0012] As a possible implementation mode, the main body of the lower locking block 7 is U-shaped, and the position of the actuator body 1 above the lower T-slot 6 has a groove that is just enough for the lower locking block 7 to be inserted horizontally. The lower locking block 7 is provided with a chamfer on one side close to the lower T-slot 6, and a lower T-slot connecting hole 71 is provided near the corner of the actuator body 1, and a corresponding position of the actuator body 1 is provided with a long lower locking block slide groove 72 that matches the diameter of the lower T-slot connecting hole 71, and a lower locking block connecting rod 73 that can connect the lower T-slot connecting hole 71 and the lower locking block slide groove 72 is provided, a lower locking block spring fixing hole 74 is opened on the middle plane on the inner side of the lower locking block 7, and a lower locking block spring guide hole 75 is provided at the corresponding position of the actuator body 1.

[0013] The lower locking block 7 is connected to the actuator body 1 by inserting the lower locking block connecting rod 73 into the lower T-slot connecting hole 71 and the lower locking block sliding groove 72. At the same time, the lower locking block 7 is connected to the actuator body 1 by arranging the spring 9 in the lower locking block spring fixing hole 74 and the lower locking block spring guide hole 75. The lower locking block 7 can slide relative to the actuator body 1, and will automatically be pushed outward under the action of the spring 9, so that the lower locking block 7 blocks the upper part of the lower T-slot 6 and fixes the device inserted into the lower T-slot 6.

[0014] As a possible implementation, the upper T-slot 4 and the lower T-slot 6 both include two guide grooves 46 facing the middle, and the distance between the two guide grooves 46 is wider at the top and narrower at the bottom, and the guide groove 46 is a V-shaped groove.

[0015] As a possible implementation method, this product can be made of PA material, which has wider applicability than stainless steel material, simple structure, easy installation, and stable fixation.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The utility model is easy to install, light in weight, and can realize rapid identification and positioning. Driven by the mechanical arm and the positioning platform, the utility model can realize movement within a certain range of the X-axis and the Y-axis, as well as 30° pitch adjustment in the positive and negative directions of the X-axis and the Y-axis. Under the action of an external force of 50N, the position accuracy deviation is at the sub-millimeter level. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is one of the overall structural diagrams of the utility model;

[0019] Figure 2 This is the second schematic diagram of the overall structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the split structure of the upper fixing rod and the lower fixing rod of the utility model;

[0021] Figure 4 This is one of the schematic diagrams of the split structure of the upper locking block and the lower locking block of the utility model;

[0022] Figure 5 This is the second schematic diagram of the split structure of the upper locking block and the lower locking block of the utility model;

[0023] Figure 6 This is a schematic diagram of the local structure of the lower T-shaped groove of the utility model;

[0024] Figure 7 This is one of the schematic diagrams of the utility model when used in conjunction with a needle guide holder;

[0025] Figure 8 This is the second schematic diagram of the utility model when used in conjunction with the needle guide holder;

[0026] In the figure: 1-actuator body; 11-body protrusion; 121-long strip groove; 122-upper fixed rod slide groove; 131-actuator lower hinge hole; 18-positioning bead fixing groove; 181-positioning bead assembly groove; 2-upper fixed rod; 21-upper fixed rod limit protrusion; 22-upper fixed rod position confirmation groove; 23-upper fixed rod fixing groove; 24-upper fixed rod hinge joint; 241-upper fixed rod hinge hole; 242-upper fixed rod hinge rod; 3-lower fixed rod; 32-lower fixed rod position confirmation groove; 33-lower fixed rod fixing groove; 34-U-shaped hinge joint; 3 41-hinge hole of lower fixing rod; 342-hinge rod of lower fixing rod; 4-upper T-slot; 46-guide slot; 5-upper locking block; 51-connecting hole of upper locking block; 52-slot of upper locking block; 53-connecting rod of upper locking block; 54-fixing hole of spring of upper locking block; 55-guide hole of spring of upper locking block; 6-lower T-slot; 7-lower locking block; 71-connecting hole of lower locking block; 72-slot of lower locking block; 73-connecting rod of lower locking block; 74-fixing hole of spring of lower locking block; 75-guide hole of spring of lower locking block; 8-positioning bead; 9-spring; 10-needle guide clamp. DETAILED DESCRIPTION

