A mechanical arm and a sampling robot

Abstract

The present invention discloses a mechanical arm and a sampling robot, and relates to the technical field of intelligent robots. The mechanical arm comprises a supporting arm, a movable arm movably connected to the upper end of the supporting arm, and a clamp fixedly mounted on an end of the movable arm away from the supporting arm, an auxiliary positioning assembly is movably arranged inside the connecting end of the supporting arm and the movable arm, a first adjusting device is arranged inside the end of the supporting arm away from the auxiliary positioning assembly, and the output end of the first adjusting device is movably connected to the auxiliary positioning assembly, a second adjusting device is arranged inside the end of the movable arm away from the auxiliary positioning assembly, and the output end of the first adjusting device is movably connected to the auxiliary positioning assembly; the present invention adjusts and supports the movable arm by arranging the auxiliary positioning assembly, the first adjusting device and the second adjusting device on the supporting arm and the movable arm, thereby solving the problems of large mechanical wear and large activity limitations in the existing gear transmission method, and facilitating the increase of the load-bearing capacity of the movable arm.

Description

Technical Field

[0001] The invention belongs to the field of intelligent robotics, and in particular relates to a mechanical arm and a sampling robot. Background Art

[0002] Chemical laboratories use robots to take samples and mechanical arms to clamp or adsorb samples, which can not only effectively avoid contact between experimenters and hazardous chemicals, but also help experimenters reduce their workload and improve work efficiency.

[0003] The robotic arm of the sampling robot used in existing chemical laboratories usually has no less than two articulated arms, and a motor and gear are provided at the joint of the articulated arms for driving. Since the power arm of the gear is small, the gear will be subjected to a large load when driven, which is prone to more serious mechanical wear and tear, and at the same time will affect the load-bearing capacity of the sampling robot, making the robot's load-bearing capacity small; the existing robotic arm usually changes the operating direction of the end of the robotic arm by horizontally rotating the base, which is not convenient to use in the narrow chemical room environment, making the use of the sampling robot have great limitations.

[0004] Therefore, the sampling robots used in existing chemical laboratories have problems such as large mechanical wear, small load-bearing capacity, and limitations in use in narrow environments. For this reason, we propose a robotic arm. Summary of the invention

[0005] The purpose of the present invention is to provide a robotic arm and a sampling robot, which can effectively solve the problems of large mechanical wear, small load-bearing capacity and limitations in use in narrow environments of the sampling robots used in existing chemical laboratories mentioned in the background technology.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is a mechanical arm, comprising a support arm, a movable arm movably connected to the upper end of the support arm, and a clamp fixedly mounted on an end of the movable arm away from the support arm, an auxiliary positioning assembly is movably arranged inside the connecting end of the support arm and the movable arm, a first adjustment device is arranged at an end of the support arm away from the auxiliary positioning assembly, an output end of the first adjustment device is movably connected to the auxiliary positioning assembly, a second adjustment device is arranged at an end of the movable arm away from the auxiliary positioning assembly, and an output end of the first adjustment device is movably connected to the auxiliary positioning assembly;

[0008] The auxiliary positioning assembly includes a telescopic assembly and a positioning shaft. The positioning shaft enables the first adjustment device to be connected to the first adjustment device. After the telescopic assembly and the first adjustment device are adjusted to a suitable position, a stable triangular structure is formed between the telescopic assembly, the first adjustment device and the support arm, so that the position of the positioning shaft remains stable, so that it can play a supporting role for the end of the second adjustment device. The other end of the second adjustment device is connected to the movable arm, and the movable arm is driven to rotate after the second adjustment device is extended or retracted, so as to adjust the movable arm. The telescopic assembly includes a rotating shaft movably connected to the support arm, an extension shaft movably connected inside the rotating shaft, and a screw for driving the extension shaft. The end of the positioning shaft is fixedly connected to the side of the extension shaft; during the rotation of the screw, the extension shaft is driven, so that the extension shaft extends or retracts inside the rotating shaft. The connection structure of the screw and the extension shaft has a self-locking effect, and the adjustment accuracy of the extension shaft is high and the adjustment is more sensitive.

