1. A self-calibration liquid drop manipulator structure is characterized by comprising a tail end execution component, a liquid drop injection component, a micro-tube driving component, a bracket component and a control and feedback component;

the end executing component comprises nine capillary glass microtubes (12); the liquid drop injection assembly comprises an injector (2), a propeller (1) of the injector (2) and a hose (3); the micro-tube driving assembly comprises a micro stepping motor (10) and a transmission connecting plate (11) nested with a transmission nut (16) of an output shaft (17) of the micro stepping motor (10); each capillary glass micro-tube (12) is connected with a corresponding injector (2) through a corresponding hose (3); each capillary glass micro-tube (12) moves up and down through a micro-tube driving component;

the bracket component fixes and supports the tail end execution component, the liquid drop injection component, the micro-tube driving component and the control and feedback component; the control and feedback component controls the micro-tube driving component and the liquid drop injection component, so that liquid drops are generated at the tail ends of the plurality of capillary glass micro-tubes (12), and the self-calibration process of the micro objects (15) is completed.

2. The self-calibrating droplet manipulator structure of claim 1, wherein the nine capillary glass microtubes (12) of the end effector assembly have a length determined by the operating space, ranging from 100mm to 200mm, an inner diameter and an outer diameter determined by the surface size of the micro objects to be manipulated, an inner diameter ranging from 0.1mm to 1mm, and an outer diameter ranging from 0.3mm to 1.3 mm; nine capillary glass micro-tubes (12) are kept flush at the tail end surface in the initial state and are arranged in a 3 multiplied by 3 uniform array in space;

the amount of liquid drops injected into each capillary glass micro-tube (12) is independent and not interfered with each other.

3. A self-calibrating droplet manipulator structure as claimed in claim 1, wherein: the micro stepping motor (10) of the micro tube driving assembly realizes the up-and-down movement of the capillary glass micro tube (12) through a screw mechanism, so that different end surface shapes are formed, and the posture of a micro object is adjusted; the up-and-down movement of each capillary glass micro-tube (12) is independent and not interfered with each other.

4. A self-calibrating droplet robot structure of claim 1, wherein the control and feedback assembly comprises a computer, droplet volume control means, micro stepper motor control means and a microscope; the microscope is used for observing the attitude change process of the micro object (15) and measuring related data, image information of the micro object (15) is sent to the computer, and the computer is respectively connected with and sends control signals to the micro stepping motor control device and the liquid drop amount control device; the micro stepping motor control device is connected with a micro stepping motor (10) in the micro tube driving assembly; the droplet quantity control device is connected with a propeller (1) of the droplet injection assembly;

the related data comprises the height of the liquid bridge, the contact angle of the liquid and the tiny object (15), and the posture of the tiny object (15);

the micro stepping motor control device comprises a data acquisition conversion card and a driving circuit, wherein the data acquisition conversion card controls the driving circuit according to a control signal sent by a computer, so as to control the micro tube driving assembly, and finally, the micro stepping motor (10) is controlled.

5. The self-calibration liquid drop manipulator structure according to any one of claims 1 to 4, wherein the bracket assembly comprises a two-dimensional optical manual sliding table (13), four supporting screw rods (4), a lower fixing plate (5) for restraining the end surface shape of the capillary glass microtube (12), a motor positioning plate (7), an upper fixing plate (9) for restraining the position of the hose (3), a screw (8) for connecting the motor positioning plate (7) and the upper fixing plate (9), and a nut (6);

the four supporting rod screws (4) are respectively connected with a motor positioning plate (7), a lower fixing plate (5) and a two-dimensional optical manual sliding table (13) from top to bottom in sequence through nuts (6) and used for fixing a support assembly;

the two-dimensional optical manual sliding table (13) is a micro-motion platform.

6. A method of micromanipulation for a self-calibrating droplet robot as claimed in claim 5, comprising the steps of:

s1, automatically calibrating the adsorbed tiny objects;

s2, realizing the posture adjustment of the tiny objects on the basis of automatic calibration: for the micro objects after automatic calibration, the positions of the unselected capillary glass micro-tubes are kept unchanged, mutually independent control signals are sent to the micro stepping motors corresponding to the selected capillary glass micro-tubes through a computer to control the up-and-down movement amount of each selected capillary glass micro-tube, the end faces of the selected capillary glass micro-tubes are changed, the adsorbed micro objects are subjected to corresponding asymmetric liquid bridge force, and the postures of the adsorbed micro objects are changed, so that the positions and the postures of the micro objects are adjusted.