[0027] In order to clarify the technical problems, technical solutions, implementation processes and performance demonstrations, the utility model is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are for explanation only. The utility model is not intended to limit the utility model. Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same figure numbers in the drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0028] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0029] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0030] like Figure 1 and Figure 2As shown, an end actuator structure includes an actuator body 1, an upper fixing rod 2, a lower fixing rod 3, an upper T-slot 4, an upper locking block 5, a lower T-slot 6, a lower locking block 7 and a positioning bead 8, the upper fixing rod 2 and the lower fixing rod 3 are respectively hinged to the actuator body 1, and the position of the upper fixing rod 2 can slide, the upper T-slot 4 and the lower T-slot 6 are located on the side of the actuator body 1 away from the upper fixing rod 2 and the lower fixing rod 3, the upper locking block 5 and the lower locking block 7 are respectively located above the upper T-slot 4 and the lower T-slot 6, the upper locking block 5 and the lower locking block 7 can slide, and can be lowered and inserted into the needle guide and tracker in the upper T-slot 4 and the lower T-slot 6 for fixation.

[0031] The actuator body 1 is a strip-shaped rectangular parallelepiped, and four positioning bead fixing grooves 18 are distributed at different positions on the left and right sides of the actuator body 1. At the same time, a main body protrusion 11 is provided on the side of the actuator body 1 facing the upper fixing rod 2 and the lower fixing rod 3, and the main body protrusion is also provided with the positioning bead fixing groove 18. A positioning bead assembly groove 181 is provided on the inner wall of each positioning bead fixing groove 18, and the positioning bead 8 can be fixed in the positioning bead assembly groove 181; the spatial position of the plurality of positioning beads 8 can be identified by medical imaging, and the spatial relative position of the human body image and the end effector is calibrated; the navigation software identifies the initial position of the end effector and the positioning platform through the imported patient image, and then calculates the distance between the target surgical path and the initial position, etc., so as to provide a basis for formulating the surgical plan. During the specific operation, the end effector will be controlled through the positioning platform according to the calculated path to drive the needle body for surgical operation.

[0032] The actuator body 1 is provided with a long strip groove 121 at a corresponding position of the upper fixed rod 2, and long strip upper fixed rod sliding grooves 122 are also provided on both sides of the long strip groove 121; the actuator body 1 is provided with an actuator lower hinge hole 131 at a corresponding position of the lower fixed rod 3.

[0033] like Figure 3As shown, as a possible implementation, the main body of the upper fixing rod 2 is cylindrical, an upper fixing rod limiting protrusion 21 is provided in the middle of the actuator body 1, and two grooves are provided in the direction away from the actuator body 1, namely, an upper fixing rod position confirmation groove 22 and an upper fixing rod fixing groove 23, wherein the upper fixing rod fixing groove 23 is deeper, the end of the upper fixing rod 2 away from the actuator body 1 is truncated, and the end close to the actuator body 1 is a flat upper fixing rod hinge joint 24, the upper fixing rod The hinge head 24 can be inserted into the long strip groove 121 and slide therein. The upper fixed rod hinge head 24 is provided with an upper fixed rod hinge hole 241, and a corresponding upper fixed rod hinge rod 242 is provided which can be inserted into and cooperate with the upper fixed rod hinge hole 241. The upper fixed rod hinge rod 242 can also pass through and cooperate with the upper fixed rod slide groove 122, so that the upper fixed rod 2 is hinged to the actuator body 1 at the upper fixed rod slide groove 122 and can slide in the upper fixed rod slide groove 122.

