Powder weighing assembly, powder scooping device and experiment apparatus

Abstract

A powder weighing assembly (100), a powder scooping device (1000) and an experiment apparatus. The powder weighing assembly comprises a moving mechanism (10), a container seat (20) and a weighing component (30), wherein the moving mechanism is connected to the container seat and / or the weighing component, and is configured for making the container seat and the weighing component move relative to each other, such that the container seat comes into contact with or separates from the weighing component in a first direction (Z); the container seat comprises a first placement structure (21) and a second placement structure (22), the first placement structure being configured for holding a target container (2000) to be filled with powder, and the second placement structure being configured for holding a source container (3000) filled with powder; and the weighing component is arranged on one side of the container seat in the first direction and is configured to come into contact with the container seat and weigh the container seat. The powder weighing assembly can implement an automated weighing process, reducing labor costs, and improving the operation accuracy and efficiency.

Description

Powder weighing components, powder scooping devices, and experimental equipment

[0001] This application claims priority to Chinese Patent Application No. 202411900244.5, filed on December 19, 2024, entitled “Powder Weighing Assembly, Powder Scooping Device and Experimental Equipment”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of automation equipment technology, specifically to a powder weighing component, a powder scooping device, and experimental equipment. Background Technology

[0003] In fields such as biology, pharmaceuticals, chemicals, and medicine, many experiments and production processes involve quantitative powder dispensing. Currently, powder dispensing is typically done manually. Generally, the target container is placed on a balance, and the experimenter uses a small spoon to scoop powder from the source container and pour it into the target container, then weighs the added powder. This method requires multiple scooping and pouring operations, consuming significant time and effort, resulting in high labor costs, low operational accuracy, and low efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a powder weighing component, a powder scooping device, and experimental equipment to solve the problems of high labor costs, low operational accuracy, and low efficiency in existing quantitative powder dispensing processes.

[0005] To achieve the objectives of this application, the following technical solution is provided:

[0006] In a first aspect, this application provides a powder weighing assembly, including a moving mechanism, a container seat, and a weighing device. The moving mechanism is connected to the container seat and / or the weighing device and is used to cause relative movement between the container seat and the weighing device, so that the container seat and the weighing device come into contact or separate in a first direction. The container seat includes a first placement structure and a second placement structure. The first placement structure is used to place a target container to be filled with powder, and the second placement structure is used to place a source container containing powder. The weighing device is disposed on one side of the container seat in the first direction and is used to contact the container seat and weigh the container seat.

[0007] In one embodiment, the moving mechanism is connected to the container seat and is used to drive the container seat to move up and down in the first direction; the container seat further includes a seat body, the seat body is connected to the moving mechanism, the first placement structure and the second placement structure are both disposed on the seat body, and the second placement structure protrudes from the side of the first placement structure away from the weighing device; the first placement structure and the second placement structure are spaced apart in both the first direction and the second direction, and the second direction intersects the first direction.

[0008] In one embodiment, the first placement structure includes a base, a limiting block, and a connecting rod. The base and the limiting block are spaced apart in the first direction, and the base is located on the side of the limiting block facing the weighing device. The base and / or the limiting block are fixedly connected to the base body. The connecting rod is disposed between the base and the limiting block, with one end connected to the base and the other end connected to the limiting block. The limiting block has a limiting hole for receiving the target container, and the base is used to support the target container.

[0009] In one embodiment, the second placement structure includes a first support and a second support, which are spaced apart from each other along the second direction on the base. The first support has a first receiving groove at one end away from the base, and the second support has a second receiving groove at one end away from the base. The first receiving groove and the second receiving groove are used to jointly receive the source container.

[0010] In one embodiment, along the second direction, the distance between the first support and the first placement structure is less than the distance between the second support and the first placement structure, and along the first direction, the distance between the first receiving slot and the first placement structure is greater than the distance between the second receiving slot and the first placement structure; the opening of the source container is located on the side of the first support facing away from the second support, and the opening of the source container is higher than the opening of the target container.

[0011] In one embodiment, the powder weighing assembly further includes a tube pressing mechanism for pressing the source container against the second placement structure. The tube pressing mechanism includes a tube pressing drive, a tube pressing transmission, and a tube pressing arm. The tube pressing transmission is connected to the tube pressing drive and the tube pressing arm, respectively. The tube pressing drive drives the tube pressing arm to move through the tube pressing transmission. One end of the tube pressing arm away from the tube pressing transmission is used to press the source container against the second placement structure.

