Mechanical arm, powder scooping device and experimental equipment

Abstract

The utility model discloses a mechanical arm, a powder scooping device and experimental equipment, the mechanical arm comprises a first supporting mechanism and a second supporting mechanism, the first supporting mechanism and the second supporting mechanism are both used for being connected with a working mechanism, and at least one of the first supporting mechanism and the second supporting mechanism is used for driving the working mechanism to move; at least one of the first supporting mechanism and the second supporting mechanism comprises a supporting structure and a connector, the connector is rotationally connected with one end of the supporting structure, and the connector is connected with the working mechanism. By arranging the first supporting mechanism and the second supporting mechanism, the working mechanism can be driven to move, at least one of the first supporting mechanism and the second supporting mechanism comprises the supporting structure and the connector, the connector is rotationally connected with the supporting structure and connected with the working mechanism, the working mechanism can move to complete needed operation, manual operation is not needed, and the working efficiency is improved. And compared with a universal mechanical arm, free adjustment can be achieved according to needed operation, and adaptability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field, concretely relates to a mechanical arm, scoop powder device and experimental equipment. BACKGROUND

[0002] In the fields of biology, pharmacy, chemical industry, medical treatment and the like, many experiments and production links will involve some fine operations, such as solid powder quantitative addition, fixed-point pipetting, point gluing and the like.At present, these operations are completed through manual work, and there are the defects of great labor intensity and low operation precision, or the operations are carried out by using general mechanical arms, however, the general mechanical arms also have the defects of poor adaptability and inability to freely adjust. SUMMARY

[0003] The utility model discloses a mechanical arm, scoop powder device and experimental equipment, solve the problem that general mechanical arm cannot freely adjust and the poor adaptability.

[0004] To achieve the purpose of the utility model, the utility model provides the following technical scheme:

[0005] Firstly, the utility model provides a kind of mechanical arm, including first support mechanism and second support mechanism, the first support mechanism and the second support mechanism are used to be connected with working mechanism, at least one of the first support mechanism and the second support mechanism is used to drive the working mechanism movement;

[0006] Wherein, at least one of the first support mechanism and the second support mechanism includes support structure and joint, the joint is rotatably connected with one end of the support structure, and the joint is connected with the working mechanism.

[0007] In one implementation, the joint includes first rotator and second rotator, the first rotator is rotatably connected with the support structure, the second rotator is rotatably connected with the first rotator, the second rotator is used to be connected with the working mechanism, and the rotation axis of the first rotator and the rotation axis of the second rotator intersect.

[0008] In one implementation, the support structure includes first support and second support, the joint is rotatably connected with one end of the first support, the second support is rotatably connected with the first support, and the first support and / or the second support moves to drive the joint movement.

[0009] In one embodiment, the support structure further comprises a first driving member, a first transmission member, a second driving member and a second transmission member, the first transmission member is rotatably connected with the first support member, the second transmission member is rotatably connected with the second support member, the first driving member is connected with the first transmission member and is configured to drive the first transmission member to move the first support member, and the second driving member is connected with the second transmission member and is configured to drive the second transmission member to move the second support member.

[0010] In one embodiment, the first driving member and the second driving member are both rotary motors, the first transmission member comprises a combination of any one or more of a connecting rod, a screw-nut pair, a gear-rack pair, a worm-gear pair, and the second transmission member comprises a combination of any one or more of a connecting rod, a screw-nut pair, a gear-rack pair, a worm-gear pair.

[0011] In one embodiment, the rotation axis of the first driving member and the rotation axis of the second driving member are parallel to each other.

[0012] In one embodiment, the first transmission member, the first support member, the second transmission member and the second support member are all connecting rods.

[0013] The first transmission member is rotatably connected with the end of the first support member away from the joint, the second support member is rotatably connected with the end of the first support member close to the joint, and the second transmission member is rotatably connected with the end of the second support member away from the joint.

[0014] Alternatively,

[0015] The first transmission member is rotatably connected with the middle part of the first support member, one end of the second support member is connected with the second transmission member, and the other end of the second support member is rotatably connected with the end of the first support member away from the joint.

[0016] In one embodiment, the first transmission member and the second transmission member have the same length, and the first support member and the second support member have the same length.

[0017] In one embodiment, the first transmission member and the second transmission member are both screw-nut pairs, the screw of the first transmission member is connected with the first driving member, the screw of the second transmission member is connected with the second driving member, the nut of the first transmission member is rotatably connected with the end of the first support member away from the joint, and the nut of the second transmission member is rotatably connected with the end of the second support member away from the joint.

[0018] In one embodiment, the lead screws of the first transmission member and the second transmission member are arranged in parallel; and the first support member and the second support member are both connecting rods, and the first support member and the second support member have the same length.

[0019] In one embodiment, the support structure further comprises a third driving member, a third transmission member and a fourth transmission member, the third transmission member is rotatably connected with the first support member, the fourth transmission member is rotatably connected with the second support member, and the third driving member is connected with the third transmission member and the fourth transmission member respectively and used to drive the third transmission member and the fourth transmission member to move independently.

[0020] In one embodiment, the third driving member is a linear motor, and the linear motor comprises a plurality of movers which can move independently, and the third transmission member and the fourth transmission member are connected with different movers respectively.

[0021] In one embodiment, the third transmission member and the fourth transmission member both comprise a slider, one side of the slider is connected with a corresponding mover, and the other side of the slider away from the mover is rotatably connected with a corresponding support member; at least one of the third transmission member and the fourth transmission member further comprises a connecting arm, one end of the connecting arm is connected with a corresponding slider, and the other end of the connecting arm is rotatably connected with a corresponding support member; and the first support member and the second support member are both connecting rods.

[0022] In one embodiment, the mechanical arm further comprises a base and a moving mechanism, the first support mechanism and the second support mechanism are arranged on the base, and the base is arranged on the moving mechanism, and the moving mechanism is used to drive the base to move.

[0023] In one embodiment, the mechanical arm further comprises a first base, a second base and a moving mechanism, the first support mechanism is arranged on the first base, the second support mechanism is arranged on the second base, and the first base or the second base is arranged on the moving mechanism, and the moving mechanism is used to drive the base on it to move.

[0024] In the second aspect, the utility model further provides a powder scooping device, including work mechanism and the mechanical arm of any one of the first aspect various embodiments, work mechanism with the first support mechanism and the second support mechanism of the mechanical arm are connected, and are used to carry out scooping powder operation.

[0025] In one embodiment, the working mechanism comprises a first scooping driving member and a scooping member, the first scooping driving member is connected with one end of the scooping member and is used to drive the scooping member to move, the first supporting mechanism is connected with the first scooping driving member, the second supporting mechanism is connected with the scooping member, and the scooping member has a scoop at the end away from the first scooping driving member.

[0026] In one embodiment, the scooping member comprises a sliding sleeve and a scooping rod, the sliding sleeve comprises a bushing and a guide shaft, the bushing is sleeved on the outer periphery of the guide shaft, and the guide shaft is rotatable relative to the bushing, one end of the guide shaft is connected with the first scooping driving member, the other end is connected with one end of the scooping rod, the first scooping driving member is used to drive the guide shaft to rotate so as to drive the scooping rod to rotate, the scooping rod has the scoop at the end away from the guide shaft, and the second supporting mechanism is connected with the bushing.

[0027] In one embodiment, the guide shaft is also movable relative to the bushing, and the first supporting mechanism and the second supporting mechanism are movable relative to each other to approach or move away from each other.

[0028] In one embodiment, the scooping member further comprises an adapter, one end of the adapter is detachably connected with the guide shaft, and the other end of the adapter is detachably connected with the scooping rod.

[0029] In one embodiment, the first supporting mechanism and the second supporting mechanism each comprise a supporting structure and a joint, the joint comprises a first rotating member and a second rotating member, the first rotating member is rotatably connected with the supporting structure, and the second rotating member is rotatably connected with the first rotating member, the second rotating member of the first supporting mechanism is connected with the first scooping driving member, and the second rotating member of the second supporting mechanism is connected with the scooping member.

[0030] In one embodiment, the working mechanism comprises a second scooping driving member, a first scooping transmission member, a third scooping driving member, a second scooping transmission member and a scooping member, the first scooping transmission member and the second scooping transmission member are each connected with the scooping member, the first supporting mechanism is connected with the second scooping driving member, the second scooping driving member is connected with the first scooping transmission member, the second supporting mechanism is connected with the third scooping driving member, and the third scooping driving member is connected with the second scooping transmission member, the first supporting mechanism and the second supporting mechanism are each movably connected with the scooping member, the scooping member has a scoop at the end away from the second scooping driving member, and the second scooping driving member and the third scooping driving member are used to drive the scooping member to move, rotate or move and rotate in combination through the corresponding scooping transmission member.

[0031] In one embodiment, the scooping member comprises a screw rod shaft, a first nut, a second nut and a scooping rod, the first supporting mechanism is rotationally connected with the first nut, the first scooping transmission member is connected with the first nut, the second supporting mechanism is rotationally connected with the second nut, the second scooping transmission member is connected with the second nut, the screw rod shaft is arranged in the first nut and the second nut, and the first nut and the second nut are movably connected with the screw rod shaft, one end of the screw rod shaft away from the second scooping drive member is connected with one end of the scooping rod, and the other end of the scooping rod away from the screw rod shaft is provided with the scoop.

[0032] In one embodiment, at least one of the first scooping transmission member and the second scooping transmission member comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt connecting the first synchronous wheel and the second synchronous wheel, the first synchronous wheel is connected with the corresponding scooping drive member, and the second synchronous wheel is connected with the corresponding nut.