[0009] The first adjusting device comprises a first electric telescopic rod, which is movably connected to the inside of the support arm, and the output end of the first electric telescopic rod is movably connected to the positioning shaft; the shape of the triangular structure formed by the telescopic assembly, the first adjusting device and the support arm is adjusted by the telescopic position of the output end of the first electric telescopic rod and the extension shaft, so that the positioning shaft is in a suitable position to support the second adjusting device, and the position of the positioning shaft can be adjusted, that is, the supporting position of the second adjusting device can be adjusted. According to the force analysis of the supporting force of the second adjusting device on the positioning shaft, F2=F1 / cosθ (F2 is the supporting force of the second adjusting device on the movable arm, F1 is the critical force in the tangential direction of the trajectory of the connection between the movable arm and the second adjusting device when the movable arm is in a force balanced state and in a circular motion, and the angle θ is the angle between the tangential direction and the second adjusting device), as Figure 1 It is shown that when the value exceeds F1, the movable arm rotates counterclockwise, and when the value is less than F, the movable arm rotates clockwise. Therefore, when F1 is a constant value, the smaller the angle θ is, the smaller the value of F2 is, that is, the smaller the critical support force of the second adjustment device on the movable arm is, and it is more convenient to support the movable arm. By adjusting the position of the positioning shaft, the angle θ is adjusted to a suitable position, which is convenient to increase the effective support force of the second adjustment device, which is convenient to increase the maximum load on the movable arm, and at the same time can reduce the load of the second adjustment device itself, which is convenient for the adjustment of the second adjustment device, and can greatly reduce the mechanical wear of the second adjustment device, which is convenient to increase the service life of the device structure components.

[0010] Under the action of the telescopic assembly and the first adjustment device, the positioning shaft can perform a complete circular motion, so that the movable arm can be driven to have a large rotation range on the support arm, and sampling or sample delivery work can be carried out back and forth on both sides of the support arm, which is convenient for sampling activities of the device in a narrow environment.

[0011] The second adjusting device comprises a second electric telescopic rod, which is movably connected to the inside of the movable arm, and the output end of the second electric telescopic rod is movably connected to the positioning shaft. The output end of the second electric telescopic rod is used to adjust the movable arm and rotate the movable arm when it is extended. The second electric telescopic rod has high precision, high sensitivity and other characteristics, so that the adjustment effect of the movable arm is better.

[0012] Preferably, an adjustment platform is provided at the bottom end of the support arm, and the support arm is movably connected above the adjustment platform. The adjustment platform can drive the support arm to rotate in the horizontal and vertical directions, so as to enhance the overall adjustment capability of the device, and a walking mechanism can be installed at the bottom of the adjustment platform to facilitate the movement of the device.

[0013] Preferably, the end of the rotating shaft away from the extension shaft is fixedly connected to a first motor, and the output end of the first motor passes through the rotating shaft and is fixedly connected to the screw rod. The first motor is convenient for providing power to the screw rod to drive the screw rod to rotate.

[0014] Preferably, there are two groups of telescopic components, which are symmetrically distributed at the ends of the positioning shaft, and the two groups of telescopic components move synchronously, which is convenient for adjusting the position of the positioning shaft and makes the positioning of the positioning shaft more accurate.

[0015] Preferably, a rotating shaft is fixedly mounted on one side of the rotating shaft close to the supporting arm, and the rotating shaft is movably connected inside the supporting arm, so as to facilitate the connection of the rotating shaft to the supporting arm.

[0016] Preferably, a second motor is fixedly mounted on the upper end of one side of the support arm, and the second motor drives a rotating shaft adjacent to the second motor. The second motor provides power to the rotating shaft to facilitate the rotation of the auxiliary positioning assembly as a whole, so that the positioning shaft can easily pass through the highest point and the lowest point of the support arm.

[0017] Preferably, the first adjustment device further comprises a first mounting seat fixedly connected to the base of the first electric telescopic rod and a first sleeve fixedly connected to the output end of the first electric telescopic rod, the first mounting seat is movably connected to the inside of the support arm, and the first sleeve is sleeved on the side of the positioning shaft and movably connected to the positioning shaft. The first sleeve and the first mounting seat enable both ends of the first electric telescopic rod to be in a movably connected state, which facilitates the adjustment of the first electric telescopic rod.

