Automatic injection robot end effector

Abstract

The application relates to the technical field of automatic injection, and provides an automatic injection robot end execution mechanism. The automatic injection robot end execution mechanism comprises a connecting piece, the connecting piece comprises a first connecting plate and a second connecting plate, the second connecting plate is connected to the side edge of the first connecting plate and is arranged to extend along a first direction, the first direction is parallel to the rotation center line of the first connecting plate, a main support is connected to the second connecting plate, and the relative position of the first connecting plate on the second connecting plate at least partially coincides with the setting position of the main support on the second connecting plate. The automatic injection robot end execution mechanism provided by the application has a long area between the sheath support and the first connecting plate for accommodating a syringe, the position exceeding the second connecting plate is reduced under the condition that the size of the front-end pipe body of the syringe is certain, a larger angle of inclined injection can be realized, the working space is increased, and the probability of the occurrence of a singular position of a mechanical arm is reduced.

Description

Technical Field

[0001] This application relates to the field of automated injection technology, and more particularly to an end effector for an automated injection robot. Background Technology

[0002] Currently, the end effector of the facial injection surgery navigation and positioning system is mounted on a robotic arm, enabling vertical injection into the face—that is, injections can be performed in a direction perpendicular to the ground and parallel to the plumb line. The structure is ingenious and meets product technical requirements. However, because the existing end effector extends a relatively long distance beyond the robotic arm, the system cannot achieve large-angle tilting injections. This limits the workspace and indirectly imposes more requirements on the height and layout of the operating table, making it inconvenient for medical staff to operate and prone to causing the robotic arm to malfunction, affecting injection flexibility and prolonging surgery time. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this application provides an end effector for an automated injection robot.

[0004] This application provides an end effector for an automated injection robot, comprising:

[0005] The connector includes a first connecting plate and a second connecting plate. The first connecting plate is used to connect to the robotic arm of a robot and is driven to rotate by the robotic arm. The second connecting plate is connected to the side of the first connecting plate and extends along a first direction, which is parallel to the rotation center line of the first connecting plate.

[0006] The main support is connected to the second connecting plate, and the relative position of the first connecting plate on the second connecting plate at least partially coincides with the setting position of the main support on the second connecting plate;

[0007] A sheath bracket is connected to the second connecting plate and located at the front end of the main bracket along the first direction, and a sheath is provided on the sheath bracket;

[0008] A syringe is mounted on a syringe holder, which is slidably connected to the main support along the first direction so that the needle of the syringe can extend or retract from the sheath.

[0009] Optionally, the height difference between the axis of the syringe and the rotation center line of the first connecting plate is within the outer contour range of the first connecting plate.

[0010] Optionally, the sheath support has an arched portion that arches in the direction of the rotation center line toward the first connecting plate, the sheath is supported on the arched portion, and the syringe pusher is provided with a support portion for supporting the syringe, the support portion being coaxially arranged with the arched portion.

[0011] Optionally, the main support is provided with a first driving mechanism, which drives the liquid pushing support to move along the first direction;

[0012] The syringe plunger is also equipped with a second drive mechanism for pushing the plunger of the syringe to perform injection.

[0013] Optionally, the first drive mechanism includes a first motor, a first lead screw, and a first slider;

[0014] The first lead screw extends along the first direction, the first slider is sleeved around the first lead screw and threadedly engaged with the first lead screw, the first motor drives the first lead screw to rotate, thereby driving the first slider to move along the axial direction of the first lead screw, and the first slider drives the liquid pusher to move.

[0015] Optionally, the liquid-pushing support is provided with a guide block, the first slider is connected to the guide block, and the main support is also provided with a first guide rail, and the guide block slides in cooperation with the first guide rail.

[0016] Optionally, the number of the first guide rails is at least two, and the at least two first guide rails are arranged side by side; the number of the guide blocks is at least two, and the at least two guide blocks slide in a one-to-one correspondence with the at least two first guide rails.

[0017] And / or, a force sensor is provided at the front end of the first slider along the first direction, the force sensor being configured to control the first motor to stop rotating when pressure is detected.