7. A micro-manipulation method according to claim 6 wherein: step S1 includes the following steps:

s1.1, selecting a group of capillary glass micro-tubes with end surfaces matched with the shapes of the micro-objects according to the shapes of the surfaces of the micro-objects; the initial position of the micro object is placed on a clean glass slide, and the glass slide is placed below a capillary glass microtube of the liquid drop manipulator;

s1.2, for the selected capillary glass micro-tube, keeping the position of the capillary glass micro-tube unchanged; for the unselected capillary glass micro-tubes, sending a control signal to the micro stepping motor control device through a computer of the control and feedback assembly so as to control the micro stepping motor, so that the unselected capillary glass micro-tubes move upwards for the same distance at the same time;

s1.3, sending a control signal to a droplet quantity control device through a computer of the control and feedback assembly to control the movement of the propeller, further controlling the injector to inject the same amount of liquid into each selected capillary glass micro-tube, and forming micro droplets at the bottom end of the selected capillary glass micro-tube;

s1.4, the micro-motion platform is adjusted to realize the up-and-down motion of the whole liquid drop manipulator, the whole liquid drop manipulator moves close to a micro object, the formed micro liquid drop is contacted with the micro object, a liquid bridge is further formed by the bottom end of the selected capillary glass micro tube, the micro liquid drop and the micro object, the adsorption is completed by utilizing the force of the liquid bridge, after 1S, the automatic calibration is realized, and the surface shape of the adsorbed micro object is consistent with the shape and the position of the tail end of the manipulator, namely the bottom end of the selected capillary glass micro tube.

8. A method of micromanipulation as claimed in claim 7, wherein: in step S1.2, in order to prevent the liquid droplets from spreading from the selected capillary glass micro-tube to the wall surface of the unselected capillary glass micro-tube, the upward movement distance of the unselected capillary glass micro-tube needs to be greater than 2 mm.

9. A method of micromanipulation as claimed in claim 8, wherein: in step S1.3, the amount of liquid injected by the injector is changed according to the mass of the adsorbed fine objects to change the surface tension coefficient of the liquid, thereby achieving stable adsorption.

10. A method of micromanipulation according to any one of claims 6 to 9, wherein: the size change of different tiny objects can be adapted by changing the diameter of the capillary glass microtubule, and the application range of the capillary glass microtubule is enlarged.

Background

With the continuous development of micro-electro-mechanical systems (MEMS), the size characteristics of the constituent elements are smaller and smaller, the internal structure is increasingly complex, the requirement for assembly precision is higher and higher in the assembly of micro components, and the picking up, posture adjustment and release of the micro components are often the key points and difficulties in micro assembly operation. At present, the operating methods for assembling the miniature parts at home and abroad mainly comprise a micro-clamping method, a vacuum adsorption method and a surface tension-based method.

The micro-clamping method refers to that a micro-operation tool is designed into a structure similar to a macro-clamp to realize the operations of grabbing, carrying, adjusting and the like of an operation object. Fuchiwaki, university of Electrical communication, Japan, developed a remote-controlled micromanipulation robot with micro tweezers that flexibly performed the pick-up and release operations of microspheres with a diameter of 20 um. A domestic Sun-standing team designs a modularized multi-finger micro-operation actuator. A single-finger, double-finger and three-finger picking and releasing model is established for the actuator, and microsphere self-adhesion assembly with the diameter of 60-80um is completed. Tien-Hoang designs a clamp with an embedded compliant bistable mechanism for grasping and automatically releasing small objects. The end effector is urged by vibration to actively release a disc-like object having a diameter of 6mm and a thickness of 3 mm. When the thickness of the micro-operation object is thinner, the micro-operation method of the micro-clamp is difficult to use, and the clamping force is difficult to control. At present, the micro-clamp material is usually made of silicon, is easy to wear in the operation process, and simultaneously causes certain damage to the surface of a micro-operation object.