[0018] Preferably, the second adjustment device further comprises a second mounting seat fixedly connected to the base of the second electric telescopic rod and a second sleeve fixedly connected to the output end of the second electric telescopic rod, the second mounting seat being movably connected to the inside of the support arm, the second sleeve being sleeved on the side of the positioning shaft and movably connected to the positioning shaft. The second sleeve and the second mounting seat enable both ends of the second electric telescopic rod to be in a movably connected state, which facilitates the adjustment of the second electric telescopic rod.

[0019] Preferably, a connecting wire is connected above the adjustment platform and installed on the sides of the support arm and the movable arm. The connecting wire is used to supply power to the first motor, the second motor, the second electric telescopic rod and the first electric telescopic rod and to transmit signals.

[0020] Preferably, an annular groove is provided inside one end of the movable arm close to the rotating shaft, and a slider is fixedly installed on one side of the rotating shaft close to the annular groove, and the slider matches the annular groove and is movably arranged inside the annular groove. The slider slides inside the annular groove, which has a limiting effect on the slider and limits the rotating shaft at the same time, so that the rotation of the telescopic assembly and the positioning shaft is more stable, and the connection between the first adjustment device and the second adjustment device is more stable.

[0021] The present invention also provides a sampling robot, which comprises any one of the above-mentioned mechanical arms.

[0022] The present invention has the following beneficial effects:

[0023] 1. The present invention adjusts and supports the movable arm by arranging an auxiliary positioning assembly, a first adjusting device and a second adjusting device on the support arm and the movable arm, thereby solving the problem of large mechanical wear in the existing gear transmission method, and reducing the load of the second adjusting device by selecting a suitable position, so that the second adjusting device is subjected to less force, which facilitates the adjustment of the second adjusting device and can effectively avoid the problem of mechanical wear of the second adjusting device.

[0024] 2. The present invention facilitates the adjustment of the position of the positioning shaft by the coordinated extension and retraction of the first electric telescopic rod, the second electric telescopic rod and the extension shaft, so that the positioning shaft can make a complete circular motion. In the circular trajectory of the positioning shaft, the movable arm can operate on both sides of the support arm through the adjustment of the second electric telescopic rod, which makes it convenient for the movable arm to work in a narrow space, facilitates the use of the device, and solves the problem of large activity limitations of existing robots.

[0025] 3. The present invention facilitates to improve the effective supporting force of the second adjusting device by coordinating and extending the first electric telescopic rod, the second electric telescopic rod and the extension shaft, which is 321, and at the same time can reduce the load of the second adjusting device itself, facilitates the adjustment of the second adjusting device, and reduces the mechanical wear of the second adjusting device, which is convenient to increase the service life of the device structure components. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0027] Figure 1 is a perspective view of the entirety of the robotic arm of the present invention;

[0028] Figure 2 For the robot arm of the present invention Figure 1 Enlarged view of part A in the middle;

[0029] Figure 3 A three-dimensional diagram of the auxiliary positioning assembly of the robot arm of the present invention;

[0030] Figure 4 A top sectional view of an auxiliary positioning assembly of a mechanical arm of the present invention;

[0031] Figure 5 is a front cross-sectional view of the mechanical arm of the present invention;

[0032] Figure 6 For the robot arm of the present invention Figure 5 Enlarged view of part B;

[0033] Figure 7 For the robot arm of the present invention Figure 5 Enlarged view of part C in the middle;

[0034] Figure 8 is a top cross-sectional view of the mechanical arm of the present invention;

[0035] Fig. 9 For the robot arm of the present invention Figure 8 Enlarged view of part D in the middle.

[0036] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0037] 1. Support arm; 2. Movable arm; 3. Clamp; 4. Rotating shaft; 5. Extension shaft; 6. Screw; 8. First electric telescopic rod; 9. Second electric telescopic rod; 10. Adjustment platform; 11. First motor; 12. Rotating shaft; 13. First mounting seat; 14. First sleeve; 15. Second mounting seat; 16. Second sleeve; 17. Connecting wire; 18. Ring groove; 19. Slider; 20. Second motor. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0040] See also Figure 1-9 As shown, the present invention is a mechanical arm, comprising a support arm 1, a movable arm 2 movably connected to the upper end of the support arm 1, and a clamping claw 3 fixedly installed at one end of the movable arm 2 away from the support arm 1, an auxiliary positioning component is movably arranged inside the connecting end of the support arm 1 and the movable arm 2, a first adjusting device is arranged at one end of the support arm 1 away from the auxiliary positioning component, and the output end of the first adjusting device is movably connected to the auxiliary positioning component, a second adjusting device is arranged at one end of the movable arm 2 away from the auxiliary positioning component, and the output end of the first adjusting device is movably connected to the auxiliary positioning component;