[0034] As a possible implementation mode, the main body of the lower fixing rod 3 is cylindrical, and two grooves are respectively provided in the direction away from the actuator body 1, namely a lower fixing rod position confirmation groove 32 and a lower fixing rod fixing groove 33, wherein the lower fixing rod fixing groove 33 is deeper, and the end of the lower fixing rod 3 away from the actuator body 1 is truncated, and the end close to the actuator body 1 is a U-shaped hinge head 34, and the actuator body 1 can just be inserted into the opening of the U-shaped hinge head 34, and the U-shaped hinge head 34 is provided with lower fixing rod hinge holes 341 on both sides of the end close to the actuator body 1, and correspondingly provided with a lower fixing rod hinge rod 342 that can be inserted into the lower fixing rod hinge hole 341 and cooperate with it, and the lower fixing rod hinge rod 342 can also pass through the actuator lower hinge hole 131 and cooperate with it, so that the lower fixing rod 3 and the actuator body 1 are hinged at the actuator lower hinge hole 131.

[0035] The upper fixing rod 2 and the lower fixing rod 3 are respectively provided with a position confirmation groove and a fixing groove. When the surgical robot is in use, the upper fixing rod 2 and the lower fixing rod 3 are generally connected to the surgical robot positioning platform, and the upper fixing rod 2 and the lower fixing rod 3 are inserted into the corresponding mounting holes. Two elastic clips are provided on the mounting holes of the positioning platform. The depths of the two elastic clips correspond to the depths of the position confirmation groove and the fixing groove respectively. When the two elastic clips are respectively inserted into the position confirmation groove and the fixing groove of the upper fixing rod 2 and the lower fixing rod 3, the two elastic clips will be flush. At this time, it means that the upper fixing rod 2 and the lower fixing rod 3 have been installed, otherwise it means that the installation is not in place.

[0036] During operation, the surgical robot positioning platform will drive the upper fixed rod 2 and the lower fixed rod 3 to move in the plane respectively. The upper fixed rod slide groove 122 is provided at the hinge of the upper fixed rod 2, which can slide a short distance, so as to adapt to the surgical robot positioning platform to drive the upper fixed rod 2 and the lower fixed rod 3 to produce misalignment, and control the actuator body 1 to produce a certain inclination angle, thereby driving the needle body and the like on the actuator body 1 to achieve a certain angle of rotation, thereby meeting the surgical robot's operation requirements that require a certain inclination angle.

[0037] like Figure 4 and Figure 5 As shown, as a possible implementation mode, the main body of the upper locking block 5 is U-shaped, and the position of the actuator body 1 located above the upper T-slot 4 has a groove that can just allow the upper locking block 5 to be inserted horizontally, and the upper locking block 5 is provided with a chamfer on the side close to the upper T-slot 4, and an upper T-slot connecting hole 51 is provided near the corner of the actuator body 1, and a corresponding position of the actuator body 1 is provided with a long upper locking block slide groove 52 that matches the diameter of the upper T-slot connecting hole 51, and an upper locking block connecting rod 53 that can connect the upper T-slot connecting hole 51 and the upper locking block slide groove 52 is provided, an upper locking block spring fixing hole 54 is opened on the inner middle plane of the upper locking block 5, and an upper locking block spring guide hole 55 is provided at the corresponding position of the actuator body 1.

[0038] The upper locking block 5 is connected to the actuator body 1 by inserting the upper locking block connecting rod 53 into the upper T-slot connecting hole 51 and the upper locking block sliding groove 52. At the same time, the upper locking block 5 is connected to the actuator body 1 by arranging the spring 9 in the upper locking block spring fixing hole 54 and the upper locking block spring guide hole 55. The upper locking block 5 can slide relatively on the actuator body 1, and will automatically be pushed outward under the action of the spring 9, so that the upper locking block 5 blocks the upper T-slot 4 and fixes the device inserted into the upper T-slot 4.

[0039] As a possible implementation mode, the main body of the lower locking block 7 is U-shaped, and the position of the actuator body 1 above the lower T-slot 6 has a groove that is just enough for the lower locking block 7 to be inserted horizontally. The lower locking block 7 is provided with a chamfer on one side close to the lower T-slot 6, and a lower T-slot connecting hole 71 is provided near the corner of the actuator body 1, and a corresponding position of the actuator body 1 is provided with a long lower locking block slide groove 72 that matches the diameter of the lower T-slot connecting hole 71, and a lower locking block connecting rod 73 that can connect the lower T-slot connecting hole 71 and the lower locking block slide groove 72 is provided, a lower locking block spring fixing hole 74 is opened on the middle plane on the inner side of the lower locking block 7, and a lower locking block spring guide hole 75 is provided at the corresponding position of the actuator body 1.