The vacuum adsorption micro-operation method is to utilize the pressure difference generated inside and outside the operation tool to realize the adsorption and release operation of the operation object. The switzerland federal institute of technology Zesch provides a vacuum manipulator based on a glass suction tube and a computer-controlled vacuum degree, which can realize the picking and prevention of an operation object. The university of vienna Petrovic combines a micro-gripper, a vacuum fixture and a force measuring clamping system, and positions the micro-component for micro-assembly based on a vision measurement system. Professor Huangxin Han of the university of science and technology in China develops a vacuum micro-clamp based on fuzzy control and capable of controlling adsorption force and automatically picking and releasing small balls with the diameter of 100-. The vacuum adsorption structure is simple, the air pressure is convenient to control, but stable adsorption is difficult to realize for an operating object with an irregular surface, and in addition, the vacuum adsorption micro-operation method has high requirements on equipment and environment and high input cost.

The surface tension-based method refers to operations of adsorption, attitude adjustment, and release of an operation object by using the surface tension of a liquid droplet. Takei, university of Tokyo, developed a capillary motor based on droplet actuation. He further added uniformly spaced ring electrodes to the substrate. The contact angle and the liquid bridge form of the liquid bridge are changed through an electrowetting method, so that torque is generated on the solid flat plate above the liquid bridge. Continuous rotation of the solid above is realized by continuously changing the boundary conditions of the liquid bridge. Kato of Japan Saitama Jade university combines the method of vacuum adsorption and liquid drop adhesion, utilizes surface tension to adsorb its tiny objects and make the tiny object center and microtubule center in a center, and then utilizes vacuum to realize the pick-up and release of tiny objects. A national Harbin industrial university team develops a plurality of related researches on a liquid drop micro-operation method, a single-needle micro-operation tool based on hydrophobic surface condensation is designed in Vancai, a controllable capillary force operation method of hydrophobic surface condensation is provided, and micro silicon chips and microspheres are picked up; the Sufengting designs a micro-operation tool based on a single probe of a micro-force sensor, proposes a micro-component transfer strategy based on the single probe and droplet assistance, realizes the pickup of a micro-operation object by using the adhesion force of droplets, and realizes the release of the micro-operation object by using a double liquid bridge model of an auxiliary droplet structure on a substrate; sunping proposes a funnel-shaped capillary micro-tube to pick up and release a large number of tiny objects by using a throughput-like method.

In addition to the above-mentioned methods, micro robots are increasingly used in micro assembly, but are not widely used at present due to the complexity of the system and the application environment limitations. On the basis of the previous research, the research team provides a multi-rod type droplet micro-operation manipulator, the multi-rod type droplet micro-operation manipulator can change the posture of a tiny object, but each tungsten wire rod of the manipulator is uniformly and circumferentially distributed in space, so that automatic calibration cannot be realized on the tiny object in a specific shape.

Disclosure of Invention

Aiming at the defects of the problems, the invention provides a self-calibration liquid drop manipulator structure, which can realize the automatic calibration and the attitude control of tiny objects in any shape in space by controlling the liquid drop volume and the vertical height of each glass micro-tube, and adopts the following technical scheme:

a self-calibration liquid drop manipulator structure comprises a tail end execution assembly, a liquid drop injection assembly, a micro-tube driving assembly, a support assembly and a control and feedback assembly;

the end executing component comprises nine capillary glass micro-tubes; the liquid drop injection assembly comprises an injector, a propeller of the injector and a hose; the micro-tube driving assembly comprises a micro stepping motor and a transmission connecting plate nested with a transmission nut of an output shaft of the micro stepping motor; each capillary glass micro-tube is connected with a corresponding injector through a corresponding hose; each capillary glass micro-tube moves up and down through a micro-tube driving component;

the bracket component fixes and supports the tail end execution component, the liquid drop injection component, the micro-tube driving component and the control and feedback component; the control and feedback component controls the micro-tube driving component and the liquid drop injection component, so that liquid drops are generated at the tail ends of the plurality of capillary glass micro-tubes, and the self-calibration process of the micro objects is completed.