[0041] The auxiliary positioning component includes a telescopic component and a positioning shaft. The positioning shaft establishes a connection relationship between the first adjusting device and the first adjusting device. After the telescopic component and the first adjusting device are adjusted to a suitable position, a stable triangular structure is formed between the telescopic component, the first adjusting device and the support arm 1, so that the position of the positioning shaft remains stable, so that it can support the end of the second adjusting device. The other end of the second adjusting device is connected to the movable arm 2, and the movable arm 2 is driven to rotate after the second adjusting device is extended or retracted, so as to adjust the movable arm 2. This design makes the support for the movable arm 2 more stable, and because the position of the positioning shaft can be adjusted, the appropriate position can be selected to reduce the load of the second adjusting device, so that the second adjusting device is subjected to less force, which is convenient for the adjustment of the second adjusting device and can effectively avoid the problem of mechanical wear of the second adjusting device.

[0042] The telescopic assembly includes a rotating shaft 4 movably connected to the support arm 1, an extension shaft 5 movably connected inside the rotating shaft 4, and a screw rod 6 for driving the extension shaft 5. The end of the positioning shaft is fixedly connected to the side of the extension shaft 5. During the rotation of the screw rod 6, the extension shaft 5 is transmitted to make the extension shaft 5 extend or retract into the interior of the rotating shaft 4. The connection structure between the screw rod 6 and the extension shaft 5 has a self-locking effect, and makes the adjustment of the extension shaft 5 high in precision and more sensitive.

[0043] The first adjusting device includes a first electric telescopic rod 8, which is movably connected to the inside of the support arm 1, and the output end of the first electric telescopic rod 8 is movably connected to the positioning shaft; the shape of the triangular structure formed by the telescopic assembly, the first adjusting device and the support arm 1 is adjusted by the telescopic position of the output end of the first electric telescopic rod 8 and the extension shaft 5, so that the positioning shaft is in a suitable position to support the second adjusting device, and the position of the positioning shaft can be adjusted, that is, the supporting position of the second adjusting device can be adjusted. According to the force analysis of the supporting force of the second adjusting device on the positioning shaft, F2=F1 / cosθ (F2 is the supporting force of the second adjusting device on the movable arm 2, F1 is the critical force in the tangential direction of the trajectory of the connection between the movable arm 2 and the second adjusting device when the movable arm 2 is in a force balanced state and in a circular motion, and the angle θ is the angle between the tangential direction and the second adjusting device), as shown in FIG. Figure 1 It is shown that when the value exceeds F1, the movable arm 2 rotates counterclockwise, and when the value is less than F1, the movable arm 2 rotates clockwise. Therefore, when F1 is a constant value, the smaller the angle θ is, the smaller the value of F2 is, that is, the smaller the critical support force of the second adjustment device on the movable arm 2 is, and it is more convenient to support the movable arm 2. By adjusting the position of the positioning shaft, the angle θ is adjusted to a suitable position, which is convenient to increase the effective support force of the second adjustment device, which is convenient to increase the maximum load on the movable arm 2, and at the same time, the load of the second adjustment device itself is reduced, which is convenient for the adjustment of the second adjustment device, and can greatly reduce the mechanical wear of the second adjustment device, which is convenient to increase the service life of the device structure components.

[0044] Under the action of the telescopic assembly and the first adjustment device, the positioning shaft can perform a complete circular motion, so that the movable arm 2 can be driven to have a large rotation range on the support arm 1, and sampling or sample delivery work can be performed back and forth on both sides of the support arm 1, which is convenient for sampling activities of the device in a narrow environment.

[0045] The second adjusting device comprises a second electric telescopic rod 9, which is movably connected to the inside of the movable arm 2, and the output end of the second electric telescopic rod 9 is movably connected to the positioning shaft. The output end of the second electric telescopic rod 9 is used to adjust the movable arm 2 and rotate the movable arm 2 when it is extended. The second electric telescopic rod 9 has high precision, high sensitivity and its own characteristics, so that the adjustment effect of the movable arm 2 is better.