[0033] At least one of the first scooping transmission member and the second scooping transmission member comprises a first gear and a second gear in meshing engagement, the first gear is connected with the corresponding scooping drive member, and the second gear is connected with the corresponding nut.

[0034] In one embodiment, the first supporting mechanism and the second supporting mechanism each comprise a supporting structure and a joint, the joint comprises a first rotating member and a second rotating member, the first rotating member is rotationally connected with the supporting structure, and the second rotating member is rotationally connected with the first rotating member, the second rotating member of the first supporting mechanism is connected with the second scooping drive member, and the second rotating member of the first supporting mechanism is further movably connected with the scooping member, the second rotating member of the second supporting mechanism is connected with the third scooping drive member, and the second rotating member of the second supporting mechanism is further movably connected with the scooping member.

[0035] In one embodiment, the scooping device further comprises a containing container and a target container, the containing container contains powder, and the mechanical arm drives the working mechanism to move so that the working mechanism scoops out the powder in the containing container and transfers the powder to the target container.

[0036] In a third aspect, the utility model also provides an experimental equipment, including the mechanical arm of any one of the first aspect various embodiments, or, including the scooping powder device of any one of the second aspect various embodiments.

[0037] The utility model discloses a mechanical arm, through setting up first support mechanism and second support mechanism, can drive working mechanism movement, and at least one of first support mechanism and second support mechanism includes support structure and joint, and joint is rotatably connected with support structure, and is connected with working mechanism, can make working mechanism movement and complete the required operation, need not manual operation, can reduce labor intensity, promote operation precision, compared with general type mechanical arm, can adjust freely according to the required operation, and the adaptability is strong. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0039] Figure 1 It is the front view of the scooping powder device of an embodiment;

[0040] Figure 2 It is the perspective view of the scooping powder device of an embodiment;

[0041] Figure 3 It is the perspective view of the scooping powder device of another embodiment;

[0042] Figure 4 It is the perspective view of the scooping powder device of another embodiment;

[0043] Figure 5 It is Figure 4 The partial sectional view of the scooping powder device in;

[0044] BRIEF DESCRIPTION OF DRAWINGS

[0045] 10 - first supporting mechanism, 20 - second supporting mechanism, 30 - working mechanism, 31 - first scooping driving member, 32 - sliding sleeve, 321 - bushing, 322 - guide shaft, 33 - scooping rod, 331 - scooping spoon, 34 - adapter, 35 - connector, 361 - second scooping driving member, 362 - first scooping transmission member, 363 - third scooping driving member, 364 - second scooping transmission member, 371 - screw rod shaft, 3711 - helical groove, 3712 - straight groove, 372 - first nut, 373 - second nut, 374 - adapter sleeve, 375 - bearing, 376 - locking nut, 381 - first synchronous wheel, 382 - second synchronous wheel, 383 - synchronous belt, 40 - supporting structure, 41 - first supporting member, 42 - second supporting member, 43 - connecting shaft, 44 - first driving member, 45 - first transmission member, 46 - second driving member, 47 - second transmission member, 48 - third driving member, 481 - stator, 482 - rotor, 483 - guide member, 484 - detection member, 485 - bottom plate, 486 - end plate, 487 - cover plate, 491 - third transmission member, 4911 - sliding block, 4912 - connecting head, 4913 - connecting arm, 492 - fourth transmission member, 50 - joint, 51 - first rotating member, 511 - first supporting part, 512 - connecting part, 513 - second supporting part, 514 - first rotating part, 52 - second rotating member, 521 - second support, 522 - second rotating part, 61 - first plate, 62 - second plate, 63 - third plate, 71 - lead screw, 72 - nut, 80 - base, 90 - moving mechanism. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0047] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be an intervening component. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be an intervening component.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. The use herein of "including," "comprising," "having," "containing," "involving," and variations thereof, is meant to encompass the items listed thereafter and equivalents thereof as well as additional items.

[0049] Some embodiments of the present application will now be described in detail with reference to the drawings. The following embodiments and features are combinable unless otherwise specified.

[0050] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a mechanical arm, which comprises a first supporting mechanism 10 and a second supporting mechanism 20. The first supporting mechanism 10 and the second supporting mechanism 20 are both used for connecting with a working mechanism 30, and at least one of the first supporting mechanism 10 and the second supporting mechanism 20 is used for driving the working mechanism 30 to move.

[0051] The specific structure of the first supporting mechanism 10 and the second supporting mechanism 20 is not limited. At least one of the first supporting mechanism 10 and the second supporting mechanism 20 can move, and specifically, the first supporting mechanism 10 can be fixed, and the second supporting mechanism 20 can move, or the first supporting mechanism 10 can move, and the second supporting mechanism 20 is fixed, or both the first supporting mechanism 10 and the second supporting mechanism 20 can move. The movement can be moving, rotating or any other feasible movement mode, and is not limited.

[0052] The working mechanism 30 can be any feasible structure, and is not limited. The working mechanism 30 is used for performing at least one required operation, for example, the working mechanism 30 can be used for dispensing, screwing, scooping powder, pipetting and the like.

[0053] The first supporting mechanism 10 and the second supporting mechanism 20 are used for connecting with different positions of the working mechanism 30, and one or both of the movable ones of the two drive the working mechanism 30 to move, thereby driving the working mechanism 30 to perform the required operation.

[0054] Among them, at least one of the first supporting mechanism 10 and the second supporting mechanism 20 comprises a supporting structure 40 and a joint 50, the joint 50 is rotatably connected with one end of the supporting structure 40, and the joint 50 is connected with the working mechanism 30.

[0055] The specific structure of the support structure 40 and the joint 50 is not limited. The first support mechanism 10 can include the support structure 40 and the joint 50, and the second support mechanism 20 can be other structures; or the second support mechanism 20 can include the support structure 40 and the joint 50, and the first support mechanism 10 can be other structures, or both the first support mechanism 10 and the second support mechanism 20 can include the support structure 40 and the joint 50.

[0056] The connection mode of the joint 50 and the working mechanism 30 can be fixed connection, rotary connection, etc., and is not limited.

[0057] For example, referring to Figure 1 and Figure 2 , both the first support mechanism 10 and the second support mechanism 20 can move and include the support structure 40 and the joint 50, the joint 50 of the first support mechanism 10 and the joint 50 of the second support mechanism 20 are connected with two positions of the working mechanism 30 respectively, the first support mechanism 10 moves and / or the second support mechanism 20 moves, in the movement process, the joint 50 can rotate relative to the support structure 40, thereby driving the working mechanism 30 to move, completing the required operation. For other embodiments, no more description is made.

[0058] The mechanical arm of the embodiment of the utility model, through setting first support mechanism 10 and second support mechanism 20, can drive working mechanism 30 to move, and at least one of first support mechanism 10 and second support mechanism 20 includes support structure 40 and joint 50, joint 50 is rotatably connected with support structure 40 and is connected with working mechanism 30, can make working mechanism 30 move and complete the required operation, without manual operation, can reduce labor intensity, improve operation precision, compared with general mechanical arm, can be freely adjusted according to the required operation, and the adaptability is strong.

[0059] According to the foregoing description, the structures of the first support mechanism 10 and the second support mechanism 20 can be substantially the same or different, and in the following, one of them is mainly described in detail, and the other can be referred to.

[0060] Optionally, referring to Figure 1 and Figure 2 , taking the second support mechanism 20 including the support structure 40 and the joint 50 as an example. The joint 50 includes a first rotating piece 51 and a second rotating piece 52, the first rotating piece 51 is rotatably connected with the support structure 40, and the second rotating piece 52 is rotatably connected with the first rotating piece 51. The second rotating piece 52 is used for being connected with the working mechanism 30, and the rotating axis of the first rotating piece 51 and the rotating axis of the second rotating piece 52 intersect.

[0061] The specific structure of the first rotating member 51 and the second rotating member 52 can not be limited. The second rotating member 52 can be fixedly connected or rotatably connected with the working mechanism 30, and both are not limited. The rotating axis of the first rotating member 51 and the rotating axis of the second rotating member 52 can be perpendicular or not perpendicular, such as the included angle between the rotating axis of the first rotating member 51 and the rotating axis of the second rotating member 52 being 30 degrees, 45 degrees, 55 degrees, 60 degrees, 90 degrees or other values. Compared with the parallel mode of the two rotating axes, one more rotating degree of freedom can be provided, which is beneficial to the more free adjustment of the mechanical arm and increases the movement degree of freedom of the working mechanism 30. In addition, the rotating axis of the first rotating member 51 and the rotating axis of the second rotating member 52 can be coplanar or not coplanar, and when they are coplanar, the stability of the structure rotation can be improved.

[0062] Optionally, the first rotating member 51 comprises a first support (not labeled in the figure) and a first rotating part 514, one end of the first rotating part 514 is fixedly connected with the first support, and the other end of the first rotating part 514 is rotatably connected with the support structure 40. Optionally, the first rotating part 514 can also be rotatably connected with the first support and the support structure 40. The first rotating part 514 can be a rotating shaft or a universal joint structure.

[0063] Optionally, the first rotating part 514 is rotatably connected with the first support and fixedly connected with the support structure 40, and in this embodiment, the first rotating part 514 can be an integral structure with the support structure 40, that is, the first rotating member 51 can only comprise the first support.

[0064] No matter which way is used, the first support can rotate relative to the support structure 40.

