Robot arm, robot and experimental equipment

Abstract

The robot arm comprises a mounting plate and a functional module, the mounting plate comprises a base, the base is used for being arranged on a robot arm of the robot, the mounting plate comprises cantilevers, the multiple cantilevers extend outwards from the base, the cantilevers are arranged at intervals in the circumferential direction around the base, the cantilevers comprise first cantilevers, and the first cantilevers are connected with the functional module; the functional module comprises a first grabbing module, the first grabbing module comprises first clamping jaws and a first driver, the first driver is used for driving the paired first clamping jaws to get close to or away from each other so as to clamp or release the tray, and the paired first clamping jaws are oppositely arranged on the first cantilever in the extending direction of the first cantilever. The first clamping jaw is installed on the extending first cantilever, so that the robot arm can grab materials more flexibly. The utility model relates to the field of robots.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robotic arm, a robot, and experimental equipment. Background Technology

[0002] Robots are a key component of automated equipment. A robot consists of two parts: a robotic arm and a robotic hand. The robotic arm is responsible for moving the robotic arm between different positions according to the process flow, while the robotic arm is responsible for performing pre-set actions on materials. For example, some biological experiments require extracting nucleic acid products from reaction solutions. In this case, the reaction solution must first be placed in a filter column, and then the products are separated through washing, elution, and other processes. Therefore, the robotic arm needs to be responsible for actions such as grasping and releasing the filter column, adding reaction materials, and collecting reaction products.

[0003] Different actions have different requirements. In some related technologies, robots have a single function, with one robot responsible for performing one action. The entire equipment needs to be equipped with multiple robots at the same time, which leads to a significant increase in equipment cost and space occupation, and is not conducive to the simplification of the equipment.

[0004] Some robots in related technologies still have the problem of not being flexible enough. For example, in some application scenarios, there is a need to use robotic arms to grip materials stacked together. In this case, the robot can often only grab the materials in order from top to bottom or place them in the reverse order, and cannot take out or place materials located on a specific layer according to the needs, thus limiting the way materials can be placed.

[0005] In addition, some related technologies use multi-channel pipettes for batch injection. The pipette needs to draw liquid before it can be injected, and the liquid flow rate is relatively low, which makes it difficult to improve experimental efficiency. Summary of the Invention

[0006] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a robotic arm, a robot, and experimental equipment, wherein the robotic arm facilitates more flexible grasping of materials.

[0007] The robotic arm provided in this application includes a mounting plate and a functional module. The mounting plate includes a base for mounting on the robotic arm of a robot. The mounting plate includes cantilever arms, and a plurality of cantilever arms extend outward from the base. Each cantilever arm is arranged circumferentially around the base. Each cantilever arm includes a first cantilever arm. The functional module includes a first gripping module, which includes a first gripper and a first actuator. The first actuator is used to drive a pair of first grippers to move closer or further apart to grip or release a tray. Along the extension direction of the first cantilever arm, the pair of first grippers are arranged opposite to each other on the first cantilever arm.

[0008] The robotic arm provided in this application has at least the following technical effects: by mounting the first gripper on the extended first cantilever, the first cantilever can extend into the gap between two layers of material, so that one of the first grippers is located on one side of the material and the other first gripper is located on the other side of the material, and thus the first gripper can clamp the material under the action of the first driver, thereby realizing the material handling. The robotic arm helps to grasp the material more flexibly.

[0009] According to some embodiments of this application, the included angle between the first cantilever and the remaining cantilever is greater than or equal to 90°.

[0010] According to some embodiments of this application, the first driver is disposed on the base, one of the first grippers is disposed at the output end of the first driver, and the other of the first grippers is disposed at the end of the first cantilever away from the base.

[0011] According to some embodiments of this application, the first gripper includes a latching portion located on the side of the first gripper facing another first gripper, the latching portion being used to lift the tray.

[0012] According to some embodiments of this application, the fastening part includes a positioning post, and the tray is provided with a positioning groove that matches the positioning post.