Further, the nine capillary glass microtubes of the end effector component have a length determined by the operation space, ranging from 100mm to 200mm, an inner diameter and an outer diameter determined by the surface size of the micro object to be operated, ranging from 0.1mm to 1mm, and an outer diameter ranging from 0.3mm to 1.3 mm; nine capillary glass micro-tubes are kept flush at the tail end surface in the initial state and are arranged in a 3 multiplied by 3 uniform array in space;

the amounts of liquid drops injected into each capillary glass micro-tube are mutually independent and do not interfere with each other.

Furthermore, the micro stepping motor of the micro tube driving assembly realizes the up-and-down movement of the capillary glass micro tube through a spiral mechanism, so that different end surface shapes are formed, and the posture of a micro object is adjusted; the up-and-down movement of each capillary glass micro-tube is independent and not interfered with each other.

Further, the control and feedback assembly comprises a computer, a droplet amount control device, a micro stepping motor control device and a microscope; the microscope is used for observing the attitude change process of the tiny object and measuring related data, the image information of the tiny object is sent to the computer, and the computer is respectively connected with and sends control signals to the micro stepping motor control device and the liquid drop amount control device; the micro stepping motor control device is connected with a micro stepping motor in the micro tube driving assembly; the liquid drop quantity control device is connected with a propeller of the liquid drop injection assembly;

the related data comprises the height of the liquid bridge, the contact angle of the liquid and the tiny object and the posture of the tiny object;

the micro stepping motor control device comprises a data acquisition conversion card and a driving circuit, wherein the data acquisition conversion card controls the driving circuit according to a control signal sent by a computer, so as to control the micro tube driving assembly, and finally, the micro stepping motor is controlled.

Furthermore, the bracket assembly comprises a two-dimensional optical manual sliding table, four supporting rod screws, a lower fixing plate for restraining the end surface shape of the capillary glass micro-tube, a motor positioning plate, an upper fixing plate for restraining the position of the hose, and a screw and a nut for connecting the motor positioning plate and the upper fixing plate;

the four supporting column screw rods are respectively connected with the motor positioning plate, the lower fixing plate and the two-dimensional optical manual sliding table from top to bottom in sequence through nuts and used for fixing the support assembly;

the two-dimensional optical manual sliding table is a micro-motion platform and is used for realizing the movement of the manipulator in the horizontal plane and also can move the position of the adsorbed tiny object in the horizontal plane.

A method of micromanipulation of a fluid droplet manipulator for self calibration, comprising the steps of:

s1, automatically calibrating the adsorbed tiny objects;

s2, realizing the posture adjustment of the tiny objects on the basis of automatic calibration: for the micro objects after automatic calibration, the positions of the unselected capillary glass micro-tubes are kept unchanged, mutually independent control signals are sent to the micro stepping motors corresponding to the selected capillary glass micro-tubes through a computer to control the up-and-down movement amount of each selected capillary glass micro-tube, the end faces of the selected capillary glass micro-tubes are changed, the adsorbed micro objects are subjected to corresponding asymmetric liquid bridge force, and the postures of the adsorbed micro objects are changed, so that the positions and the postures of the micro objects are adjusted.

Further, step S1 includes the steps of:

s1.1, selecting a group of capillary glass micro-tubes with end surfaces matched with the shapes of the micro-objects according to the shapes of the surfaces of the micro-objects; the initial position of the micro object is placed on a clean glass slide, and the glass slide is placed below a capillary glass microtube of the liquid drop manipulator;

s1.2, for the selected capillary glass micro-tube, keeping the position of the capillary glass micro-tube unchanged; for the unselected capillary glass micro-tubes, sending a control signal to the micro stepping motor control device through a computer of the control and feedback assembly so as to control the micro stepping motor, so that the unselected capillary glass micro-tubes move upwards for the same distance at the same time;

s1.3, sending a control signal to a droplet quantity control device through a computer of the control and feedback assembly to control the movement of the propeller, further controlling the injector to inject the same amount of liquid into each selected capillary glass micro-tube, and forming micro droplets at the bottom end of the selected capillary glass micro-tube;

s1.4, the micro-motion platform is adjusted to realize the up-and-down motion of the whole liquid drop manipulator, the whole liquid drop manipulator moves close to a micro object, the formed micro liquid drop is contacted with the micro object, a liquid bridge is further formed by the bottom end of the selected capillary glass micro tube, the micro liquid drop and the micro object, the adsorption is completed by utilizing the force of the liquid bridge, after 1S, the automatic calibration can be realized, and the surface shape of the adsorbed micro object is consistent with the shape and the position of the tail end of the manipulator, namely the bottom end of the selected capillary glass micro tube.