[0040] The lower locking block 7 is connected to the actuator body 1 by inserting the lower locking block connecting rod 73 into the lower T-slot connecting hole 71 and the lower locking block sliding groove 72. At the same time, the lower locking block 7 is connected to the actuator body 1 by arranging the spring 9 in the lower locking block spring fixing hole 74 and the lower locking block spring guide hole 75. The lower locking block 7 can slide relative to the actuator body 1, and will automatically be pushed outward under the action of the spring 9, so that the lower locking block 7 blocks the upper part of the lower T-slot 6 and fixes the device inserted into the lower T-slot 6.

[0041] like Figure 6 As shown, as a possible implementation, the upper T-slot 4 and the lower T-slot 6 both include two guide grooves 46 facing the middle, and the distance between the two guide grooves 46 is wider at the top and narrower at the bottom, and the guide groove 46 is a V-shaped groove.

[0042] As a possible implementation method, this product can be made of PA material, which has wider applicability than stainless steel material, simple structure, easy installation, and stable fixation.

[0043] like Figure 7 and Figure 8 As shown, when a dedicated needle guide clamp 10 is used in conjunction with the needle guide clamp 10, the end of the needle guide clamp 10 used for fixing is provided with a structure complementary to the guide groove 46 on the upper T-slot 4 and the lower T-slot 6, that is, both sides have strip-shaped protrusions that are wide at the top and narrow at the bottom. When fixing, the lower locking block 7 is pushed inward to vacate the position at the top of the lower T-slot 6, and the needle guide clamp 10 is inserted into the lower T-slot 6. After placement, the lower locking block 7 is released. With the elastic force of the spring 9, the lower locking block 7 moves outward until it fits with the top of the needle guide clamp 10 to prevent the guide clamp 10 from escaping from the lower T-slot 6.

[0044] The utility model is easy to install, light in weight, and can realize rapid identification and positioning. Driven by the mechanical arm and the positioning platform, the utility model can realize movement within a certain range of the X-axis and the Y-axis, as well as 30° pitch adjustment in the positive and negative directions of the X-axis and the Y-axis. Under the action of an external force of 50N, the position accuracy deviation is at the sub-millimeter level.

[0045] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An end effector structure, characterized in that: The actuator comprises an actuator body (1), an upper fixing rod (2), a lower fixing rod (3), an upper T-shaped groove (4), an upper locking block (5), a lower T-shaped groove (6), a lower locking block (7) and a positioning bead (8); the upper fixing rod (2) and the lower fixing rod (3) are respectively hinged to the actuator body (1), and the position of the upper fixing rod (2) can slide; the upper T-shaped groove (4) and the lower T-shaped groove (6) are located on the side of the actuator body (1) away from the upper fixing rod (2) and the lower fixing rod (3); the upper locking block (5) and the lower locking block (7) are respectively located above the upper T-shaped groove (4) and the lower T-shaped groove (6); the upper locking block (5) and the lower locking block (7) can slide and can be lowered and inserted into the needle guide and tracker of the upper T-shaped groove (4) and the lower T-shaped groove (6) for fixing.

2. The end effector structure according to claim 1, characterized in that: The actuator body (1) is a strip-shaped rectangular parallelepiped, and four positioning bead fixing grooves (18) are distributed at different positions on the left and right sides of the actuator body (1). At the same time, the actuator body (1) is provided with a main body protrusion (11) on the side facing the upper fixing rod (2) and the lower fixing rod (3), and the main body protrusion is also provided with the positioning bead fixing groove (18). A positioning bead assembly groove (181) is provided on the inner side wall of each positioning bead fixing groove (18), and the positioning bead (8) can be fixed in the positioning bead assembly groove (181); the actuator body (1) is provided with a long strip groove (121) at a corresponding position of the upper fixing rod (2), and long upper fixing rod sliding grooves (122) are also provided on both sides of the long strip groove (121); the actuator body (1) is provided with an actuator lower hinge hole (131) at a corresponding position of the lower fixing rod (3).