[0065] Optionally, the first support is in the shape of "U" and comprises a first supporting part 511, a connecting part 512 and a second supporting part 513 connected in sequence, and the first supporting part 511 and the second supporting part 513 are oppositely spaced. The first supporting part 511, the connecting part 512 and the second supporting part 513 can all be substantially in the shape of a plate and can be an integral structure or a split structure, which is not limited.

[0066] Optionally, the first rotating part 514 is in the shape of a straight line extending rod, one end of the first rotating part 514 is connected with the connecting part 512, and the other end protrudes from the side of the connecting part 512 away from the first supporting part 511. Optionally, the connecting part 512 is provided with a hole, and the first rotating part 514 is arranged in the hole and connected with the connecting part 512. In this way, the whole first rotating member 51 is in the shape of a bow.

[0067] Optionally, the first rotating member 51 is in the shape of an axisymmetric structure, and the axis of symmetry is the center line of the first rotating part 514. The symmetrical first rotating member 51 can be beneficial to keeping the structure stable, reducing the structure wear caused by asymmetric rotation, and avoiding instability caused by unstable structure.

[0068] Optionally, the second rotating member 52 comprises a second support 521 and a second rotating part 522, the second support 521 is arranged between the first support part 511 and the second support part 513, and opposite ends of the second support 521 can be provided with the second rotating part 522. One of the second rotating parts 522 is connected with the first support part 511, and the other second rotating part 522 is connected with the second support part 513. The second support 521 can rotate relative to the first support, which can be that the second rotating part 522 is rotationally connected with the first support and fixedly connected with the second support 521, or that the second rotating part 522 is fixedly connected with the first support and rotationally connected with the second support 521, or that the second rotating part 522 is rotationally connected with the first support and the second support 521, without limitation. The second rotating part 522 can be preferably a rotating shaft.

[0069] Optionally, the center lines of the two second rotating parts 522 coincide, and the second rotating member 52 has an axial symmetry structure, and the symmetry axis is the center line of the two second rotating parts 522. The symmetrical second rotating member 52 can be beneficial to maintaining the stability of the structure, reducing the structural wear caused by asymmetric rotation, and avoiding instability caused by unstable structure.

[0070] Optionally, the second support 521 is provided with a through hole for mounting the working mechanism 30, and the working mechanism 30 can be fixedly connected with the second support 521 or can rotate and / or move relative to the second support 521. That is, the working mechanism 30 can be arranged in the through hole of the second support 521, so that the installation of the working mechanism 30 is facilitated, and the structure is simple.

[0071] The first rotating member 51 and the second rotating member 52 can rotate relative to the support structure 40, thereby providing two degrees of rotational freedom. When at least one of the first support mechanism 10 and the second support mechanism 20 drives the working mechanism 30 to move, the working mechanism 30 can move without being stuck through the rotation of the first rotating member 51 and / or the second rotating member 52, and the mechanical arm can complete the function required to drive the working mechanism 30 to move.

[0072] For the case that the first support mechanism 10 and the second support mechanism 20 both have the joint 50, the structures of the two joints 50 can be substantially the same or different, without limitation.

[0073] Optionally, the second support 521 of the joint 50 of the first support mechanism 10 is substantially in a "U" shape, and comprises a first plate 61, a second plate 62 and a third plate 63 connected in sequence, the first plate 61 and the third plate 63 are spaced and oppositely arranged, the first plate 61 is connected with one of the second rotating parts 522, the third plate 63 is connected with the other second rotating part 522, the second plate 62 is provided with a through hole, and the surface of the second plate 62 opposite to the first plate 61 is used for connecting and fixing the driving member of the working mechanism 30, the rotating shaft of the driving member is arranged in the through hole of the second plate 62, and the space between the first plate 61 and the third plate 63 can be used for mounting the adapter, the connector 35 and other structures without limitation.

[0074] Optionally, the second support 521 of the joint 50 of the second support mechanism 20 is substantially in a cubic structure, and each of the two ends in the length direction is connected with one second rotating part 522.

[0075] Optionally, the first support mechanism 10 can be referred to the second support mechanism 20 including the support structure 40 and the joint 50. The support structure 40 comprises a first support 41 and a second support 42, the joint 50 is rotationally connected with one end of the first support 41, the second support 42 is rotationally connected with the first support 41, and the first support 41 and / or the second support 42 moves to drive the joint 50 to move.

[0076] The first support 41 and the second support 42 are substantially along a straight line or a curve, and have two opposite ends in the length direction, and one end of the first support 41 is connected with the first rotating part 51 (the first rotating part 514) of the joint 50. Optionally, the first support 41 extends along a straight line, and the straight line is parallel to the rotating axis (the center line of the first rotating part 514) of the first rotating part 51; in other words, the first rotating part 51 of the second support mechanism 20 rotates around the axis extending along the length direction of the first support 41.

[0077] The first support 41 and the second support 42 can be connected by a connecting shaft 43, and at least one of the first support 41 and the second support 42 can rotate relative to the connecting shaft 43, so that the rotation connection of the first support 41 and the second support 42 can be realized. The center line of the connecting shaft 43 intersects with the length direction of the first support 41 and the length direction of the second support 42, and further can be perpendicular.

[0078] At least one of the first support 41 and the second support 42 is driven to move, and due to the rotation connection between the first support 41 and the second support 42, the first support 41 and the second support 42 jointly support the joint 50 and drive the joint 50 to move. The driven movement refers to the movement under the power input, and the passive movement refers to the movement without the power input. For example, the first support 41 is driven to move, and the second support 42 is passively moved; or the second support 42 is driven to move, and the first support 41 is passively moved; or the first support 41 and the second support 42 are both driven to move. The driven movement of the first support 41 and / or the second support 42 can be movement, rotation, etc., and is not limited.

[0079] When the first support 41 and / or the second support 42 move, the position of the joint 50 can be changed, the joint 50 is rotationally connected to one end of the first support 41, and the position of the working mechanism 30 connected to the joint 50 can be changed and flexibly moved without interference.

[0080] Optionally, referring to Figure 1 and Figure 2 , the support structure 40 further includes a first driving member 44, a first transmission member 45, a second driving member 46 and a second transmission member 47. The first transmission member 45 is rotationally connected to the first support 41, the second transmission member 47 is rotationally connected to the second support 42, the first driving member 44 is connected to the first transmission member 45 and is configured to drive the first transmission member 45 to drive the first support 41 to move, and the second driving member 46 is connected to the second transmission member 47 and is configured to drive the second transmission member 47 to drive the second support 42 to move.

[0081] The specific structure and type of the first driving member 44, the first transmission member 45, the second driving member 46 and the second transmission member 47 are not limited, and any feasible structure can be used. For example, the first driving member 44 and the second driving member 46 can be motors, air cylinders or the like. It should be understood that, according to the required movement of the working mechanism 30, the first driving member 44 and / or the second driving member 46 can be controlled to work, respectively drive the first support member 41 and / or the second support member 42 to move through the first transmission member 45 and / or the second transmission member 47, and then adjust the position of the joint 50. That is, at least one of the first driving member 44 and the second driving member 46 can be inoperative. For example, when the first driving member 44 is inoperative and the second driving member 46 is operative, since the first driving member 44 is inoperative, the first transmission member 45 is also inoperative, but since the first support member 41 is rotationally connected with the first transmission member 45, when the second driving member 46 drives the second support member 42 to move through the second transmission member 47, the first support member 41 can rotate relative to the first transmission member 45, and thus the position of the joint 50 can be changed. The working of the first driving member 44 and the second driving member 46 is not limited in the embodiments of the present application, as long as the joint 50 can be driven to move. The rotational connection between the first transmission member 45 and the first support member 41 and the rotational connection between the second transmission member 47 and the second support member 42 can be achieved by a rotating shaft or a universal joint, and the like, which are not limited herein.

[0082] Therefore, by arranging the first driving member 44, the first transmission member 45, the second driving member 46 and the second transmission member 47, the position of the joint 50 can be flexibly adjusted by controlling whether the first driving member 44 and the second driving member 46 work and how they work, and the adaptability is high.

[0083] Optionally, with reference to Figure 1 and Figure 2 , and Figure 3 , the first driving member 44 and the second driving member 46 are both rotary motors. Specifically, the rotary motors can be servo motors, stepper motors or the like, and the rotary motors can be provided with reducers, gearboxes or brakes or the like, which are not limited. Optionally, the first transmission member 45 includes any one or a combination of a connecting rod, a screw-nut matching pair, a gear-rack matching pair, a worm-gear matching pair. Optionally, the second transmission member 47 includes any one or a combination of a connecting rod, a screw-nut matching pair, a gear-rack matching pair, a worm-gear matching pair. The driving and transmission structures arranged in this way are common structures, which are easy to obtain, simple in structure and low in cost.

[0084] Optionally, the rotation axis of the first driving member 44 and the rotation axis of the second driving member 46 are parallel to each other. In this way, the direction in which the first driving member 44 drives the first transmission member 45 to move (e.g. rotate or move) is the same as or opposite to the direction in which the second driving member 46 drives the second transmission member 47 to move (e.g. rotate or move), which can simplify the structure and control logic and avoid overly complex movement leading to difficulty in controlling the movement of the joint 50.

[0085] In a specific embodiment, referring to Figure 1 and Figure 2 , the first transmission member 45, the first support member 41, the second transmission member 47 and the second support member 42 are all connecting rods. The first transmission member 45 is rotationally connected to the end of the first support member 41 away from the joint 50, the second support member 42 is rotationally connected to the end of the first support member 41 close to the joint 50, and the second transmission member 47 is rotationally connected to the end of the second support member 42 away from the joint 50.