[0018] Optionally, the second drive mechanism includes a second motor, a second lead screw, and a second slider;

[0019] The second slider is sleeved around the second lead screw and threadedly engaged with the second lead screw. The second motor drives the second lead screw to rotate, and the second slider is configured to drive the plunger of the syringe to move axially along the second lead screw.

[0020] Optionally, the liquid-pushing support is provided with a second guide rail, the second slider is provided with a guide hole, the second guide rail passes through the guide hole, and the second slider slides relative to the guide rail.

[0021] Optionally, the connector further includes a third connecting plate for supporting the camera, the third connecting plate being connected to the second connecting plate, and the third connecting plate having a wire-passing space.

[0022] The technical solution provided in this application has the following advantages compared with the prior art:

[0023] The end effector of the automated injection robot provided in this application includes a connector, a main support, a sheath support, and a dispensing support. The connector includes a first connecting plate and a second connecting plate. The first connecting plate is used to connect to the robot's robotic arm, and the second connecting plate is connected to the side of the first connecting plate. The relative position of the first connecting plate on the second connecting plate at least partially overlaps with the setting position of the main support on the second connecting plate, that is, the first connecting plate is set on the second connecting plate at a position biased towards the main support. When the first connecting plate is connected to the robotic arm, the first connecting plate and the robotic arm partially overlap with the second connecting plate in a first direction, and the main support is connected within this area. The second connecting plate is located away from the main support. The non-overlapping area on the other side of the support forms the syringe mounting area. In other words, the position of the first connecting plate relative to the second connecting plate can be set away from the sheath support. Thus, there is a longer area between the sheath support and the first connecting plate to accommodate the syringe. Under the condition that the size of the syringe tip tube is fixed, the syringe tip tube can occupy a larger area on the second connecting plate, that is, the overlap between the syringe and the second connecting plate is larger. This reduces the space beyond the second connecting plate, enabling tilting injection at a larger angle, increasing the workspace, reducing the probability of the robotic arm becoming out of place, and having greater tolerance for the height and layout of the operating table. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the end effector of an automated injection robot according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the installation of the connector and the main bracket according to an embodiment of this application;

[0028] Figure 3This is a schematic diagram of the structure of the first driving mechanism according to an embodiment of this application;

[0029] Figure 4 This is a schematic diagram showing the connection between the first driving mechanism and the liquid-pushing base plate according to an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the structure of the second drive mechanism according to an embodiment of this application;

[0031] Figure 6 This is a schematic diagram of the assembly of a syringe according to an embodiment of this application.

[0032] In the diagram: 1. Connector; 11. First connecting plate; 12. Second connecting plate; 13. Third connecting plate; 131. Wiring space;

[0033] 2. Main support; 21. First guide rail;

[0034] 3. Sheath support; 31. Arched portion;

[0035] 4. Sheath;

[0036] 5. Liquid pusher bracket; 51. Support part; 511. Cover plate; 512. Snap ring; 513. Locking handle; 52. Guide block; 53. Second guide rail; 54. Second limit switch;

[0037] 6. Syringe;

[0038] 7. First drive mechanism; 71. First motor; 72. First lead screw; 73. First slider; 731. Connecting block; 732. Force sensor; 733. Limit block; 74. First coupling; 75. First bearing housing; 76. First limit switch; 77. First zero-position switch; 78. First motor housing;

[0039] 8. Second drive mechanism; 81. Second motor; 82. Second lead screw; 83. Second slider; 84. Second bearing housing; 841. Bearing cover; 85. Second coupling; 86. First transmission wheel; 87. Second transmission wheel; 88. Transmission belt; 89. Second motor housing;

[0040] 9. Camera; 91. Cable. Detailed Implementation

[0041] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0042] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0043] The end effector of this automated injection robot will be described in detail below through specific embodiments:

[0044] Reference Figures 1 to 6 As shown in some embodiments of this application, an end effector for an automated injection robot is provided, including a connector 1, a main support 2, a sheath support 3, and a liquid-pushing support 5.