[0012] In one embodiment, the crimping arm includes a crimping plate and a crimping head. One end of the crimping plate is connected and fixed to the crimping drive component. The crimping head is disposed at the end of the crimping plate away from the crimping drive component and facing the second placement structure. The crimping head is provided with a pressing surface, which is used to press against the side wall of the source container so that the crimping head presses against the source container.

[0013] In one embodiment, the pipe pressing mechanism further includes a first support plate and a second support plate, which are located on opposite sides of the container seat and close to the second placement structure. The pipe pressing transmission component includes a pipe pressing transmission structure and a rotating shaft. The pipe pressing transmission structure is connected to the pipe pressing drive component and the rotating shaft, respectively. The pipe pressing drive component is disposed on the first support plate or the second support plate and is used to drive the rotating shaft to rotate through the pipe pressing transmission structure. The rotating shaft is located between the first support plate and the second support plate, and both ends of the rotating shaft are rotatably connected to the first support plate and the second support plate, respectively. The pipe pressing arm is fixedly connected to the rotating shaft.

[0014] In one embodiment, the pressure tube arm is located on the side of the second placement structure facing away from the weighing device, and the moving mechanism is located between the first support plate and the second support plate and on the side of the pressure tube arm facing the weighing device.

[0015] In one embodiment, the powder weighing assembly further includes a housing and a lid. The housing has an open cavity, in which the moving mechanism, the container seat, the weighing device, and the pressing tube mechanism are all housed. The lid is movably connected to the housing to open or close the opening of the cavity.

[0016] In one embodiment, the lid is rotatably connected to the box body, and the pressure tube arm further includes an abutment. The abutment is disposed on the side of the pressure tube plate facing away from the pressure tube head. The abutment can abut against the lid under the action of the pressure tube plate and drive the lid to rotate, so as to open or close the opening of the cavity.

[0017] In one embodiment, the abutment includes a roller, which is rotatably connected to the pressure plate. The roller abuts against the box cover, and the roller can rotate relative to the box cover when the box cover rotates.

[0018] In one embodiment, the lid has a notch, and when the lid closes the opening of the cavity, the notch corresponds to the source container and the target container.

[0019] In one embodiment, the powder weighing assembly further includes a clamping mechanism for picking up and placing the source container on the second placement structure; the clamping mechanism includes a clamping component, a rotating component, and a first moving component, the rotating component being connected to the clamping component and the first moving component respectively, the first moving component being used to drive the rotating component and the clamping component to move synchronously, the rotating component being used to drive the clamping component to rotate, and the clamping component being used to clamp or release the source container.

[0020] In one embodiment, the first moving component includes a first lifting component, which is connected to the rotating component. The first lifting component is used to drive the rotating component and the clamping component to move up and down synchronously.

[0021] And / or, the first moving component includes a first translation component, the first translation component is connected to the rotating component, and the first translation component is used to drive the rotating component and the clamping component to translate synchronously.

[0022] In one embodiment, the powder weighing assembly further includes a buffer seat for temporarily storing the source container, and the clamping mechanism is also used for picking up and placing the source container on the buffer seat; the buffer seat and the clamping mechanism are respectively located on opposite sides of the container seat and are disposed close to the second placement structure.

[0023] In one embodiment, the powder weighing assembly further includes a powder shaking mechanism, which includes a mounting arm, a powder shaking drive, and a powder shaking element. The powder shaking drive is connected to the mounting arm and the powder shaking element respectively. When the powder shaking element contacts the source container, the powder shaking drive is used to drive the powder shaking element to move so that the source container vibrates.

[0024] In one embodiment, the powder-vibrating mechanism further includes a second moving component connected to the mounting arm, which is used to drive the mounting arm, the powder-vibrating drive component, and the powder-vibrating component to move synchronously.

[0025] In one embodiment, the second moving component includes a second lifting component connected to the mounting arm, the second lifting component being used to drive the mounting arm, the powder-vibrating drive, and the powder-vibrating component to move synchronously; and / or, the second moving component includes a second translation component connected to the mounting arm, the second translation component being used to drive the mounting arm, the powder-vibrating drive, and the powder-vibrating component to move synchronously.