[0013] According to some embodiments of this application, the second gripping module includes a second gripper and a second driver, the second driver being used to drive the pair of second grippers to move closer or further apart to grip or release the test tube.

[0014] According to some embodiments of this application, the second gripper includes a clamping portion whose shape matches the shape of the side of the test tube.

[0015] According to some embodiments of this application, the second gripper is further provided with a receiving groove, and the receiving grooves of the two second grippers are aligned with each other to define a receiving chamber capable of accommodating the test tube, and the clamping portion protrudes from the surface of the receiving groove.

[0016] According to some embodiments of this application, the receiving groove extends in the axial direction of the test tube, and the receiving chamber is at least used to receive the opening of the test tube.

[0017] According to some embodiments of this application, the cantilever includes a second cantilever that extends radially outward from the base, and the robotic arm further includes a first connecting plate disposed at the end of the second cantilever away from the base, and the second gripping module is disposed on the first connecting plate.

[0018] According to some embodiments of this application, the first connecting plate extends in a direction away from the plane where the mounting plate is located, and the second gripping module is disposed at the end of the first connecting plate away from the base.

[0019] According to some embodiments of this application, the functional module includes a first injection module, which includes a pipette.

[0020] According to some embodiments of this application, the cantilever includes a third cantilever that extends radially outward from the base, and the robot arm further includes a second connecting plate disposed at one end of the third cantilever away from the base, and the first injection module is disposed on the second connecting plate.

[0021] According to some embodiments of this application, the functional module includes a second injection module, the second injection module including at least one injection nozzle, the injection nozzle being used to connect to an injection pipeline.

[0022] According to some embodiments of this application, the cantilever includes a fourth cantilever that extends radially outward from the base, and the robot arm further includes a third connecting plate disposed at one end of the fourth cantilever away from the base, and the second injection module is disposed on the third connecting plate.

[0023] According to some embodiments of this application, the third connecting plate includes a misaligned section and a bearing section. The misaligned section extends in a direction away from the plane where the mounting plate is located. The bearing section is disposed at one end of the misaligned section away from the base and extends outward from the misaligned section. The second liquid injection module is disposed in the bearing section.

[0024] The robot provided in this application includes a robotic arm and a robotic hand provided in this application, wherein the robotic hand is disposed at the end of the robotic arm.

[0025] The experimental equipment provided in this application includes the robotic arm provided in this application.

[0026] The robot and experimental equipment provided in this application include the robotic arm provided in this application. Therefore, the robot and experimental equipment have the beneficial effects provided by the robotic arm, which will not be described in detail here. Attached Figure Description

[0027] The accompanying drawings are used to provide a further understanding of the technical solutions disclosed in this application and form part of the specification. They are used together with the embodiments disclosed in this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions disclosed in this application.

[0028] Figure 1This is a schematic diagram of the structure of the robotic arm according to an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the robotic arm from another perspective, representing an embodiment of this application.

[0030] Figure 3 This is a schematic diagram of the robotic arm from another perspective, representing an embodiment of this application.

[0031] Figure 4 This is a schematic diagram of the action of the robotic arm gripping a tray according to an embodiment of this application;

[0032] Figure 5 yes Figure 2 A magnified view of a portion of region A in the middle;

[0033] Figure 6 yes Figure 2 Enlarged view of a portion of region B

[0034] Figure 7 yes Figure 2 A magnified view of a portion of region C.

[0035] Figure label:

[0036] Base 110, first cantilever 120, second cantilever 130, third cantilever 140, fourth cantilever 150;

[0037] First gripper 210, fastening part 211, first driver 220;

[0038] Second gripper 310, clamping part 311, receiving groove 312, second driver 320;

[0039] Pipette 410;

[0040] 510 injection nozzle;

[0041] First connecting plate 610, second connecting plate 620, third connecting plate 630, misaligned section 631, and bearing section 632;

[0042] Tray 910, test tube 920. Detailed Implementation

[0043] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0044] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0046] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0048] In biological experiments, after DNA or RNA is generated through an enzyme reaction, the product needs to be extracted from the mixture before proceeding to the next preparation step. For example, linearized DNA can be generated by enzyme digestion of circular DNA, and then RNA can be generated by in vitro transcription of linearized DNA.