[0045] The connector 1 includes a first connecting plate 11 and a second connecting plate 12. The first connecting plate 11 is used to connect to the robot's robotic arm and rotate through the robotic arm. The second connecting plate 12 is connected to the side of the first connecting plate 11 and extends along a first direction so that the first connecting plate 11 can drive the second connecting plate 12 to rotate together. The first direction is parallel to the rotation center line of the first connecting plate 11.

[0046] It should be noted that the first connecting plate 11 is formed as a plate structure, having a first surface, a second surface, and a side connecting the first surface and the second surface. The robotic arm is connected to the first surface or the second surface, and the second connecting plate 12 is connected to the side of the first connecting plate 11. In this way, the extension direction of the second connecting plate 12 can be parallel to the rotation center line of the first connecting plate 11.

[0047] The main support 2 and the sheath support 3 are both connected to the second connecting plate 12, and the sheath support 3 is located at the front end of the main support 2 along the first direction. The sheath support 3 is provided with a sheath 4, and the syringe 6 is provided on the liquid pushing support 5. The liquid pushing support 5 is slidably connected to the main support 2 along the first direction so that the needle of the syringe 6 can extend or retract from the sheath 4.

[0048] The relative position of the first connecting plate 11 on the second connecting plate 12 at least partially overlaps with the setting position of the main support 2 on the second connecting plate 12. That is, the first connecting plate 11 is set on the second connecting plate 12 at a position biased towards the main support 2. When the first connecting plate 11 is connected to the robotic arm, the first connecting plate 11 and the robotic arm overlap with a portion of the second connecting plate 12 in the first direction, and the main support 2 is connected in this area. The non-overlapping area on the other side of the second connecting plate 12 away from the main support 2 forms the setting area of ​​the syringe 6.

[0049] In other words, the position of the first connecting plate 11 relative to the second connecting plate 12 can be set away from the sheath support 3. Thus, there is a longer area between the sheath support 3 and the first connecting plate 11 to accommodate the syringe 6. Under the condition that the size of the front tube of the syringe 6 is fixed, the front tube of the syringe 6 can occupy a larger area on the second connecting plate 12, that is, the overlapping part of the syringe 6 and the second connecting plate 12 is larger. This reduces the space that extends beyond the second connecting plate 12, enabling tilting injection at a larger angle, increasing the workspace, reducing the probability of the robotic arm becoming out of place, and having greater tolerance for the height and layout of the operating table.

[0050] For example, refer to Figure 3 As shown, the right side of the first connecting plate 11 forms the mounting area for the main support 2, and the left side forms the mounting area for the syringe 6. The relative position of the first connecting plate 11 on the second connecting plate 12 is not between the sheath support 3 and the main support 2, but rather offset towards the main support 2 and at least partially overlaps, so as to reserve a larger space on the left side of the first connecting plate 11 to accommodate the syringe 6. Specifically, the syringe 6 in the manufactured product can exceed the positioning dimension of the second connecting plate 12 by more than 100mm.

[0051] In some embodiments, the height difference between the axis of the syringe 6 and the rotation center line of the first connecting plate 11 is within the outer contour range of the first connecting plate 11, that is, the axis of the syringe 6 is set to be biased towards the rotation center line of the first connecting plate 11. Within the same operating space, the syringe 6 can rotate a larger angle, which can improve flexibility.

[0052] It should be noted that the syringe 6 and the first connecting plate 11 are offset in space. The height difference between the axis of the syringe 6 and the rotation center line of the first connecting plate 11 is not the distance between the axis of the syringe 6 and the rotation center line of the first connecting plate 11, but rather the height interval between them in the vertical direction. Based on this, the distance between the axis of the syringe 6 and the rotation center line of the first connecting plate 11 can be reduced by more than 50mm.