[0086] Optionally, the axis of the first driving member 44 and the axis of the second driving member 46 can coincide, and further the first transmission member 45, the first support member 41, the second transmission member 47 and the second support member 42 are connecting rods, the relative rotation axis of the first transmission member 45 and the first support member 41, the relative rotation axis of the first support member 41 and the second support member 42, and the relative rotation axis of the second transmission member 47 and the second support member 42 are all parallel to the axis of the first driving member 44. In this way, the first transmission member 45, the first support member 41, the second transmission member 47 and the second support member 42 substantially form a quadrilateral structure (which can be a quadrilateral structure in the projection direction of the axis of the first driving member 44), any two adjacent sides of the quadrilateral structure can rotate relative to each other, so that the quadrilateral structure has good deformability, simple structure and low cost. Alternatively, the axes of the first driving member 44 and the second driving member 46 can be parallel but have a spacing.

[0087] Alternatively, the relative rotation axis of the first transmission member 45 and the first support member 41, the relative rotation axis of the first support member 41 and the second support member 42, and the relative rotation axis of the second transmission member 47 and the second support member 42 can be parallel to each other, but can not be parallel to the axis of the first driving member 44, etc.

[0088] Alternatively, the relative rotation axis of the first transmission member 45 and the first support member 41, the relative rotation axis of the first support member 41 and the second support member 42, and the relative rotation axis of the second transmission member 47 and the second support member 42 can also be non-parallel.

[0089] In another specific embodiment, referring to Figure 1 and Figure 2The shown embodiments are basically the same, the difference is that the first transmission member 45 is rotatably connected with the middle part of the first support member 41, one end of the second support member 42 is connected with the second transmission member 47, and the other end is rotatably connected with the first support member 41 away from the joint 50.

[0090] The middle part of the first support member 41 can be the midpoint, or near the midpoint (allowing a certain distance from the midpoint). In this way, the position between the middle part of the first support member 41 and the joint 50 is not interfered by the second support member 42, which is conducive to the work mechanism 30 to make more complex movements; in addition, the size of the second support member 42 and the second transmission member 47 can also be appropriately reduced to reduce the space occupation of the structure.

[0091] In addition, the first support member 41 is a lever with the first transmission member 45 as the fulcrum, compared with the way that the second support member 42 is rotatably connected with the first support member 41 away from the joint 50, when the work mechanism 30 makes the same movement, the movement direction of the second support member 42 is opposite. For example, when the work mechanism 30 moves upward, in the way that the second support member 42 is rotatably connected with the first support member 41 away from the joint 50, the second support member 42 moves towards the first support member 41; while in the way that the first transmission member 45 is rotatably connected with the middle part of the first support member 41, and the second support member 42 is rotatably connected with the first support member 41 away from the joint 50, the second support member 42 moves away from the first support member 41. Thus, the running mode of the first drive member 44 and the second drive member 46 can be more flexible, which is conducive to simplifying the control logic.

[0092] Optionally, referring to Figure 1 and Figure 2 , the length of the first transmission member 45 and the second transmission member 47 is the same, and the length of the first support member 41 and the second support member 42 is the same. In this way, the structure is simple, the control logic is simple, the coordination is high, it is easy to implement, and the cost is low.

[0093] In another specific embodiment, referring to Figure 3 , the embodiment shown in Figure 1 and Figure 2 are basically the same, the difference is that the first transmission member 45 and the second transmission member 47 are both screw-nut matching pairs. The screw 71 of the first transmission member 45 is connected with the first drive member 44, and the screw 71 of the second transmission member 47 is connected with the second drive member 46. The nut 72 of the first transmission member 45 away from the joint 50 is rotatably connected with the first support member 41, and the nut 72 of the second transmission member 47 away from the joint 50 is rotatably connected with the second support member 42.

[0094] In this embodiment, Figure 1 and Figure 2The connecting rods of the first transmission member 45 and the second transmission member 47 are replaced by screw-nut matching pairs, and the connecting rods of the first transmission member 45 and the second transmission member 47 are replaced by screw-nut matching pairs in Figure 1 and Figure 2 In the embodiment, the connecting rods of the first transmission member 45 and the second transmission member 47 are in rotational motion, and Figure 3 In the embodiment shown in FIG. 1, the first driving member 44 and the second driving member 46 are rotary motors, and the axes of the rotary motors are parallel to the extending directions of the corresponding screws 71. The rotary motors drive the screws 71 to rotate, the screws 71 drive the nuts 72 to move linearly, the nuts 72 drive the corresponding support members to move (or move and rotate), and the joints 50 are driven to move.

[0095] Optionally, referring to FIG. 2, the screw 71 of the first transmission member 45 and the screw 71 of the second transmission member 47 are arranged in parallel. The first support member 41 and the second support member 42 are connecting rods, and the lengths of the first support member 41 and the second support member 42 are the same. Figure 3

[0096] The end of the second support member 42 away from the nut 72 of the second transmission member 47 can be rotationally connected to the end of the first support member 41 close to the joint 50, or rotationally connected to the middle part of the first support member 41, and the like, which is not limited. In this way, the first support member 41 and the second support member 42 have simple structures, and the size of the second support member 42 can be appropriately reduced. The screw 71 of the first transmission member 45 and the screw 71 of the second transmission member 47 are arranged in parallel, which can make the end of the first support member 41 rotationally connected to the nut 72 of the first transmission member 45 and the end of the second support member 42 rotationally connected to the nut 72 of the second transmission member 47 relatively close or relatively far in the extending direction of the screw 71, which is beneficial to simplify the control logic of the first driving member 44 and the second driving member 46, and has simple structure, small space occupation, and low cost.

[0097] It can be understood that the structures of the first support mechanism 10 and the second support mechanism 20 can be substantially the same. For example, the support structure 40 of the first support mechanism 10 and the support structure 40 of the second support mechanism 20 are both combinations of two rotary motors and four connecting rods as shown in FIG. 1; or the support structure 40 of the first support mechanism 10 and the support structure 40 of the second support mechanism 20 are both combinations of one rotary motor and one connecting rod as shown in FIG. 2. Figure 1 and Figure 2 The support structure 40 of the first support mechanism 10 and the support structure 40 of the second support mechanism 20 are both combinations of one rotary motor and one connecting rod as shown in FIG. 2. Figure 3 ​The diagram shows the combination of two rotary motors, a lead screw and nut pair, and a connecting rod. The structures of the first support mechanism 10 and the second support mechanism 20 can also differ. For example, one of the support structures 40 of the first support mechanism 10 and the second support mechanism 20 may be a combination of two rotary motors and four connecting rods, while the other may be a combination of two rotary motors, a lead screw and nut pair, and a connecting rod; or one of the support structures 40 of the first support mechanism 10 and the second support mechanism 20 may be a combination of two rotary motors and four connecting rods, while the other may be a single support rod; or one of the support structures 40 of the first support mechanism 10 and the second support mechanism 20 may be a combination of two rotary motors, a lead screw and nut pair, and a connecting rod, while the other may be a single support rod.

[0098] In another embodiment, please refer to Figure 4 The support structure 40 also includes a third driving member 48, a third transmission member 491, and a fourth transmission member 492. The third transmission member 491 is rotatably connected to the first support member 41, and the fourth transmission member 492 is rotatably connected to the second support member 42. The third driving member 48 is connected to the third transmission member 491 and the fourth transmission member 492 respectively, and is used to drive the third transmission member 491 and the fourth transmission member 492 to move independently.

[0099] A third driving component 48, a third transmission component 491, and a fourth transmission component 492 constitute a power structure. In this embodiment, one or more power structures can be provided. When a power structure is provided, it can drive a connector 50 to move, in conjunction with the aforementioned... Figures 1 to 3 The other joint 50 can be driven by any feasible structure in the aforementioned embodiments, without limitation. When multiple sets of power structures are provided, two sets of power structures can drive the movement of two joints 50 connected to the same working mechanism 30, and other sets of power structures can also drive the movement of joints 50 connected to other working mechanisms 30. For example, a third driving member 48 can independently drive more than two (e.g., four, six, eight, etc.) transmission members to move, through, for example... Figure 4 The setup shown has two third drive units 48, which can independently drive multiple working mechanisms 30, thereby improving the flexibility of the device and the experimental throughput.

[0100] The third driving member 48, the third transmission member 491 and the fourth transmission member 492 can be any feasible structure. For example, the third driving member 48 can be a rotary motor, a linear motor, a hydraulic pump, a pneumatic cylinder, etc., without limitation. The third transmission member 491 and the fourth transmission member 492 can be a slider, a connecting rod, and various matching pairs, etc. The third driving member 48 can drive the third transmission member 491 and the fourth transmission member 492 to move independently, and can drive the corresponding first support member 41 and the second support member 42 to move independently, thereby realizing driving the joint 50 connected with the first support member 41 and the second support member 42 to move, so as to adjust the posture or position of the working mechanism 30 connected with the joint 50.

[0101] By setting the third driving member 48 to drive the third transmission member 491 and the fourth transmission member 492 to move independently, relative Figures 1 to 3 to the structure shown in the figure, one driving member can be reduced, and the structural complexity and cost are reduced.

[0102] Optionally, referring to Figure 4 , the third driving member 48 is a linear motor, and the linear motor includes a plurality of movers 482 that can move independently, and the third transmission member 491 and the fourth transmission member 492 are respectively connected with different movers 482.