[0049] In this process, multiple operations such as reaction liquid addition, product extraction, and test tube handling are required by flexible robots with multiple degrees of freedom. In some related technologies, each action is performed by a separate robot, which increases the number of robots and the space occupied, making the design of experimental equipment more complicated.

[0050] In addition, existing robots often pick up materials from above, which is not flexible enough.

[0051] Therefore, referring to Figure 1 and Figure 2According to an embodiment of this application, a robotic arm includes a mounting plate and a functional module. The mounting plate includes a base 110, which is used to mount the robotic arm of the robot. The mounting plate includes cantilever arms, and multiple cantilever arms extend outward from the base 110. Each cantilever arm is arranged circumferentially around the base 110 at intervals. The cantilever arm includes a first cantilever arm 120. The functional module includes a first gripping module, which includes a first gripper 210 and a first driver 220. The first driver 220 is used to drive the pair of first grippers 210 to move closer or further away from each other to grip or release a tray 910. Along the extension direction of the first cantilever arm 120, the pair of first grippers 210 are arranged opposite to each other on the first cantilever arm 120.

[0052] By mounting the first gripper 210 on the extended first cantilever 120, the first cantilever 120 can extend into the gap between two layers of material, so that one of the first grippers 210 is located on one side of the material and the other first gripper 210 is located on the other side of the material, and thus the first gripper 210 can clamp the material under the action of the first driver 220.

[0053] By setting the first cantilever 120, the removal and placement of the pallet 910 can be made unaffected by the location of the pallet 910. Furthermore, since the first cantilever 120 extends outward from the base 110, the base 110 and the robotic arm connected to the base 110 will not interfere with the material rack during gripping, allowing the robotic arm to perform the handling function more flexibly.

[0054] This application also provides a robot using the robotic arm of this application, and an experimental device constructed based on the robotic arm of this application.

[0055] The robot and experimental equipment have the beneficial effects provided by the robotic arm of this application, which will not be elaborated here.

[0056] It should be noted that, in order to reduce the number of robots, the robotic arm can integrate multiple functional modules. In this case, other functional modules can also be mounted on their respective cantilever arms. By integrating multiple functional modules on the mounting plate simultaneously, the robotic arm can perform various actions and produce different functions, thus enriching the robot's functionality.

[0057] On the one hand, the outward-extending cantilever increases the distance between various functional modules, providing more installation space and preventing interference between them. On the other hand, the shape and extension distance of the cantilever can be flexibly adjusted according to the installation requirements of different functional modules, which also helps to reduce the weight of the mounting plate, reduce the inertia of the robotic arm, and help reduce the difficulty of robot control.

[0058] Understandably, a robot can selectively use one of multiple functional modules based on the action it needs to perform. Optionally, to switch between the currently responsible functional modules, the base 110 can be movably or rotatably mounted on the robotic arm. In this way, through the spatial movement of the base 110, the position of the functional modules can be changed while the robotic arm remains stationary, thereby switching between different functional modules.

[0059] For example, refer to Figure 2 The mounting plate can be equipped with four functional modules and correspondingly has four cantilever arms.

[0060] To avoid the positions of other functional modules obstructing the first cantilever 120, optionally, the angle between the first cantilever 120 and the remaining cantilever is greater than or equal to 90°.

[0061] For example, refer to Figure 3 and Figure 4 The angle between the first cantilever 120 and the other cantilever is 90°, so that the first cantilever 120 can be fully inserted between the two trays 910 without being affected. This helps to shorten the extension length of the first cantilever 120, avoid the first cantilever 120 from forming an excessively long simply supported beam, reduce the bending deformation of the first cantilever 120, and reduce the positional accuracy of the first gripping module.