[0053] In specific implementation, refer to Figure 1 As shown, the sheath support 3 has an arched portion 31 that arches along the rotation center line toward the first connecting plate 11. The sheath 4 is supported on the arched portion 31. The syringe pusher 5 is provided with a support portion 51 for supporting the syringe 6. The support portion 51 is coaxially arranged with the arched portion 31. Specifically, the heights of the arched portion 31 and the support portion 51 are adapted to the height difference between the axis of the syringe 6 and the rotation center line of the first connecting plate 11. The syringe 6 is supported on the support portion 51 and can move toward the sheath 4 on the sheath support 3 so that the needle can extend or retract from the sheath 4 to complete puncture and retraction.

[0054] The support portion 51 is provided with a slot, and the front end of the syringe 6 engages with the slot so that as the support portion 51 moves with the liquid-pushing bracket 5, the syringe 6 moves toward or away from the sheath 4. Further, refer to... Figure 6 As shown, the top of the support part 51 is also provided with a cover plate 511, a retaining ring 512 and a locking handle 513. The locking handle 513 rotates relative to the retaining ring 512 so that the cover plate 511 is pressed onto the retainer by the locking handle 513, thereby fixing the syringe 6 on the support part 51.

[0055] In some embodiments, refer to Figure 3 As shown, the main support 2 is provided with a first drive mechanism 7, which drives the liquid pusher 5 to move in a first direction. That is, the first drive mechanism 7 can provide the power to drive the liquid pusher 5 to move. The liquid pusher 5 is also provided with a second drive mechanism 8, which is used to push the plunger of the syringe 6. That is, the second drive mechanism 8 can provide the power to drive the plunger to move in order to complete the injection.

[0056] Specifically, the first drive mechanism 7 includes a first motor 71, a first lead screw 72, and a first slider 73. The first lead screw 72 extends along a first direction, and the first slider 73 is sleeved around the first lead screw 72 and threadedly engaged with the first lead screw 72. The first motor 71 drives the first lead screw 72 to rotate, thereby driving the first slider 73 to move along the axial direction of the first lead screw 72. The first slider 73 drives the liquid pusher bracket 5 to move.

[0057] In other words, when the first motor 71 drives the first lead screw 72 to rotate, the first slider 73 moves along the axial direction of the first lead screw 72. The axial direction of the first lead screw 72 is parallel to the first direction, so the first slider 73 can drive the liquid pusher 5 to move.

[0058] The first motor 71 and the first lead screw 72 are connected by a first coupling 74. The first motor 71 is fixedly connected to the main support 2 via a first motor seat 78, and the first lead screw 72 is fixedly connected to the main support 2 via a first bearing seat 75. Furthermore, the main support 2 is also equipped with a first limit switch 76 and a first zero-position switch 77 to improve the accuracy of the syringe 6's movement.

[0059] Furthermore, the liquid-pushing support 5 is provided with a guide block 52, and the first slider 73 is connected to the guide block 52 so that the liquid-pushing support 5 can be moved by the first slider 73 through the guide block 52. The main support 2 is also provided with a first guide rail 21, and the guide block 52 is slidably engaged with the first guide rail 21. That is to say, the extension direction of the first guide rail 21 is parallel to the first direction. The engagement of the first guide rail 21 and the guide block 52 can guide the movement direction of the guide block 52 and also fix the first slider 73 relative to the guide block 52 and the liquid-pushing support 5, so as to ensure that the first slider 73 can move along the axial direction of the first lead screw 72 when the first lead screw 72 rotates.

[0060] Specifically, refer to Figure 4 As shown, the first slider 73 is connected to the guide block 52 through the connecting block 731. That is, the first slider 73, the connecting block 731 and the guide block 52 can be connected into a whole structure so that when the guide block 52 is fixed on the liquid pusher 5, it drives the liquid pusher 5 to move together.

[0061] In some embodiments, a force sensor 732 is disposed at the front end of the first slider 73 along the first direction. The force sensor 732 is configured to control the first motor 71 to stop rotating when pressure is detected. Specifically, refer to Figure 4 As shown, the force sensor 732 is located at the front end of the connecting block 731. A limit block 733 is provided at the front end of the force sensor 732 so that when the limit block 733 contacts the second connecting plate 12 and generates pressure on the force sensor 732, it reminds the user to move the syringe 6 into place, thereby controlling the first motor 71 to stop rotating, thereby controlling the first slider 73, guide block 52 and liquid pusher 5 to stop moving.