[0103] Specifically, the linear motor of the third driving member 48 includes a linearly extending stator 481, a guide member 483 arranged on the stator 481 and extending in the same direction as the stator 481, a plurality of movers 482 slidably connected with the guide member 483, and the stator 481 drives the plurality of movers 482 to slide along the guide member 483 through electromagnetic induction effect, and the plurality of movers 482 can independently move on the guide member 483 along a straight line.

[0104] Among them, the guide member 483 can be plate-shaped, rod-shaped, etc., such as a slide rail, a slide rod, etc., without limitation. The guide member 483 is an insulating member to avoid affecting the electromagnetic induction effect of the stator 481 and the mover 482. The guide member 483 can be multiple and arranged on the stator 481 (such as arranged on opposite sides of the stator 481), and the mover 482 can be directly installed on the guide member 483, or the mover 482 can be installed on the guide member 483 through a matching structure, without limitation.

[0105] Optionally, the third driving member 48 is further provided with a detection member 484, which can be arranged on the guide member 483 and used for detecting the position of the mover 482. The detection member 484 can be a grating detection structure or a photoelectric sensor, etc. For example, the detection member 484 is composed of a grating ruler and two grating readers, the two grating readers are respectively connected with the two movers 482 and move with the movers 482 on the guide member 483, and the grating ruler is arranged along the extension direction of the stator 481 and located within the moving range of the two movers 482. By arranging the detection member 484, the moving position of the mover 482 can be accurately controlled, and collision with other structures can be avoided, thereby improving the operation precision and safety of the mechanical arm.

[0106] One linear motor of the third driving member 48 can be provided with multiple movers 482, and adjacent two movers 482 are respectively connected with the third transmission member 491 and the fourth transmission member 492, and the remaining adjacent two movers 482 can be respectively connected with another third transmission member 491 and another fourth transmission member 492, or can be connected with other mechanisms to realize more complex functions. For example, as shown in Figure 4 , one stator 481 is provided with four movers 482, and adjacent two movers 482 form a group, forming two groups of movers 482, and each group of movers 482 is respectively connected with the corresponding third transmission member 491 and the fourth transmission member 492 to drive the four corresponding transmission members to move.

[0107] The third driving member 48 can be provided with multiple linear motors, and the independently movable movers 482 of each linear motor can be multiple. For example, when the first support mechanism 10 and the second support mechanism 20 both include Figure 4 the support structure 40 as shown in Figure 4 , the third driving member 48 has two linear motors, the stators 481 of the two linear motors are arranged in parallel with each other, each linear motor has four movers 482, and the working mechanism 30 has two, each working mechanism 30 is driven to work by the four movers 482 on the two linear motors. The number of movers 482 on the two linear motors can be more than 4, which is not limited here. In this way, multiple same or different working mechanisms 30 can be driven to work at the same time, which can improve the experimental throughput, equipment flexibility and universality.

[0108] The third transmission member 491 and the fourth transmission member 492 can be respectively connected and fixed with the corresponding mover 482, and the first support member 41 and the second support member 42 can be respectively rotationally connected with the corresponding transmission member.

[0109] By arranging the third driving member 48 as a linear motor and having multiple independently movable movers 482, the third transmission member 491 and the fourth transmission member 492 can be simply driven to move, and the structure is simple.

[0110] In one embodiment, referring to Figure 4 The third transmission member 491 and the fourth transmission member 492 each include a slider 4911, one side of the slider 4911 is connected with the corresponding mover 482, and the side of the slider 4911 opposite to the mover 482 is rotationally connected with the corresponding support member; the first support member 41 and the second support member 42 are each a connecting rod.

[0111] The structure of the slider 4911 is not limited, and the slider 4911 can be connected and fixed with the mover 482 in a screwing, clamping or other connecting manner, and the slider 4911 can move under the driving of the mover 482. The first support member 41 and the second support member 42 are set as connecting rods, which are simple in structure and low in cost.

[0112] The rotationally connecting manner of the slider 4911 with the corresponding support member, i.e., the first support member 41 or the second support member 42, is not limited. Alternatively, the third transmission member 491 and the fourth transmission member 492 each further include a connecting head 4912, the connecting head 4912 is connected and fixed with the slider 4911, and the connecting head 4912 is rotationally connected with the corresponding support member. The specific structure of the connecting head 4912 is not limited, and the connecting head 4912 can be set as a structure type facilitating relative rotation with the corresponding support member. The connecting manner of the connecting head 4912 with the slider 4911 can be any feasible manner such as screwing, clamping or the like, and is not limited. In this way, the slider 4911 can be rotationally connected with the corresponding support member through the connecting head 4912, and the structure of the slider 4911 can be simple and easy to produce and manufacture.

[0113] Alternatively, referring to Figure 4 At least one of the third transmission member 491 and the fourth transmission member 492 further includes a connecting arm 4913, one end of the connecting arm 4913 is connected with the corresponding slider 4911, and the other end of the connecting arm 4913 is rotationally connected with the corresponding support member.

[0114] One end of the connecting arm 4913 is connected and fixed with the slider 4911, and any feasible connecting manner such as screwing, clamping or the like can be adopted. The other end of the connecting arm 4913 can be connected with a connecting head 4912, and the connecting head 4912 is rotationally connected with the corresponding support member.

[0115] The connecting arm 4913 can extend a certain length along a straight line or a curve, and can be a rod or a plate, and is not limited. For example, as shown in Figure 4 One end of the slider 4911 of one of the third transmission members 491 is connected and fixed with one end of a connecting arm 4913, the other end of the connecting arm 4913 is connected and fixed with one of the connecting heads 4912, and the connecting head 4912 is rotationally connected with the first support member 41.

[0116] By setting the connecting arm 4913, the spatial activity range of the corresponding support can be larger, so as to realize the adjustment of more complex motion postures and positions of the working mechanism 30, and the flexibility is improved.

[0117] It can be understood that the third transmission member 491 and the fourth transmission member 492 can each be composed of the sliding block 4911 and the connecting head 4912; or, both transmission members can be composed of the sliding block 4911, the connecting head 4912 and the connecting arm 4913; or, one of the two transmission members is composed of the sliding block 4911 and the connecting head 4912, and the other is composed of the sliding block 4911, the connecting head 4912 and the connecting arm 4913, without limitation.

[0118] Optionally, referring to Figure 4 , the linear motor can further include a bottom plate 485, the stator 481 and the guide member 483 are mounted on the bottom plate 485, and the extension directions of the three are the same. Optionally, the linear motor can further include an end plate 486, one end plate 486 is arranged at each of opposite ends of the bottom plate 485, and the stator 481 and the guide member 483 can also be connected with the end plate 486, the end plate 486 can play a supporting and fixing role, and also limit the maximum stroke of the movement of the mover 482. Optionally, the linear motor can further include a cover plate 487, the two ends of the cover plate 487 are respectively connected and fixed with the end plates 486, the cover plate 487 is arranged directly above the stator 481 and is spaced apart from the stator 481, and can play a protection role. Among them, the mover 482 can be arranged on the side of the cover plate 487 facing the stator 481, the sliding block 4911 can be arranged on the side of the cover plate 487 away from the stator 481, and the mover 482 and the sliding block 4911 both extend to both sides of the width direction of the cover plate 487 and are connected at both sides of the cover plate 487. The cover plate 487 can also play a guiding role for the mover 482 and the sliding block 4911.

[0119] In an embodiment, referring to Figures 1 to 3 , the mechanical arm further includes a base 80 and a moving mechanism 90. The first support mechanism 10 and the second support mechanism 20 are arranged on the base 80, the base 80 is arranged on the moving mechanism 90, and the moving mechanism 90 is used to drive the base 80 to move.

[0120] The base 80 can be plate-shaped or any other feasible shape, and the first driving member 44 and the second driving member 46 of the first support mechanism 10 and the second support mechanism 20 can be arranged on the base 80. When the first transmission member 45 and the second transmission member 47 are a screw-nut matching pair, at least part of the first transmission member 45 and the second transmission member 47 can also be arranged on the base 80, without limitation.

[0121] The moving mechanism 90 can be any feasible mechanism and can drive the base 80 to move in at least one degree of freedom. For example, Figures 1 to 3As shown, the moving mechanism 90 can drive the base 80 to move linearly in the horizontal direction. Optionally, the moving mechanism 90 comprises a driving assembly and a transmission assembly, the transmission assembly is connected to the driving assembly and the base 80, the driving assembly can be a motor or a cylinder, etc., and the transmission assembly can be a screw-nut pair, a gear pair or a belt wheel pair, etc., without limitation.

[0122] By setting the base 80 and the moving mechanism 90, the first support mechanism 10 and the second support mechanism 20 can be driven to move as a whole, the activity freedom of the mechanical arm is increased, and then the spatial position of the working mechanism 30 is facilitated to change, and the experimental operation is facilitated.

[0123] In another embodiment, the mechanical arm further comprises a first base (not shown), a second base (not shown) and a moving mechanism 90. The first support mechanism 10 is arranged on the first base, the second support mechanism 20 is arranged on the second base, and the first base or the second base is arranged on the moving mechanism 90, and the moving mechanism 90 is used to drive the base to move.

[0124] Compared with the previous embodiment, one of the first base and the second base in the embodiment can be driven to move by the moving mechanism 90, and the other can be fixed, so that one of the first support mechanism 10 and the second support mechanism 20 can move relative to the other, and the flexibility of the working mechanism 30 arranged on the first support mechanism 10 and the second support mechanism 20 is further improved, and the adaptability of the working mechanism 30 is increased.