[0062] It is understandable that, in addition to shortening the length of the first cantilever 120, the bending deformation of the first cantilever 120 can also be reduced by decreasing the load on the first cantilever 120. To this end, the first driver 220 can be optionally mounted on the base 110, with one first gripper 210 located at the output end of the first driver 220 and the other first gripper 210 located at the end of the first cantilever 120 away from the base 110.

[0063] By placing the relatively heavy first actuator 220 of the first gripping module on the base 110, the torque on the first cantilever 120 can be minimized, reducing its bending deformation. Furthermore, compared to the first gripper 210, the first actuator 220 is generally larger. During use, the first actuator 220 also needs to be connected to drive lines (e.g., power lines for electric drive, air hoses for pneumatic drive). Placing the first actuator 220 on the base 110 avoids interference from the drive lines and further facilitates the insertion of the first cantilever 120 between the two trays 910.

[0064] It should be noted that in order to reduce the deformation of the first cantilever 120, a smaller first gripper 210 is often used to reduce weight. This will also reduce the contact area between the first gripper 210 and the pallet 910. For a heavier pallet 910, if stable gripping is achieved solely through friction, the pressure of the first gripper 210 on the pallet 910 needs to be increased accordingly. However, this can easily damage the surface of the pallet 910.

[0065] Optionally, the first gripper 210 includes a latching portion 211 located on the side of the first gripper 210 facing the other first gripper 210, and the latching portion 211 is used to support the tray 910. By supporting the tray 910 with the latching portion 211 and applying an upward force to the tray 910, the negative impact of excessive gripping force on the tray 910 can be avoided.

[0066] The fastening part 211 can adopt different designs, as long as it has an upward-facing supporting surface in the use state, and can contact the tray 910 and apply a supporting force. For example, refer to Figure 2 , Figure 4 , Figure 5 as well as Figure 6 The fastening part 211 includes a positioning post, and the tray 910 is provided with a positioning groove that matches the positioning post (in Figure 4 (As can be seen on the side of pallet 910). To facilitate insertion into the positioning slot, a guide slope can also be provided at the end of the positioning post. The upper surface of the positioning post serves as a supporting surface, and the positioning post can also cooperate with the positioning slot to achieve the positioning of pallet 910, making the placement of pallet 910 more accurate.

[0067] In addition to the robot with the robotic arm described in this application, the experimental equipment will also be equipped with different experimental instruments according to specific experimental requirements, such as material carrying platforms and material reaction instruments. The functional modules equipped with the robotic arm can be flexibly determined according to the needs of the experiment.

[0068] For example, such as Figure 2 , Figure 4 As shown, the first gripping module is suitable for gripping and transporting the tray 910, which is used to hold small materials such as test tubes in batches. In biological experiments, in addition to the tray, there is also the need to grip and transport test tubes (such as filter columns, centrifuge tubes, sample tubes, etc.).

[0069] Optionally, the functional module includes a second gripping module, which includes a second gripper 310 and a second driver 320. The second driver 320 is used to drive the pair of second grippers 310 to move closer or further apart to grip or release the test tube 920.

[0070] Optionally, in conjunction with reference Figure 7The second gripper 310 includes a gripping part 311, the shape of which matches the shape of the side of the test tube 920, thereby increasing the contact area between the second gripper 310 and the test tube 920 and improving the stability of gripping.

[0071] For example, refer to Figure 1 and Figure 2 The test tube 920 can be a cylindrical tube commonly used in experiments, such as a centrifuge tube or filter column. The clamping part 311 is arc-shaped, so that it can fit fully against the tube wall. In other cases, the clamping part 311 can also be other shapes suitable for grasping, depending on the test tube 920.

[0072] Continue to refer to Figure 7 Optionally, the second gripper 310 also has a receiving groove 312. The receiving grooves 312 of the two second grippers 310 are aligned with each other to define a receiving chamber that can accommodate the test tube 920. The clamping part 311 protrudes from the surface of the receiving groove 312. While the clamping part 311 clamps the test tube 920, the test tube 920 is housed in the receiving chamber, and the two second grippers 310 surround the test tube 920, thereby providing a certain degree of protection for the test tube 920.