3. The end effector structure according to claim 2, characterized in that: The main body of the upper fixing rod (2) is cylindrical, an upper fixing rod limiting protrusion (21) is provided in the middle of the actuator main body (1), and two grooves are provided in the direction away from the actuator main body (1), namely, an upper fixing rod position confirmation groove (22) and an upper fixing rod fixing groove (23), wherein the upper fixing rod fixing groove (23) is relatively deep, and the end of the upper fixing rod (2) away from the actuator main body (1) is truncated cone-shaped, and the end close to the actuator main body (1) is a flat upper fixing rod hinge joint (24), and the upper fixing rod hinge joint (24) is just The upper fixed rod hinge joint (24) is provided with an upper fixed rod hinge hole (241), and a corresponding upper fixed rod hinge rod (242) is provided which can be inserted into and cooperate with the upper fixed rod hinge hole (241). The upper fixed rod hinge rod (242) can also pass through and cooperate with the upper fixed rod slide groove (122), so that the upper fixed rod (2) and the actuator body (1) are hinged at the upper fixed rod slide groove (122) and can slide in the upper fixed rod slide groove (122).

4. The end effector structure according to claim 2, characterized in that: The main body of the lower fixing rod (3) is cylindrical, and is provided with two grooves in the direction away from the actuator main body (1), namely, a lower fixing rod position confirmation groove (32) and a lower fixing rod fixing groove (33), wherein the lower fixing rod fixing groove (33) is relatively deep, and the end of the lower fixing rod (3) away from the actuator main body (1) is truncated, and the end close to the actuator main body (1) is a U-shaped hinge head (34), and the actuator main body (1) can be just inserted into the U-shaped hinge head (3 4), the U-shaped hinge joint (34) is provided with lower fixing rod hinge holes (341) on both sides of one end close to the actuator body (1), and a lower fixing rod hinge rod (342) is correspondingly provided which can be inserted into and cooperate with the lower fixing rod hinge hole (341), and the lower fixing rod hinge rod (342) can also pass through and cooperate with the actuator lower hinge hole (131), so that the lower fixing rod (3) and the actuator body (1) are hinged at the actuator lower hinge hole (131).

5. The end effector structure according to claim 1, characterized in that: The main body of the upper locking block (5) is in a U-shape. A groove is left at a position above the upper T-slot (4) of the actuator main body (1) so as to allow the upper locking block (5) to be inserted transversely. A chamfer is provided on one side of the upper locking block (5) close to the upper T-slot (4). An upper T-slot connecting hole (51) is provided at a corner close to the actuator main body (1). A long upper locking block slide groove (52) matching the diameter of the upper T-slot connecting hole (51) is provided at a corresponding position of the corresponding actuator main body (1). An upper locking block connecting rod (53) capable of connecting the upper T-slot connecting hole (51) and the upper locking block slide groove (52) is provided. An upper locking block spring fixing hole (54) is provided on the inner middle plane of the upper locking block (5). An upper locking block spring guide hole (55) is provided at a corresponding position of the actuator main body (1).

6. The end effector structure according to claim 1, characterized in that: The main body of the lower locking block (7) is U-shaped. A groove is left at a position above the lower T-slot (6) of the actuator main body (1) to allow the lower locking block (7) to be inserted horizontally. A chamfer is provided on one side of the lower locking block (7) close to the lower T-slot (6). A lower T-slot connecting hole (71) is provided at a corner close to the actuator main body (1). A long lower locking block slide groove (72) matching the diameter of the lower T-slot connecting hole (71) is provided at a corresponding position of the corresponding actuator main body (1). A lower locking block connecting rod (73) is provided to connect the lower T-slot connecting hole (71) and the lower locking block slide groove (72). A lower locking block spring fixing hole (74) is provided on the inner middle plane of the lower locking block (7). A lower locking block spring guide hole (75) is provided at a corresponding position of the actuator main body (1).

7. The end effector structure according to claim 1, characterized in that: The upper T-shaped groove (4) and the lower T-shaped groove (6) both include two guide grooves (46) facing the middle, and the distance between the two guide grooves (46) is wider at the top and narrower at the bottom. The guide grooves (46) are V-shaped grooves.

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