[0046] Among them, the bottom end of the support arm 1 is provided with an adjustment platform 10, and the support arm 1 is movably connected above the adjustment platform 10. The adjustment platform 10 can drive the support arm 1 to rotate in the horizontal and vertical directions, so as to enhance the overall adjustment ability of the device. A walking mechanism can be installed at the bottom of the adjustment platform 10 to facilitate the movement of the device.

[0047] The end of the rotating shaft 4 away from the extension shaft 5 is fixedly connected with a first motor 11, and the output end of the first motor 11 passes through the rotating shaft 4 and is fixedly connected to the screw rod 6. The first motor 11 provides power to the screw rod 6 to drive the screw rod 6 to rotate.

[0048] There are two sets of telescopic components, which are symmetrically distributed at the ends of the positioning shaft, and the two sets of telescopic components move synchronously, which is convenient for adjusting the position of the positioning shaft and makes the positioning of the positioning shaft more accurate.

[0049] A rotating shaft 12 is fixedly mounted on one side of the rotating shaft 4 close to the supporting arm 1 , and the rotating shaft 12 is movably connected to the inside of the supporting arm 1 . The rotating shaft 12 facilitates the connection of the rotating shaft 4 to the supporting arm 1 .

[0050] A second motor 20 is fixedly mounted on the upper end of one side of the support arm 1, and the second motor 20 drives a rotating shaft 12 adjacent thereto. The second motor 20 provides power to the rotating shaft 12, so as to drive the rotation of the auxiliary positioning assembly as a whole, so that the positioning shaft can pass through the highest point and the lowest point of the support arm 1.

[0051] The first adjustment device further includes a first mounting seat 13 fixedly connected to the base of the first electric telescopic rod 8 and a first sleeve 14 fixedly connected to the output end of the first electric telescopic rod 8. The first mounting seat 13 is movably connected to the inside of the support arm 1. The first sleeve 14 is sleeved on the side of the positioning shaft and movably connected to the positioning shaft. The first sleeve 14 and the first mounting seat 13 make both ends of the first electric telescopic rod 8 in a movably connected state, which is convenient for adjusting the first electric telescopic rod 8.

[0052] The second adjustment device further includes a second mounting seat 15 fixedly connected to the base of the second electric telescopic rod 9 and a second sleeve 16 fixedly connected to the output end of the second electric telescopic rod 9. The second mounting seat 15 is movably connected to the inside of the support arm 1, and the second sleeve 16 is sleeved on the side of the positioning shaft and movably connected to the positioning shaft. The second sleeve 16 and the second mounting seat 15 make both ends of the second electric telescopic rod 9 in a movably connected state, which is convenient for adjusting the second electric telescopic rod 9.

[0053] Among them, the top of the adjustment platform 10 is connected with a connecting line 17, which is installed on the side of the support arm 1 and the movable arm 2. The connecting line 17 is used to supply power to the first motor 11, the second motor 20, the second electric telescopic rod 9 and the first electric telescopic rod 8 respectively and to transmit signals.

[0054] See also Figure 3-5As shown, an annular groove 18 is provided inside one end of the movable arm 2 close to the rotating shaft 4, and a slider 19 is fixedly installed on one side of the rotating shaft 4 close to the annular groove 18, and the slider 19 matches the annular groove 18 and is movably arranged inside the annular groove 18. The slider 19 slides inside the annular groove 18, which has a limiting effect on the slider 19, and at the same time limits the rotating shaft 4, so that the rotation of the telescopic assembly and the positioning shaft is more stable, and the connection between the first adjustment device and the second adjustment device is more stable.

[0055] See also Figure 1-9 As shown, the present invention is a mechanical arm, and its use method and working principle are as follows: when in use, the first motor 11 is started to drive the screw 6 to rotate, so that the extension shaft 5 extends or retracts, the first electric telescopic rod 8 and the second electric telescopic rod 9 are synchronously extended and retracted, so that the positioning axis is in a suitable position on one side of the support arm 1, and the second electric telescopic rod 9 is further extended and retracted to drive the clamping claw 3 on the movable arm 2 to extend toward the sample to be sampled. After the clamping claw 3 clamps or absorbs the sample, the second electric telescopic rod 9 drives the movable arm 2 to rotate to retrieve the sample. When the sample needs to be brought to the other side of the support arm 1, the telescopic assembly and the first electric telescopic rod 8 adjust the positioning axis to the other side of the support arm 1, and the second electric telescopic rod 9 drives the movable arm 2 to move synchronously.