[0073] Understandably, the containment chamber can be designed to completely contain the entire test tube 920, or it can be designed to contain only the parts of the test tube 920 that need to be protected.

[0074] For example, continue to refer to Figure 2 The receiving groove 312 extends along the axial direction of the test tube 920, and the receiving chamber is used to receive at least the opening of the test tube 920. At this time, a positioning step is formed on the upper side of the protruding clamping part 311. The positioning step can lock the outer edge of the opening, reliably positioning the test tube to be clamped and improving the repeatability of the clamping part 311.

[0075] Optionally, the second gripping module is also configured using a cantilever. Specifically, refer to... Figure 1 The mounting plate may include a second cantilever 130, which extends radially outward from the base 110. The robot also includes a first connecting plate 610, which is disposed at the end of the second cantilever 130 away from the base 110. The second gripping module is disposed on the first connecting plate 610.

[0076] Understandably, since the second gripping module does not need to be inserted between the two layers of test tubes 920 for gripping, the second cantilever 130 can have a shorter length, reducing bending deformation. By adding a first connecting plate 610, the structure of the first connecting plate 610 can be flexibly adjusted according to the installation requirements of the second gripping module, thereby facilitating the installation of the second gripping module.

[0077] For example, the first connecting plate 610 can extend in a direction away from the plane where the mounting plate is located, and the second gripping module is located at the end of the first connecting plate 610 away from the base 110, so that the second gripping module is further offset from the first gripping module in space, which is conducive to the mutual avoidance between different functional modules.

[0078] Specifically Figure 1 In the illustrated embodiment, the first connecting plate 610 extends along a direction perpendicular to the second cantilever 130. In other embodiments, the first connecting plate 610 may extend at different angles depending on design requirements, which will not be elaborated here.

[0079] Optionally, the functional module may further include a first dispensing module, which includes a pipette 410. The pipette 410 is used to accurately add or aspirate the reaction solution. By adding the first dispensing module, it is helpful to automate the pipetting process in the experiment.

[0080] For example, the mounting plate may include a third cantilever 140 extending radially outward from the base 110. The robot arm also includes a second connecting plate 620 disposed at the end of the third cantilever 140 away from the base 110, and the first injection module is disposed on the second connecting plate 620. The structure of the second connecting plate 620 can be flexibly adjusted according to the installation requirements of the first injection module, thereby facilitating the installation of the first injection module.

[0081] For example, considering that the pipette 410 is generally used for liquid dispensing in a vertical position, the second connecting plate 620 can extend away from the plane of the mounting plate, and the extension direction is towards the side away from the mounting plate and the connecting robotic arm. The pipette 410 is mounted on the second connecting plate 620 in the same direction, with the pipette tip located on the side away from the mounting plate. During pipetting, the mounting plate and robotic arm are positioned above the pipette 410, thereby avoiding interference with the pipette 410.

[0082] Understandably, although pipette 410 has high precision, its efficiency is relatively low. It is not ideal for use in situations where pipetting precision requirements are not high (such as injecting cleaning solution into test tubes). Therefore, optionally, the functional module includes a second injection module, which includes at least one injection nozzle 510 for connecting to the injection line.

[0083] The injection nozzle 510 can inject liquid at a higher flow rate, thereby improving efficiency, and the second injection module can include multiple injection nozzles 510 to inject liquid into multiple targets simultaneously, further improving efficiency.

[0084] For example, the mounting plate may include a fourth cantilever 150 extending radially outward from the base 110, and the robot arm may also include a third connecting plate 630 disposed at the end of the fourth cantilever 150 away from the base 110, and a second injection module disposed on the third connecting plate 630.

[0085] To accommodate the second injection module and to spatially offset the second injection module from the first gripping module, optionally, refer to... Figure 2 The third connecting plate 630 includes a misaligned section 631 and a bearing section 632. The misaligned section 631 extends away from the plane where the mounting plate is located. The bearing section 632 is located at the end of the misaligned section 631 away from the base 110. The bearing section 632 extends outward from the misaligned section 631. The second liquid injection module is located in the bearing section 632.