Further, in step S1.2, in order to prevent the liquid droplets from spreading from the selected capillary glass micro-tube to the wall surface of the unselected capillary glass micro-tube, the upward moving distance of the unselected capillary glass micro-tube needs to be greater than 2 mm.

Further, in step S1.3, the stable adsorption condition is that the liquid bridge force generated by the injected liquid amount is larger than the gravity of the micro objects themselves, and the amount of the liquid injected through the injector is changed according to the mass of the adsorbed micro objects to change the surface tension coefficient of the liquid, thereby realizing the stable adsorption.

Furthermore, the size change of different tiny objects can be adapted by changing the diameter of the capillary glass micro-tube, and the application range of the capillary glass micro-tube is expanded.

Compared with the prior art, the invention has the following advantages:

1. the automatic calibration function utilizes the capillary restoring force generated by the asymmetric liquid bridge to realize that the position of a tiny object can still be adsorbed by liquid drops near the ideal position, and the tiny object can be automatically adjusted to the ideal position after being stably adsorbed without any human intervention;

2. the application object range is wide, and the capillary glass microtubes which are spatially distributed in a 3 x 3 array can be combined into any shape and are suitable for micro objects in any shape;

3. the nondestructive operation, the mechanism of controlling the tiny objects is mainly realized based on the surface tension action of liquid drops, belongs to flexible contact, and cannot generate any mechanical damage to the surfaces of the tiny objects;

4. the injection amount of the liquid drops and the up-and-down movement amount of each capillary glass micro-tube are independently controlled, so that the target posture of the micro object can be accurately controlled, and the control method is simple;

5. overall structure is simple, and fixed mode is mostly threaded connection, and most structural member shape is regular, and processing is simple and convenient.

Drawings

FIG. 1 is a schematic diagram of a self-calibrating droplet manipulator according to an embodiment;

FIG. 2 is a schematic view of a capillary glass micro-tube of the present embodiment adsorbing micro objects based on surface tension;

FIG. 3 is a schematic diagram illustrating the control principle of a self-calibrating droplet manipulator according to this embodiment;

FIG. 4 is a schematic diagram of the connection between the motor driver and the end effector of the present embodiment;

FIG. 5 is a schematic diagram of a process for enabling the droplet manipulator to adsorb a rectangular object and achieve automatic calibration according to the embodiment;

FIG. 6 is a schematic diagram of a process for enabling the droplet manipulator to adsorb a triangular object and achieve automatic calibration according to the embodiment;

fig. 7 is a schematic diagram illustrating a process of adjusting the posture of the small object by the droplet manipulator according to the embodiment.

Detailed Description

The purpose of the present invention is described in further detail below by using specific examples, which cannot be described in detail herein, but the following embodiments are not limited to the following examples in combination with the drawings and the specific implementation manner of the present invention. The materials and processing methods employed in the present invention are those conventional in the art, unless otherwise specified.

Example 1:

a self-calibrating droplet manipulator structure, as shown in fig. 1, 2, 3, and 4, comprising an end effector assembly, a droplet injector assembly, a microtube drive assembly, a carriage assembly, and a control and feedback assembly;

the end executing component comprises nine capillary glass microtubes 12; the liquid drop injection assembly comprises an injector 2, a propeller 1 of the injector 2 and a hose 3; the micro-tube driving assembly comprises a micro stepping motor 10 and a transmission connecting plate 11 nested with a transmission nut 16 of an output shaft 17 of the micro stepping motor 10; each capillary glass micro-tube 12 is connected with a corresponding injector 2 through a corresponding hose 3; each capillary glass micro-tube 12 moves up and down through a micro-tube driving component;

the bracket component fixes and supports the tail end execution component, the liquid drop injection component, the micro-tube driving component and the control and feedback component; the control and feedback component controls the micro-tube driving component and the liquid drop injection component, so that liquid drops are generated at the tail ends of the plurality of capillary glass micro-tubes 12, and the self-calibration process of the micro objects 15 is completed.