[0026] In one embodiment, the powder-vibrating drive includes at least one of a rotary motor and a vibration motor, and the powder-vibrating component includes at least one of a cam, a beater arm, and a whip.

[0027] In one embodiment, the powder weighing assembly further includes a housing and a lid. The housing has an open cavity, in which the moving mechanism, the container seat, the weighing device, the tube clamping mechanism, and the powder shaking mechanism are all housed. The lid is movably connected to the housing and to the mounting arm. The second moving assembly is used to move the lid relative to the housing to open or close the opening of the cavity.

[0028] In one embodiment, the lid has a notch, and when the lid closes the opening of the cavity, the notch corresponds to the source container and the target container. The lid includes a first cover surface and a second cover surface connected together, the notch is located on the second cover surface, the second cover surface protrudes from the first cover surface in the first direction, and the box body has a clearance opening. The portion of the second cover surface protruding from the first cover surface is used to extend into the clearance opening, and the portion of the second cover surface protruding from the first cover surface is recessed inward toward one side of the cavity. When the lid moves relative to the box body, the clearance opening is used to receive the powder scooping rod.

[0029] In one embodiment, the powder weighing assembly further includes an antistatic mechanism disposed near the weighing device, the antistatic mechanism being used to eliminate static electricity at the weighing device.

[0030] Secondly, this application also provides a powder scooping device, including a powder scooping robot and a powder weighing component as described in any of the various embodiments of the first aspect, wherein the powder scooping robot is used to scoop powder from the source container and transfer the powder to the target container.

[0031] In one embodiment, the powder-scooping robot includes a powder-scooping robotic arm and a powder-scooping mechanism. The powder-scooping mechanism is disposed on the powder-scooping robotic arm. The powder-scooping robotic arm is used to drive the powder-scooping mechanism to move between the source container and the target container. The powder-scooping mechanism is used to scoop powder from the source container and pour it into the target container.

[0032] In one embodiment, the powder scooping mechanism includes a powder scooping rod, and the powder scooping device further includes a powder scooping component picking and placing mechanism. The powder scooping component picking and placing mechanism includes a base rotation drive, a loading seat, and an unloading seat. The loading seat and the unloading seat are both connected to the base rotation drive. The base rotation drive is used to drive the loading seat and the unloading seat to rotate. The loading seat has a receiving groove for placing the powder scooping rod so that the powder scooping robotic arm can connect to the powder scooping rod. The unloading seat has a locking slot for locking the powder scooping rod to separate the powder scooping rod from the powder scooping robotic arm.

[0033] In one embodiment, the powder-scooping robotic arm includes a first support mechanism and a second support mechanism spaced apart from each other. Both the first support mechanism and the second support mechanism are connected to the powder-scooping mechanism. The first support mechanism and / or the second support mechanism can move to adjust the spatial position of the powder-scooping mechanism.

[0034] In one embodiment, the powder scooping mechanism includes a first powder scooping drive, a first powder scooping transmission, and a powder scooping rod. One end of the first powder scooping transmission is connected to the first powder scooping drive, and the other end is connected to the powder scooping rod. The first powder scooping drive is used to drive the powder scooping rod to move to scoop or pour powder. The first powder scooping drive is connected to the first support mechanism, and the first powder scooping transmission is connected to the second support mechanism.

[0035] In one embodiment, the first powder-scooping transmission component includes 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 to the first powder-scooping drive component, and the other end is connected to the powder-scooping rod. The first powder-scooping drive component is used to drive the guide shaft to rotate, thereby driving the powder-scooping rod to rotate. The end of the powder-scooping rod away from the guide shaft has a scooping spoon. The second support mechanism is connected to the bushing. The guide shaft is also movable relative to the bushing, and the first support mechanism and the second support mechanism can move relatively closer or relatively farther apart.

[0036] In one embodiment, the powder-scooping mechanism includes a second powder-scooping drive, a second powder-scooping transmission, a third powder-scooping drive, a third powder-scooping transmission, and a powder-scooping component. The second and third powder-scooping transmissions are both connected to the powder-scooping component. A first support mechanism is connected to the second powder-scooping drive, the second powder-scooping drive is connected to the second powder-scooping transmission, the second support mechanism is connected to the third powder-scooping drive, and the third powder-scooping drive is connected to the third powder-scooping transmission. Both the first and second support mechanisms are movably connected to the powder-scooping component. The second and third powder-scooping drive are used to drive the powder-scooping component to perform any one of three movements: movement, rotation, or a combination of movement and rotation, via the corresponding powder-scooping transmission.