[0125] Please continue to refer to Figures 1 to 3 The embodiment of the utility model also provides a scoop powder device, including working mechanism 30 and the mechanical arm in any preceding embodiment, working mechanism 30 is connected with the first support mechanism 10 and the second support mechanism 20 of mechanical arm, and is used to carry out scoop powder operation.

[0126] The specific structure of the working mechanism 30 can not be limited, and the specific way of the working mechanism 30 for scoop powder operation can not be limited. According to the content of the preceding embodiment, the working mechanism 30 is connected with the first support mechanism 10 and the second support mechanism 20 respectively, specifically, the two support mechanisms are connected at different positions of the working mechanism 30, and at least one support mechanism moves, so as to drive the working mechanism 30 to move.

[0127] Since the mechanical arm of the embodiment of the utility model can be freely adjusted according to the required operation compared with the general mechanical arm, the adaptability is strong, so that the scoop powder device of the embodiment of the utility model also has the characteristics of free adjustment and strong adaptability.

[0128] In one embodiment, the working mechanism 30 can only include a scoop powder rod 33 with a scoop 331. The scoop powder and powder pouring of the scoop powder rod 33 are realized by the cooperation of the first support mechanism 10 and the second support mechanism 20 of the mechanical arm.

[0129] In one embodiment, referring to Figures 1 to 3 , the working mechanism 30 comprises a first scooping driving member 31 and a scooping member (not labeled in the figure). The first scooping driving member 31 is connected with one end of the scooping member and is used to drive the scooping member to move (such as to move and / or rotate), the first supporting mechanism 10 is connected with the first scooping driving member 31, the second supporting mechanism 20 is connected with the scooping member, and the scooping member has a scoop 331 at the end away from the first scooping driving member 31.

[0130] The first scooping driving member 31 can be a rotary motor or other driving structure, which is not limited. The overall shape of the scooping member is generally a linearly extending rod, and the length direction of the scooping member is a linearly extending direction. One end of the length direction of the scooping member is connected with the first scooping driving member 31, and the end of the other end has the scoop 331. The scoop 331 is spoon-shaped, and the scoop 331 is used to scoop out powder (scooping) and pour out powder (pouring).

[0131] When the scooping device is working, on the one hand, the working mechanism 30 can be driven by the movement of the mechanical arm to move to a specified position; on the other hand, the first scooping driving member 31 drives the scooping member to scoop or pour, so that the scoop 331 can move in space and realize scooping operation or pouring operation.

[0132] By setting the first scooping driving member 31 to drive the scooping member to move, the scoop 331 of the scooping member can realize scooping or pouring operation, which is simple in structure and easy to realize.

[0133] Optionally, referring to Figures 1 to 3 , the scooping member comprises a sliding sleeve 32 and a scooping rod 33. The sliding sleeve 32 comprises a bushing 321 and a guide shaft 322, the bushing 321 is sleeved on the outer periphery of the guide shaft 322, and the guide shaft 322 is rotatable relative to the bushing 321. One end of the guide shaft 322 is connected with the first scooping driving member 31, and the other end is connected with one end of the scooping rod 33. The first scooping driving member 31 is used to drive the guide shaft 322 to rotate to drive the scooping rod 33 to rotate. The scooping rod 33 has the scoop 331 at the end away from the guide shaft 322, and the second supporting mechanism 20 is connected with the bushing 321.

[0134] The sliding sleeve 32 can be a standard part or a universal part. The bushing 321 is generally sleeve-shaped, and the outer peripheral surface thereof can be cylindrical or cylindrical with a circular annular protrusion, which is not limited. The guide shaft 322 is a cylindrical straight rod, and the two ends of the guide shaft 322 can extend out of the bushing 321, or one end can extend out and the other end cannot extend out, which is not limited. The bushing 321 is connected and fixed with the second supporting mechanism 20, and the guide shaft 322 is rotatable relative to the bushing 321, so that the first scooping driving member 31 drives the guide shaft 322 to rotate, drives the scooping rod 33 to rotate, and further drives the scoop 331 to rotate, thereby realizing scooping or pouring operation.

[0135] The powder scooping component includes a sliding sleeve 32 and a powder scooping rod 33. The structure is simple and facilitates connection with the robotic arm.

[0136] Optional, see reference Figures 1 to 3 The guide shaft 322 is also movable relative to the bushing 321, allowing the first support mechanism 10 and the second support mechanism 20 to move closer or further apart. The direction of movement of the guide shaft 322 relative to the bushing 321 is the axial direction of the guide shaft 322. This allows the first support mechanism 10 and the second support mechanism 20 to move closer or further apart through the movement of the guide shaft 322 relative to the bushing 321, thereby further improving the flexibility of the powder scooping device, making it easier to adjust freely, and increasing its adaptability.

[0137] Optional, see reference Figures 1 to 3 The powder scooping component also includes an adapter 34, one end of which is detachably connected to the guide shaft 322, and the other end of which is detachably connected to the powder scooping rod 33.

[0138] The specific structure of the adapter 34 is not limited. The detachable connection between the adapter 34 and the guide shaft 322 and the powder scooping rod 33 can be screwed, snap-fit, or interference fit, etc., without limitation. By setting the adapter 34, it is possible to easily connect the powder scooping rod 33 and the guide shaft 322, and it is also easy to replace the powder scooping rod 33 to switch between different specifications of scoops 331.

[0139] In one specific embodiment, reference is made to Figures 1 to 3 Both the first support mechanism 10 and the second support mechanism 20 include a support structure 40 and a connector 50. The connector 50 includes a first rotating member 51 and a second rotating member 52. The first rotating member 51 is rotatably connected to the support structure 40, and the second rotating member 52 is rotatably connected to the first rotating member 51. The second rotating member 52 of the first support mechanism 10 is connected to the first powder-scooping drive member 31, and the second rotating member 52 of the second support mechanism 20 is connected to the powder-scooping member.

[0140] In this design, the first powder-scooping drive component 31 is a rotary motor. The second rotating component 52 of the first support mechanism 10 is connected and fixed to the housing of the rotary motor of the first powder-scooping drive component 31. The output shaft of the rotary motor of the first powder-scooping drive component 31 is connected to the guide shaft 322. The second rotating component 52 of the second support mechanism 20 is connected and fixed to the bushing 321. Thus, the first powder-scooping drive component 31 can drive the guide shaft 322 to rotate via the output shaft of the rotary motor, thereby driving the powder-scooping rod 33 to rotate, realizing the powder-scooping and powder-pouring operations. The structure is simple and easy to implement.

[0141] Optionally, the output shaft of the rotary motor of the first scooping driving member 31 can be connected with the guide shaft 322 through a connector 35, which can be a shaft coupling or any other feasible structure without limitation. The connection between the connector 35 and the output shaft of the rotary motor and the guide shaft 322 can be detachable connection, such as screwing, clamping, etc. without limitation. The connector 35 is provided to facilitate the connection between the first scooping driving member 31 and the guide shaft 322.

[0142] In yet another embodiment, referring to Figure 4 and Figure 5 The working mechanism 30 comprises a second scooping driving member 361, a first scooping transmission member 362, a third scooping driving member 363, a second scooping transmission member 364 and a scooping member. The first scooping transmission member 362 and the second scooping transmission member 364 are both connected with the scooping member. The first supporting mechanism 10 is connected with the second scooping driving member 361, and the second scooping driving member 361 is connected with the first scooping transmission member 362. The second supporting mechanism 20 is connected with the third scooping driving member 363, and the third scooping driving member 363 is connected with the second scooping transmission member 364. The first supporting mechanism 10 and the second supporting mechanism 20 are both movably connected with the scooping member (such as the first supporting mechanism 10 and the second supporting mechanism 20 are both slidingly connected with the scooping member, and / or, the first supporting mechanism 10 and the second supporting mechanism 20 are both rotatably connected with the scooping member), and the end of the scooping member away from the second scooping driving member 361 is provided with a scoop. The second scooping driving member 361 and the third scooping driving member 363 are used to drive the scooping member to move, rotate or move and rotate in combination through the corresponding scooping transmission members.

[0143] Optionally, the first supporting mechanism 10 and the second supporting mechanism 20 both comprise a supporting structure 40 and a joint 50, the joint 50 of the two supporting mechanisms both comprises the aforementioned first rotating member 51 and the second rotating member 52, the first rotating member 51 is connected with the corresponding supporting structure 40, and the second rotating member 52 is rotatably connected with the corresponding first rotating member 51; the second rotating member 52 of the first supporting mechanism 10 is fixedly connected with the second scooping driving member 361, and the second rotating member 52 of the first supporting mechanism 10 is also movably connected with the scooping member; the second rotating member 52 of the second supporting mechanism 20 is fixedly connected with the third scooping driving member 363, and the second rotating member 52 of the second supporting mechanism 20 is also movably connected with the scooping member. The second scooping driving member 361 and the third scooping driving member 363 can be rotary motors, linear motors, hydraulic pumps or other structures without limitation.

[0144] The specific structure of the first scooping transmission member 362, the second scooping transmission member 364 and the scooping member can not be limited, as long as the scooping member can move, rotate or move and rotate in combination under the driving of the second scooping driving member 361 and the third scooping driving member 363.

[0145] When the scooping member moves along its own axis, it can realize the operation of advancing or retreating; when the scooping member rotates around its own axis, it can realize the operations of scooping and pouring; when the scooping member moves and rotates in a combined manner, it can realize the combined motion of any combination of advancing, retreating, scooping and pouring. In this way, the flexibility of the working mechanism 30 itself can be significantly improved.