As shown in FIG. 2, the nine capillary glass microtubes 12 of the end effector assembly have a length in the range of 100mm to 200mm depending on the operation space, an inner diameter and an outer diameter in the range of 0.1mm to 1mm depending on the surface size of the minute object to be operated, an inner diameter in the range of 0.3mm to 1.3 mm; nine capillary glass micro-tubes 12 are kept flush at the end face in the initial state and are arranged in a 3 x 3 uniform array in space;

the amount of the liquid drops injected into each capillary glass microtube 12 is independent and does not interfere with each other.

As shown in fig. 4, the micro stepping motor 10 of the micro tube driving assembly realizes the up-and-down movement of the capillary glass micro tube 12 through a screw mechanism, thereby forming different end surface shapes, and further realizing the adjustment of the posture of the micro object; the up-and-down movement of each capillary glass micro-tube 12 is independent and not interfered with each other.

In this embodiment, the specific method for realizing the up-and-down movement of the capillary glass micro-tube 12 is that when the output shaft 17 of the micro stepping motor 10 rotates, the transmission nut 16 moves linearly, and the transmission connection plate 11 nested with the transmission nut 16 also moves linearly, so that the capillary glass micro-tube 12 adhered to the transmission connection plate 11 moves linearly up and down.

As shown in fig. 3, the control and feedback assembly includes a computer, a droplet amount control device, a micro stepping motor control device and a microscope; in the embodiment, the microscope adopts a VHX-950F digital microscope system of Chinesian, Japan, which is used for observing the attitude change process of the micro object 15 and measuring related data, and sends the image information of the micro object 15 to the computer, and the computer is respectively connected with and sends control signals to the micro stepping motor control device and the liquid drop amount control device; the micro stepping motor control device is connected with a micro stepping motor 10 in the micro tube driving component; the droplet quantity control device is connected with a propeller 1 of the droplet injection assembly;

the related data comprises the height of the liquid bridge, the contact angle of the liquid and the tiny object 15, and the posture of the tiny object 15;

the micro stepping motor control device comprises a data acquisition conversion card and a driving circuit, wherein the data acquisition conversion card controls the driving circuit according to a control signal sent by a computer, so as to control the micro-tube driving assembly, and finally, the micro stepping motor 10 is controlled.

As shown in fig. 1, the bracket assembly comprises a two-dimensional optical manual sliding table 13, four supporting screw rods 4, a lower fixing plate 5 for restraining the end surface shape of a capillary glass micro tube 12, a motor positioning plate 7, an upper fixing plate 9 for restraining the position of a hose 3, a screw 8 for connecting the motor positioning plate 7 and the upper fixing plate 9, and a nut 6;

the four supporting rod screws 4 are respectively connected with a motor positioning plate 7, a lower fixing plate 5 and a two-dimensional optical manual sliding table 13 in sequence from top to bottom through nuts 6 and used for fixing a bracket assembly;

the two-dimensional optical manual sliding table 13 is a micro-motion platform, and is used for realizing the movement of the manipulator in the horizontal plane and also can move the position of the adsorbed tiny object in the horizontal plane.

In this embodiment, the micro stepping motor 10 of the micro tube driving assembly is fixed on the motor positioning plate 7 through a screw, but not the screw 8, a smaller screw is used;

a method of micromanipulation of a fluid droplet manipulator for self calibration, comprising the steps of:

s1, automatically calibrating the adsorbed tiny objects, comprising the following steps:

s1.1, selecting a group of capillary glass micro-tubes with end surfaces matched with the shapes of the micro-objects according to the shapes of the surfaces of the micro-objects; the initial position of the micro object is placed on a clean glass slide, and the glass slide is placed below a capillary glass microtube of the liquid drop manipulator;