[0086] The carrier section 632 forms a platform, which is suitable for arranging multiple injection nozzles 510 in an array.

[0087] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0088] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic arm, characterized in that, include: Mounting plate, the mounting plate includes a base for mounting on the robot arm, the mounting plate includes cantilever arms, a plurality of cantilever arms extending outward from the base, each cantilever arm being arranged circumferentially spaced around the base, the cantilever arm including a first cantilever arm; The functional module includes a first gripping module, which includes a first gripper and a first driver. The first driver is used to drive the pair of first grippers to move closer or further apart to grip or release a tray. The pair of first grippers are arranged opposite each other on the first cantilever along the extension direction of the first cantilever.

2. The robotic arm according to claim 1, characterized in that, The angle between the first cantilever and the remaining cantilever is greater than or equal to 90°.

3. The robotic arm according to claim 1, characterized in that, The first driver is disposed on the base, one of the first grippers is disposed at the output end of the first driver, and the other of the first grippers is disposed at the end of the first cantilever away from the base.

4. The robotic arm according to claim 3, characterized in that, The first gripper includes a latching portion located on the side of the first gripper facing the other first gripper, the latching portion being used to lift the tray.

5. The robotic arm according to claim 4, characterized in that, The fastening part includes a positioning post, and the tray is provided with a positioning groove that matches the positioning post.

6. The robotic arm according to claim 1, characterized in that, The functional module includes a second gripping module, which includes a second gripper and a second driver. The second driver is used to drive the pair of second grippers to move closer or further apart to grip or release the test tube.

7. The robotic arm according to claim 6, characterized in that, The second gripper includes a clamping portion whose shape matches the shape of the side of the test tube.

8. The robotic arm according to claim 7, characterized in that, The second gripper is also provided with a receiving groove, and the receiving grooves of the two second grippers are aligned with each other to define a receiving chamber that can accommodate the test tube, and the gripping part protrudes from the surface of the receiving groove.

9. The robotic arm according to claim 8, characterized in that, The receiving groove extends along the axial direction of the test tube, and the receiving chamber is at least used to receive the opening of the test tube.

10. The robotic arm according to claim 6, characterized in that, The cantilever includes a second cantilever that extends radially outward from the base. The robotic arm also includes a first connecting plate disposed at the end of the second cantilever away from the base, and the second gripping module is disposed on the first connecting plate.

11. The robotic arm according to claim 10, characterized in that, The first connecting plate extends in a direction away from the plane where the mounting plate is located, and the second gripping module is disposed at the end of the first connecting plate away from the base.

12. The robotic arm according to claim 1, characterized in that, The functional module includes a first injection module, which includes a pipette.

13. The robotic arm according to claim 12, characterized in that, The cantilever includes a third cantilever that extends radially outward from the base. The robotic arm also includes a second connecting plate disposed at the end of the third cantilever away from the base, and the first injection module is disposed on the second connecting plate.

14. The robotic arm according to claim 1, characterized in that, The functional module includes a second injection module, which includes at least one injection nozzle for connecting to an injection pipeline.

15. The robotic arm according to claim 14, characterized in that, The cantilever includes a fourth cantilever that extends radially outward from the base. The robotic arm also includes a third connecting plate disposed at the end of the fourth cantilever away from the base, and the second injection module is disposed on the third connecting plate.

16. The robotic arm according to claim 15, characterized in that, The third connecting plate includes a misaligned section and a bearing section. The misaligned section extends in a direction away from the plane where the mounting plate is located. The bearing section is located at the end of the misaligned section away from the base and extends outward from the misaligned section. The second liquid injection module is located in the bearing section.

17. A robot, characterized in that, The robot includes a robotic arm and a robotic hand as described in any one of claims 1 to 16, the robotic hand being disposed at the end of the robotic arm.

18. An experimental apparatus, characterized in that, The experimental equipment includes the robotic arm as described in any one of claims 1 to 16.

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