[0146] In an embodiment, referring to Figure 4 and Figure 5 , the scooping member includes a screw shaft 371, a first nut 372, a second nut 373 and a scooping rod 33. The first support mechanism 10 is rotationally connected with the first nut 372, and the first scooping transmission member 362 is connected with the first nut 372. The second support mechanism 20 is rotationally connected with the second nut 373, and the second scooping transmission member 364 is connected with the second nut 373. The screw shaft 371 is arranged through the first nut 372 and the second nut 373, and the first nut 372 and the second nut 373 are movably connected with the screw shaft 371. One end of the scooping rod 33 connected with one end of the screw shaft 371 away from the second scooping driving member 361, and the other end of the scooping rod 33 away from the screw shaft 371 is provided with a scoop 331.

[0147] In the embodiment, one of the first nut 372 and the second nut 373 is a screw nut, and the other is a spline nut. The screw shaft 371 has a helical groove 3711 extending in the axial direction and a straight groove 3712 extending in the axial direction. The screw nut is matched with the helical groove 3711, and the spline nut is matched with the straight groove 3712. The first nut 372 and / or the second nut 373 rotates relative to the screw shaft 371 to drive the screw shaft 371 to move, rotate or move and rotate in a combined manner.

[0148] In the embodiment, the connection between the screw shaft 371 and the scooping rod 33 can be welding, gluing, clamping, screwing, etc. Alternatively, the scooping member can also include an adapter 34, one end of which is fixedly or detachably connected with the screw shaft 371, and the other end of which is detachably connected with the scooping rod 33, so as to facilitate the replacement of the scooping rod 33. The connection between the scooping transmission member and the nut can be screwing, gluing, clamping, etc.

[0149] In this embodiment, the first nut 372, the second nut 373 and the screw shaft 371 constitute a screw thread mating pair. The second scooping driving member 361 can drive the first nut 372 to rotate, and the third scooping driving member 363 can drive the second nut 373 to rotate. Since one of the first nut 372 and the second nut 373 is a screw nut and the other is a spline nut, the screw nut rotates to drive the screw groove 3711, and the spline nut rotates to drive the straight groove 3712, so that the screw shaft 371 can move, rotate, or move and rotate.

[0150] When the screw nut is fixed and does not rotate (i.e., the corresponding scooping driving member does not work) and the spline nut rotates (i.e., the corresponding scooping driving member works), the screw shaft 371 performs a combined motion of forward and backward rotation; when the screw nut rotates and the spline nut is fixed and does not rotate, the screw shaft 371 moves linearly; when the screw nut and the spline nut both rotate, the screw shaft 371 rotates in place.

[0151] For example, as shown in Figure 4 and Figure 5 , the first nut 372 is a screw nut and the second nut 373 is a spline nut.

[0152] Optionally, the scooping device can further be provided with a bearing 375, which is located in the second rotating member 52 of the joint 50, and the outer ring of the bearing 375 is connected with the inner wall of the second rotating member 52, and the inner ring is connected with the first nut 372 or the second nut 373, so as to realize the rotating connection of the first nut 372 or the second nut 373 with the corresponding supporting mechanism.

[0153] Optionally, due to the size limitation of the first nut 372 and the second nut 373, the direct connection with the bearing 375 cannot be achieved, and the scooping device can further be provided with an adapter sleeve 374 and a locking nut 376, etc. The adapter sleeve 374 is at least partially located in the bearing 375 and connected with the inner ring of the bearing 375. The adapter sleeve 374 is sleeved on the lead screw shaft 371 and has no transmission relationship with the lead screw shaft 371. There is a gap between the adapter sleeve 374 and the lead screw shaft 371. The locking nut 376 is connected and locked with one end of the adapter sleeve 374. The first nut 372 and the second nut 373 can be provided with the adapter sleeve 374, the bearing 375 and the locking nut 376. The first nut 372 and the second nut 373 are respectively connected and fixed with the end of the corresponding adapter sleeve 374 away from the locking nut 376. Due to the limited length of the first nut 372 and the second nut 373, the adapter sleeve 374 is provided to enable the first nut 372 and the second nut 373 to be connected with the corresponding bearing 375. The locking nut 376 is locked at the end of the adapter sleeve 374 protruding from the second rotating member 52 and away from the first nut 372 or the second nut 373, which can limit the movement of the first nut 372 and the second nut 373 in the axial direction and ensure the structural stability. When the second scooping driving member 361 and the third scooping driving member 363 drive the first nut 372 and the second nut 373 to rotate, respectively, the first nut 372 and the second nut 373 drive the adapter sleeve 374 connected therewith to rotate, respectively, and further drive the inner ring of the bearing 375 connected with the adapter sleeve 374 to rotate. The outer ring of the bearing 375 and the second rotating member 52 do not rotate therewith, so that the first nut 372 rotates relative to the first supporting mechanism 10, and the second nut 373 rotates relative to the second supporting mechanism 20.

[0154] The connection mode between the adapter sleeve 374 and the first nut 372 and the second nut 373 can be screwing, gluing, clamping, etc., which is not limited herein. The connection mode between the adapter sleeve 374 and the bearing 375 can be interference fit, transition fit, etc., which is not limited herein.

[0155] By providing the lead screw spline pair, the movement, rotation, and combined movement of the lead screw shaft 371 can be achieved with a simple structure, which can improve the flexibility of the scooping member to facilitate more complex operations.

[0156] Optionally, referring to Figure 4 and Figure 5 at least one of the first scooping transmission member 362 and the second scooping transmission member 364 includes a first synchronous wheel 381, a second synchronous wheel 382, and a synchronous belt 383 connecting the first synchronous wheel 381 and the second synchronous wheel 382. The first synchronous wheel 381 is connected with the corresponding scooping driving member, and the second synchronous wheel 382 is connected with the corresponding nut.

[0157] For example,Figure 5 As shown, the first synchronous wheel 381 is connected with the second scoop powder driving member 361 (or the third scoop powder driving member 363), the second synchronous wheel 382 is sleeved on the outer periphery of the corresponding nut or adapter sleeve 374 and is fixed (such as screwed, glued, clamped, etc.) therewith, and the synchronous belt 383 is wound on the first synchronous wheel 381 and the second synchronous wheel 382. When the corresponding scoop powder driving member works, it drives the first synchronous wheel 381 to rotate, and drives the second synchronous wheel 382 to rotate through the synchronous belt 383, and then can drive the corresponding nut to rotate, so as to realize the required movement of the screw shaft 371.

[0158] Alternatively, at least one of the first scoop powder transmission member 362 and the second scoop powder transmission member 364 includes a first gear and a second gear engaged with each other, the first gear is connected with the corresponding scoop powder driving member, and the second gear is connected with the corresponding nut.

[0159] Through gear transmission, the power of the scoop powder driving member can also be transmitted to the corresponding nut.

[0160] In one embodiment, the scoop powder device further includes a containing container (not shown) and a target container (not shown), the containing container contains powder, and the mechanical arm drives the working mechanism 30 to move, so that the working mechanism 30 scoops out the powder in the containing container and transfers it to the target container.

[0161] The containing container and the target container can be test tubes, reagent bottles, wide-mouth bottles, etc., without limitation. The containing container and the target container can be placed on corresponding support frames (not shown), and the scoop powder and pour powder operations can be realized by the movement of the working mechanism 30. The containing container and the target container can also be driven to move by another mechanism, that is, at least one of the containing container and the target container can also move during the movement of the working mechanism 30, specifically, it can move towards the relatively close direction, thereby speeding up the speed of the scoop powder and pour powder operations.

[0162] During the scoop powder operation, the mechanical arm drives the working mechanism 30 to move, so that the scoop 331 of the working mechanism 30 extends into the containing container, the scoop powder driving member drives the scoop powder member to rotate, so that the scoop 331 rotates to scoop powder, then the mechanical arm drives the working mechanism 30 to withdraw from the containing container and moves the scoop 331 above or inside the target container, the scoop powder driving member drives the scoop powder member to rotate, so that the scoop 331 rotates to pour powder, thereby realizing the operation of transferring the powder from the containing container to the target container.

[0163] According to the needs, the size and shape of the scoop 331 can be set so that the amount of powder transferred by the scoop 331 in one time is fixed, and one or more operations can be performed according to the needs, and finally the required amount of powder is completely transferred.

[0164] In the above embodiments, the rotating connection between the components can be hinged, pivoted, shafted, riveted, etc., and is not limited, for example, the rotating connection can be achieved by a rotating shaft, a universal joint, etc.

[0165] The utility model embodiment further provides an experimental equipment (not shown), including the mechanical arm of any preceding embodiment, the experimental equipment can be used for carrying out various experiments, not only limit to the powder transfer of preceding.

[0166] The utility model embodiment further provides an experimental equipment (not shown), including the scooping powder device of any preceding embodiment, the experimental equipment can transfer powder through scooping powder device, realizes the required experimental operation.

[0167] The experimental equipment described above all have the characteristics of being freely adjustable and highly adaptable.

[0168] In the description of the utility model embodiment, it should be explained that the orientation or position relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship described in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0169] The above disclosure is only a preferred embodiment of the utility model, and of course cannot limit the scope of the utility model, and those skilled in the art can understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made according to the claims of the utility model still belong to the scope covered by the utility model.

Claims

1. A robot arm, characterized in that, The first support mechanism and the second support mechanism are both used for connecting with the working mechanism, at least one of the first support mechanism and the second support mechanism is used for driving the working mechanism to move; At least one of the first support mechanism and the second support mechanism comprises a support structure and a joint, the joint is rotationally connected with one end of the support structure, and the joint is connected with the working mechanism.