in the embodiment, the capillary glass micro-tubes are selected from a plurality of capillary glass micro-tubes arranged in a 3 x 3 array according to the geometric shapes of the surfaces of the micro objects, so that the overall outline shapes of the capillary glass micro-tubes are most similar to the geometric shapes of the surfaces of the micro objects;

s1.2, for the selected capillary glass micro-tube, keeping the position of the capillary glass micro-tube unchanged; for the unselected capillary glass micro-tubes, sending a control signal to the micro stepping motor control device through a computer of the control and feedback assembly so as to control the micro stepping motor, so that the unselected capillary glass micro-tubes move upwards for the same distance at the same time;

in this embodiment, in order to prevent the liquid droplets from spreading from the selected capillary glass micro-tube to the wall surface of the unselected capillary glass micro-tube, the upward moving distance of the unselected capillary glass micro-tube needs to be greater than 2 mm.

S1.3, sending a control signal to a droplet quantity control device through a computer of the control and feedback assembly to control the movement of the propeller, further controlling the injector to inject the same amount of liquid into each selected capillary glass micro-tube, and forming micro droplets at the bottom end of the selected capillary glass micro-tube;

the stable adsorption condition is that the liquid bridge force generated by the injected liquid amount is larger than the gravity of the micro object, and the amount of the liquid injected by the injector is changed according to the mass of the adsorbed micro object so as to change the surface tension coefficient of the liquid and realize the stable adsorption;

in the embodiment, the mass of the tiny objects can be obtained by weighing a plurality of same tiny objects by an electronic balance and then averaging the weighed tiny objects;

s1.4, as shown in figure 2, the micro-motion platform is adjusted to realize the up-and-down motion of the whole liquid drop manipulator, the whole liquid drop manipulator moves to be close to a tiny object, the formed tiny liquid drop is contacted with the tiny object, a liquid bridge is further formed by the bottom end of the selected capillary glass micro-tube, the tiny liquid drop and the tiny object, the adsorption is completed by the liquid bridge force, after 1S, the automatic calibration can be realized, and the surface shape of the adsorbed tiny object is consistent with the shape and the position of the tail end of the manipulator, namely the bottom end of the selected capillary glass micro-tube.

S2, realizing the posture adjustment of the tiny objects on the basis of automatic calibration: for the micro objects after automatic calibration, the positions of the unselected capillary glass micro-tubes are kept unchanged, mutually independent control signals are sent to the micro stepping motors corresponding to the selected capillary glass micro-tubes through a computer to control the up-and-down movement amount of each selected capillary glass micro-tube, the end faces of the selected capillary glass micro-tubes are changed, the adsorbed micro objects are subjected to corresponding asymmetric liquid bridge force, and the postures of the adsorbed micro objects are changed, so that the positions and the postures of the micro objects are adjusted.

Example 2:

in this embodiment, taking the absorption of the block-shaped rectangular object as an example, the whole process is shown in fig. 5. Firstly, the micro stepping motor 10 is controlled to adjust the end surfaces of the nine capillary glass micro-tubes 12 to be flush. Assuming that the size of the rectangular object is 2.4mm × 1.6mm × 0.5mm, the distance between the surface center of the rectangular object and the center of the droplet manipulator in the x direction is 0.3mm, the distance in the y direction is 0.2mm, the rectangular object is rotated clockwise by 10 ° around the center point, capillary glass micro tubes 12 numbered g, h, i are moved up together by 2mm by controlling the micro stepping motor 10 according to the rectangular shape, and capillary glass micro tubes 12 numbered a, b, c, d, e, f are selected to be kept stationary. Equivalent droplets are injected into capillary glass microtubes 12 numbered a, b, c, d, e and f respectively through a syringe 2 by a droplet quantity control device, and tiny droplets 14 are formed at the bottom ends of the capillary glass microtubes 12, as shown in fig. 5 a. The distance between the droplet 14 and the rectangular object is adjusted so that the two contact to form an asymmetric liquid bridge, and the rectangular object is adsorbed, as shown in fig. 5 b. Since the liquid bridge always changes towards the trend of minimum energy, the posture of the adsorbed rectangular object is changed under the action of the asymmetric liquid bridge force, and after the rectangular object is stabilized for 1s, the rectangular shape is aligned with the approximately rectangular shape formed by the capillary glass microtubes 12 with the numbers of a, b, c, d, e and f, so that automatic calibration is realized, as shown in fig. 5 c.