[0062] In specific implementation, there are at least two first guide rails 21, and these at least two first guide rails 21 are arranged side by side. There are at least two guide blocks 52, and these at least two guide blocks 52 slide in a one-to-one correspondence with the at least two first guide rails 21. It can be understood that the sliding of the liquid-pushing support 5 is driven by the two guide blocks 52 simultaneously, which can improve the stability of the movement of the liquid-pushing support 5, avoid relative rotation, and make the movement smooth.

[0063] In some embodiments, the second drive mechanism 8 includes a second motor 81, a second lead screw 82, and a second slider 83. The second slider 83 is sleeved around the second lead screw 82 and threadedly engaged with the second lead screw 82. The second motor 81 drives the second lead screw 82 to rotate, and the second slider 83 is configured to drive the plunger of the syringe 6 to move axially along the second lead screw 82.

[0064] In other words, when the second motor 81 drives the second lead screw 82 to rotate, the second slider 83 moves along the axial direction of the second lead screw 82. The axial direction of the second lead screw 82 is parallel to the first direction. In this way, the second slider 83 can drive the push rod of the syringe 6 to move to complete the injection.

[0065] The second motor 81 and the second lead screw 82 are connected via a second coupling 85. The second motor 81 is fixedly connected to the liquid pusher 5 via a second motor mount 89, and the second lead screw 82 is fixedly connected to the liquid pusher 5 via a second bearing mount 84. The bearing is limited and fixed by a bearing cap 841 fixed to the second bearing mount 84. Furthermore, a second limit switch 54 is also provided on the liquid pusher 5 to indicate that the plunger of the syringe 6 has moved into position.

[0066] The second motor 81 can transmit power through a belt drive assembly including a first drive wheel 86, a second drive wheel 87 and a drive belt 88, which is not limited in this application.

[0067] Furthermore, a second guide rail 53 is provided on the liquid-pushing support 5, and a guide hole is provided on the second slider 83. The second guide rail 53 passes through the guide hole, and the second slider 83 slides relative to the guide rail. That is to say, the extension direction of the second guide rail 53 is parallel to the first direction. The cooperation between the second guide rail 53 and the second slider 83 can both guide the movement direction of the second slider 83 and fix the second slider 83 relative to the liquid-pushing support 5, so as to ensure that the second slider 83 can move along the axial direction of the second lead screw 82 when the second lead screw 82 rotates.

[0068] The first drive mechanism 7 is located on the side of the liquid-pushing support 5 away from the main support 2, and the second drive mechanism 8 is located on the side of the main support 2 away from the liquid-pushing support 5. This makes reasonable use of space and simplifies the overall structure.

[0069] In some embodiments, the connector 1 further includes a third connecting plate 13 for supporting the camera 9. The third connecting plate 13 is connected to the second connecting plate 12, eliminating the need for a separate housing for the camera 9. The third connecting plate 13 has a cable passage space 131, which allows for cable passage and structural constraint of the cable 91, resulting in a compact structure. In other words, all components are fixed to the connector 1 connected to the robotic arm, allowing for quick assembly and disassembly of the entire end effector.

[0070] The camera 9 and cable 91 can be fixed and installed using only one structural component. It is small in size and consumes less aluminum alloy. Specifically, the net volume of the produced product is 18.4 cm3. The direct milling process requires less than 195g of aluminum alloy, thus achieving the goal of saving resources and energy.

[0071] In practice, the third connecting plate 13 is fixed to the second connecting plate 12 on the side away from the first connecting plate 11, and the wire passage space 131 is formed on the side of the camera 9 facing the second connecting plate 12. The cable 91 is changed to enter from the inside, which can reduce the spatial size of the entire structure. The camera 9 is not in the middle of the person and the syringe 6, so the view will not be blocked when installing or removing the syringe 6, which is convenient for medical staff to operate.