2. The robot arm of claim 1, wherein, The joint comprises a first rotating part and a second rotating part, the first rotating part is rotationally connected with the support structure, the second rotating part is rotationally connected with the first rotating part, the second rotating part is used for connecting with the working mechanism, and the rotation axis of the first rotating part and the rotation axis of the second rotating part intersect.

3. The robotic arm of claim 1, wherein, The support structure comprises a first support part and a second support part, the joint is rotationally connected with one end of the first support part, the second support part is rotationally connected with the first support part, and the first support part and / or the second support part moves to drive the joint to move.

4. The robot arm of claim 3, wherein, The support structure further comprises a first driving part, a first transmission part, a second driving part and a second transmission part, the first transmission part is rotationally connected with the first support part, the second transmission part is rotationally connected with the second support part, the first driving part is connected with the first transmission part and is used for driving the first transmission part to drive the first support part to move, and the second driving part is connected with the second transmission part and is used for driving the second transmission part to drive the second support part to move.

5. The robot arm of claim 4, wherein, The first driving part and the second driving part are both rotary motors, the first transmission part comprises any one or a combination of a plurality of connecting rods, a screw-nut matching pair, a gear-rack matching pair and a worm-gear matching pair, and the second transmission part comprises any one or a combination of a plurality of connecting rods, a screw-nut matching pair, a gear-rack matching pair and a worm-gear matching pair.

6. The robot arm of claim 5, wherein, The rotation axis of the first driving part and the rotation axis of the second driving part are parallel to each other.

7. The robotic arm of claim 5, wherein, The first transmission part, the first support part, the second transmission part and the second support part are all connecting rods. The first transmission part is rotationally connected with the first support part at an end away from the joint, the second support part is rotationally connected with the first support part at an end close to the joint, and the second transmission part is rotationally connected with the second support part at an end away from the joint. Alternatively, The first transmission part is rotationally connected with the first support part at a middle part, one end of the second support part is connected with the second transmission part, and the other end is rotationally connected with the first support part at an end away from the joint.

8. The robotic arm of claim 7, wherein, The first transmission part and the second transmission part have the same length, and the first support part and the second support part have the same length.

9. The robotic arm of claim 5, wherein, The first transmission member and the second transmission member are screw-nut matching pairs, the screw of the first transmission member is connected with the first driving member, the screw of the second transmission member is connected with the second driving member, one end of the first supporting member away from the joint is rotationally connected with the nut of the first transmission member, and one end of the second supporting member away from the joint is rotationally connected with the nut of the second transmission member.

10. The robotic arm of claim 9, wherein, The screw of the first transmission member and the screw of the second transmission member are arranged in parallel; the first supporting member and the second supporting member are connecting rods, and the first supporting member and the second supporting member have the same length.

11. The robotic arm of claim 3, wherein, The supporting structure further comprises a third driving member, a third transmission member and a fourth transmission member, the third transmission member is rotationally connected with the first supporting member, the fourth transmission member is rotationally connected with the second supporting member, the third driving member is connected with the third transmission member and the fourth transmission member respectively, and is used for driving the third transmission member and the fourth transmission member to move independently.

12. The robotic arm of claim 11, wherein, The third driving member is a linear motor, and the linear motor comprises a plurality of movers which can move independently, the third transmission member and the fourth transmission member are connected with different movers respectively.

13. The robotic arm of claim 12, wherein, The third transmission member and the fourth transmission member each comprise a slider, one side of the slider is connected with a corresponding mover, and the side of the slider away from the mover is rotationally connected with a corresponding supporting member. At least one of the third transmission member and the fourth transmission member further comprises a connecting arm, one end of the connecting arm is connected with a corresponding slider, and the other end of the connecting arm is rotationally connected with a corresponding supporting member. The first supporting member and the second supporting member are connecting rods.

14. The robot arm according to any one of claims 1 to 13, characterized in that, The mechanical arm further comprises a base and a moving mechanism, the first supporting mechanism and the second supporting mechanism are arranged on the base, the base is arranged on the moving mechanism, and the moving mechanism is used for driving the base to move.

15. The robot arm according to any one of claims 1 to 13, characterized in that, The mechanical arm further comprises a first base, a second base and a moving mechanism, the first supporting mechanism is arranged on the first base, the second supporting mechanism is arranged on the second base, and the first base or the second base is arranged on the moving mechanism, and the moving mechanism is used for driving the base thereon to move.

16. A powder scooping device, characterized by The mechanical arm comprises a working mechanism and a mechanical arm as claimed in any one of claims 1 to 15, the working mechanism is connected with the first supporting mechanism and the second supporting mechanism of the mechanical arm, and is used for performing a scooping operation.

17. The powder scooping device of claim 16, wherein, The working mechanism comprises a first scooping driving member and a scooping member, the first scooping driving member is connected with one end of the scooping member and is used for driving the scooping member to move, the first supporting mechanism is connected with the first scooping driving member, the second supporting mechanism is connected with the scooping member, and the scooping member has a scoop at an end away from the first scooping driving member.

18. The powder scooping device according to claim 17, wherein The scooping part comprises a sliding sleeve and a scooping rod, the sliding sleeve comprises a bushing and a guide shaft, the bushing is sleeved on the outer periphery of the guide shaft, and the guide shaft is rotatable relative to the bushing, one end of the guide shaft is connected with the first scooping driving part, the other end is connected with one end of the scooping rod, the first scooping driving part is used for driving the guide shaft to rotate to drive the scooping rod to rotate, the scooping rod has the scoop at the end away from the guide shaft, and the second supporting mechanism is connected with the bushing.

19. The powder scooping device of claim 18, wherein, The guide shaft is also movable relative to the bushing, and the first supporting mechanism and the second supporting mechanism are movable relative to each other.

20. The powder scooping device of claim 18, wherein, The scooping part further comprises an adapter, one end of the adapter is detachably connected with the guide shaft, and the other end of the adapter is detachably connected with the scooping rod.

21. Scoop according to any one of claims 17-20, characterized in that The first supporting mechanism and the second supporting mechanism each comprise a supporting structure and a joint, the joint comprises a first rotating part and a second rotating part, the first rotating part is rotatably connected with the supporting structure, and the second rotating part is rotatably connected with the first rotating part; the second rotating part of the first supporting mechanism is connected with the first scooping driving part, and the second rotating part of the second supporting mechanism is connected with the scooping part.

22. The powder scooping device of claim 16, wherein, The working mechanism comprises a second scooping driving part, a first scooping transmission part, a third scooping driving part, a second scooping transmission part and a scooping part, the first scooping transmission part and the second scooping transmission part are connected with the scooping part, the first supporting mechanism is connected with the second scooping driving part, the second scooping driving part is connected with the first scooping transmission part, the second supporting mechanism is connected with the third scooping driving part, and the third scooping driving part is connected with the second scooping transmission part; the first supporting mechanism and the second supporting mechanism are movably connected with the scooping part, the scooping part has a scoop at the end away from the second scooping driving part, and the second scooping driving part and the third scooping driving part are used for driving the scooping part to move, rotate, or move and rotate in combination through the corresponding scooping transmission parts.

23. The powder scooping device of claim 22, wherein, The scooping part comprises a lead screw shaft, a first nut, a second nut and a scooping rod, the first supporting mechanism is rotatably connected with the first nut, the first scooping transmission part is connected with the first nut, the second supporting mechanism is rotatably connected with the second nut, the second scooping transmission part is connected with the second nut, the lead screw shaft is arranged in the first nut and the second nut, and the first nut and the second nut are movably connected with the lead screw shaft, one end of the lead screw shaft is connected with one end of the scooping rod, and the scooping rod has the scoop at the end away from the lead screw shaft. One of the first nut and the second nut is a screw nut, and the other is a spline nut, the screw shaft has a helical groove extending helically along the axial direction and a straight groove extending linearly along the axial direction, the screw nut is matched with the helical groove, and the spline nut is matched with the straight groove, and the first nut and / or the second nut rotates relative to the screw shaft to drive the screw shaft to move, rotate, or move and rotate.

24. The powder scooping device of claim 23, wherein, At least one of the first scooping transmission member and the second scooping transmission member includes a first synchronous wheel, a second synchronous wheel, and a synchronous belt connecting the first synchronous wheel and the second synchronous wheel, the first synchronous wheel is connected with the corresponding scooping driving member, and the second synchronous wheel is connected with the corresponding nut; or, At least one of the first scooping transmission member and the second scooping transmission member includes a first gear and a second gear engaged with each other, the first gear is connected with the corresponding scooping driving member, and the second gear is connected with the corresponding nut.

25. Scoop according to any one of claims 22-24, characterized in that The first supporting mechanism and the second supporting mechanism each include a supporting structure and a joint, the joint includes a first rotating member and a second rotating member, the first rotating member is rotationally connected with the supporting structure, and the second rotating member is rotationally connected with the first rotating member; the second rotating member of the first supporting mechanism is connected with the second scooping driving member, and the second rotating member of the first supporting mechanism is further movably connected with the scooping member; the second rotating member of the second supporting mechanism is connected with the third scooping driving member, and the second rotating member of the second supporting mechanism is further movably connected with the scooping member.

26. The powder scooping device of claim 16, wherein, The device further includes a containing container and a target container, the containing container contains powder, and the working mechanism is moved by the mechanical arm to scoop out the powder in the containing container and transfer the powder to the target container.

27. An experimental apparatus, characterized by The device includes the mechanical arm according to any one of claims 1 to 15, or the device includes the scooping device according to any one of claims 16 to 26.

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