Example 3:

in this embodiment, taking the adsorption of the block-shaped triangular object as an example, the whole process is shown in fig. 6. Firstly, the micro stepping motor 10 is controlled to adjust the end surfaces of the nine capillary glass micro-tubes 12 to be flush. Assuming that the waist length and height of a certain isosceles right-angle triangular object are 1.6mm and 0.3mm, the distance between the center point of the oblique side of the triangular object and the center of the droplet manipulator in the x direction is 0.3mm, the distance in the y direction is 0.2mm, the triangular object rotates clockwise by 10 degrees around the center point of the oblique side, capillary glass micro-tubes 12 numbered f, h and i move upwards by 2mm together by controlling a micro stepping motor 10 according to the triangular shape, and the selected capillary glass micro-tubes 12 numbered a, b, c, d, e and g are kept still. Equivalent droplets are injected into capillary glass microtubes 12 numbered a, b, c, d, e and g respectively through a syringe 2 by a droplet quantity control device, and tiny droplets 14 are formed at the bottom ends of the capillary glass microtubes 12, as shown in fig. 6 a. The distance between the liquid drop 14 and the triangular object is adjusted to make the two contact to form an asymmetric liquid bridge, and the rectangular object is adsorbed, as shown in fig. 6 b. Since the liquid bridge always changes towards the trend of minimum energy, the posture of the adsorbed triangular object is changed under the action of the asymmetric liquid bridge force, and after 1s of stabilization, the triangular shape is aligned with the approximately triangular shape formed by the capillary glass microtubes 12 with the serial numbers of a, b, c, d, e and g, so that automatic calibration is realized, as shown in fig. 6 c.

Example 4:

in this embodiment, taking the posture of adsorbing and inclining the block-shaped regular object as an example, the whole process is as shown in fig. 7. Firstly, the micro stepping motor 10 is controlled to adjust the end surfaces of the nine capillary glass micro-tubes 12 to be flush. Assuming a block size of 3mm x 0.5mm, the center of the object in the initial state coincides with the center of the droplet robot. According to the square shape, equal amount of droplets are injected into all capillary glass microtubes 12 through the injector 2 by the droplet amount control device, and tiny droplets 14 are formed at the bottom ends of the capillary glass microtubes 12, as shown in fig. 7 a. The distance between the liquid droplet 14 and the block is adjusted so that the two contact each other to form a liquid bridge, and the block is adsorbed, as shown in fig. 7 b. Since the center of the object coincides with the center of the droplet robot, the bulk object is automatically aligned after being adsorbed. And adjusting the postures of the micro objects 15, presetting the target postures of the micro objects to rotate clockwise by 20.55 degrees around the y axis of the space, and solving and calculating to obtain the displacement and the moving direction of each capillary glass tube 12. The program on the computer sends out control signals to the data acquisition card, and the control signals are amplified by the driving circuit and then drive each micro stepping motor 10 to move. The movement of each micro stepping motor 10 realizes the up-and-down movement of each capillary glass micro tube 12. In the whole process, the positions of the capillary glass micro-tubes 12 numbered a, d and g are kept unchanged, the capillary glass micro-tubes 12 numbered b, e and h move downwards by 0.3mm together, the capillary glass micro-tubes 12 numbered c, f and i move downwards by 0.6mm together, and the capillary glass micro-tubes 12 form a step shape in an XOZ plane. Because the end face of the capillary glass micro-tube 12 is changed, the liquid level of the liquid bridge is changed into an asymmetric shape, and the liquid bridge is always evolved towards the trend of minimum energy according to the principle of minimum energy, the micro object 15 is inclined under the action of the asymmetric liquid bridge force, and finally, the stabilized micro object follows the step-shaped capillary glass micro-tube 12 and rotates clockwise around the y-axis of the space by 20.55 degrees, so that the preset target posture adjustment is realized.

The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.