[0056] The present invention also provides a sampling robot, which includes a robotic arm of any one of embodiment one or embodiment two.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0058] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A robotic arm, characterized in that: The invention comprises a support arm (1), a movable arm (2) movably connected to the upper end of the support arm (1), and a clamping claw (3) fixedly mounted on an end of the movable arm (2) away from the support arm (1); an auxiliary positioning component is movably arranged inside the connection end of the support arm (1) and the movable arm (2); a first adjustment device is arranged inside the end of the support arm (1) away from the auxiliary positioning component, and the output end of the first adjustment device is movably connected to the auxiliary positioning component; a second adjustment device is arranged inside the end of the movable arm (2) away from the auxiliary positioning component, and the output end of the first adjustment device is movably connected to the auxiliary positioning component; The auxiliary positioning assembly comprises a telescopic assembly and a positioning shaft, the telescopic assembly comprising a rotating shaft (4) movably connected to the support arm (1), an extension shaft (5) movably connected inside the rotating shaft (4), and a screw (6) for driving the extension shaft (5), and the end of the positioning shaft is fixedly connected to the side of the extension shaft (5); The first adjustment device comprises a first electric telescopic rod (8), the first electric telescopic rod (8) being movably connected to the inside of the support arm (1), and the output end of the first electric telescopic rod (8) being movably connected to the positioning shaft; The second adjustment device comprises a second electric telescopic rod (9), the second electric telescopic rod (9) being movably connected inside the movable arm (2), and the output end of the second electric telescopic rod (9) being movably connected to the positioning shaft.

2. The robotic arm according to claim 1, characterized in that: An adjustment platform (10) is provided at the bottom end of the support arm (1), and the support arm (1) is movably connected above the adjustment platform (10).

3. The robotic arm according to claim 1, characterized in that: One end of the rotating shaft (4) away from the extension shaft (5) is fixedly connected to a first motor (11); an output end of the first motor (11) passes through the rotating shaft (4) and is fixedly connected to the lead screw (6).

4. The robotic arm according to claim 1, characterized in that: There are two groups of telescopic components, which are symmetrically distributed at the ends of the positioning shaft, and the two groups of telescopic components move synchronously.

5. The robotic arm according to claim 1, characterized in that: A rotating shaft (12) is fixedly mounted on one side of the rotating shaft (4) close to the supporting arm (1), and the rotating shaft (12) is movably connected inside the supporting arm (1).

6. The robotic arm according to claim 5, characterized in that: A second motor (20) is fixedly mounted on an upper end of one side of the support arm (1), and the second motor (20) drives a rotating shaft (12) adjacent thereto.

7. The robotic arm according to claim 1, characterized in that: The first adjustment device further comprises a first mounting seat (13) fixedly connected to the base of the first electric telescopic rod (8) and a first sleeve (14) fixedly connected to the output end of the first electric telescopic rod (8), the first mounting seat (13) being movably connected to the interior of the support arm (1), and the first sleeve (14) being sleeved on the side of the positioning shaft and movably connected to the positioning shaft.

8. The robotic arm according to claim 1, characterized in that: The second adjustment device further comprises a second mounting seat (15) fixedly connected to the base of the second electric telescopic rod (9) and a second sleeve (16) fixedly connected to the output end of the second electric telescopic rod (9), the second mounting seat (15) being movably connected to the interior of the support arm (1), and the second sleeve (16) being sleeved on the side of the positioning shaft and movably connected to the positioning shaft.

9. The robotic arm according to claim 2, characterized in that: A connecting line (17) is connected to the top of the adjustment platform (10), and the connecting line (17) is installed on the side of the support arm (1) and the movable arm (2); an annular groove (18) is provided inside the end of the movable arm (2) close to the rotating shaft (4), and a sliding block (19) is fixedly installed on the side of the rotating shaft (4) close to the annular groove (18), and the sliding block (19) matches the annular groove (18) and is movably arranged inside the annular groove (18).

10. A sampling robot, characterized in that: A robotic arm comprising any one of claims 1 to 9.

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