[0072] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0073] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An end effector for an automated injection robot, characterized in that, include: The connector (1) includes a first connecting plate (11) and a second connecting plate (12). The first connecting plate (11) is used to connect to the robotic arm of the robot and drive it to rotate through the robotic arm. The second connecting plate (12) is connected to the side of the first connecting plate (11) and extends along a first direction, which is parallel to the rotation center line of the first connecting plate (11). The main support (2) is connected to the second connecting plate (12), and the relative position of the first connecting plate (11) on the second connecting plate (12) at least partially coincides with the setting position of the main support (2) on the second connecting plate (12); A sheath bracket (3) is connected to the second connecting plate (12) and located at the front end of the main bracket (2) along the first direction. A sheath (4) is provided on the sheath bracket (3). A syringe (6) is provided on the syringe (5) and the syringe (5) is slidably connected to the main support (2) along the first direction so that the needle of the syringe (6) can extend or retract from the sheath (4).

2. The end effector of the automated injection robot according to claim 1, characterized in that, The height difference between the axis of the syringe (6) and the rotation center line of the first connecting plate (11) is within the outer contour range of the first connecting plate (11).

3. The end effector of the automated injection robot according to claim 2, characterized in that, The sheath support (3) has an arched portion (31) that arches in the direction of the rotation center line toward the first connecting plate (11). The sheath (4) is supported on the arched portion (31). The liquid pusher (5) is provided with a support portion (51) for supporting the syringe (6). The support portion (51) is coaxially arranged with the arched portion (31).

4. The end effector of the automated injection robot according to claim 1, characterized in that, The main support (2) is provided with a first driving mechanism (7), which drives the liquid pushing support (5) to move along the first direction; The syringe holder (5) is also provided with a second drive mechanism (8) for pushing the plunger of the syringe (6) to perform injection.

5. The end effector of the automated injection robot according to claim 4, characterized in that, The first drive mechanism (7) includes a first motor (71), a first lead screw (72), and a first slider (73); The first lead screw (72) extends along the first direction, the first slider (73) is sleeved on the periphery of the first lead screw (72) and threadedly engaged with the first lead screw (72), the first motor (71) drives the first lead screw (72) to rotate, thereby driving the first slider (73) to move along the axial direction of the first lead screw (72), and the first slider (73) drives the liquid pusher (5) to move.

6. The end effector of the automated injection robot according to claim 5, characterized in that, The liquid pusher (5) is provided with a guide block (52), the first slider (73) is connected to the guide block (52), the main support (2) is also provided with a first guide rail (21), and the guide block (52) slides with the first guide rail (21).

7. The end effector of the automated injection robot according to claim 6, characterized in that, The number of the first guide rails (21) is at least two, and the at least two first guide rails (21) are arranged side by side. The number of the guide blocks (52) is at least two, and the at least two guide blocks (52) slide in a one-to-one correspondence with the at least two first guide rails (21). And / or, the first slider (73) is provided with a force sensor (732) at its front end along the first direction, the force sensor (732) being configured to control the first motor (71) to stop rotating when pressure is detected.

8. The end effector of the automated injection robot according to claim 4, characterized in that, The second drive mechanism (8) includes a second motor (81), a second lead screw (82), and a second slider (83); The second slider (83) is sleeved around the second lead screw (82) and threadedly engaged with the second lead screw (82). The second motor (81) drives the second lead screw (82) to rotate. The second slider (83) is configured to drive the push rod of the syringe (6) to move axially along the second lead screw (82).

9. The end effector of the automated injection robot according to claim 8, characterized in that, The liquid pusher (5) is provided with a second guide rail (53), and the second slider (83) is provided with a guide hole. The second guide rail (53) passes through the guide hole, and the second slider (83) slides relative to the guide rail.

10. The end effector of the automated injection robot according to claim 1, characterized in that, The connector (1) further includes a third connecting plate (13) for supporting the camera (9). The third connecting plate (13) is connected to the second connecting plate (12), and a wire-passing space (131) is formed on the third connecting plate (13).

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