[0037] In one embodiment, the powder-scooping component includes a lead screw shaft, a first nut, a second nut, and a powder-scooping rod. A first support mechanism is rotatably connected to the first nut, a second powder-scooping transmission component is connected to the first nut, a third powder-scooping transmission component is connected to the second nut, the lead screw shaft passes through the first nut and the second nut, and both the first nut and the second nut are movably connected to the lead screw shaft. One end of the lead screw shaft away from the second powder-scooping drive component is connected to one end of the powder-scooping rod, and the end of the powder-scooping rod away from the lead screw shaft has a scooping spoon. One of the first nut and the second nut is a lead screw nut, and the other is a spline nut. The lead screw shaft has a helical groove extending spirally in the axial direction and a straight groove extending linearly in the axial direction. The lead screw nut engages with the helical groove, and the spline nut engages with the straight groove. The first nut and / or the second nut rotate relative to the lead screw shaft to drive the lead screw shaft to perform any one of the following movements: movement, rotation, or a combination of movement and rotation.

[0038] In one embodiment, at least one of the first support mechanism and the second support mechanism includes a support structure and a connector. The connector is rotatably connected to one end of the support structure and is connected to the powder scooping mechanism. The support structure includes a first support member, a second support member, a first transmission member, a second transmission member, a first driving member, and a second driving member. The first support member is rotatably connected to the connector and the first transmission member, and the second support member is rotatably connected to the first support member and the second transmission member. The first driving member is connected to the first transmission member and is used to drive the first transmission member to move the first support member. The second driving member is connected to the second transmission member and is used to drive the second transmission member to move the second support member.

[0039] In one embodiment, both the first driving member and the second driving member are rotary motors, both the first support member and the second support member are connecting rods, the first transmission member includes any one or a combination of connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs, and the second transmission member includes any one or a combination of connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs.

[0040] In one embodiment, at least one of the first support mechanism and the second support mechanism includes a support structure and a connector. The connector is rotatably connected to one end of the support structure and is connected to the powder scooping mechanism. The support structure includes a first support member, a second support member, a third driving member, a third transmission member, and a fourth transmission member. The third transmission member is rotatably connected to the first support member, and the fourth transmission member is rotatably connected to the second support member. The third driving member is connected to the third transmission member and the fourth transmission member respectively and is used to drive the third transmission member and the fourth transmission member to move independently.

[0041] In one embodiment, the third driving member is a linear motor, and the linear motor includes multiple independently movable movers, and the third transmission member and the fourth transmission member are respectively connected to different movers.

[0042] In one embodiment, the connector includes a first rotating member and a second rotating member. The first rotating member is rotatably connected to the support structure, and the second rotating member is rotatably connected to the first rotating member. The second rotating member is used to connect to the powder scooping mechanism, and the rotation axis of the first rotating member and the rotation axis of the second rotating member intersect.

[0043] In one embodiment, the powder scooping device further includes a translation mechanism, which is connected to the first support mechanism and / or the second support mechanism and is used to drive the support mechanism thereon to move.

[0044] In one embodiment, the powder weighing assembly includes a box body and a box cover. The box body has an open cavity, in which the moving mechanism, the container seat, and the weighing device are all housed. The box cover is movably connected to the box body to open or close the opening of the cavity. The box cover has a notch. When the box cover closes the opening of the cavity, the notch corresponds to the source container and the target container. The powder scooping robot is used to extend into the cavity through the notch.

[0045] In one embodiment, the powder scooping device further includes a vision detection component, which is disposed close to the powder weighing component and is used to detect the working status of the powder weighing component and / or the powder scooping robot.

[0046] In one embodiment, the visual inspection component includes a first inspection element and a second inspection element. The first inspection element is disposed on a first side of the powder weighing component, and the second inspection element is disposed on a second side of the powder weighing component. The first side and the second side are different sides.

[0047] In one embodiment, the powder scooping device further includes a loading and unloading robot for picking up and placing the source container and the target container on the powder weighing assembly.

[0048] In one embodiment, the loading / unloading robot includes a loading / unloading robot arm and a gripper. The gripper is disposed on the loading / unloading robot arm, and the loading / unloading robot arm is used to drive the gripper to move. The gripper includes multiple fingers, which can move closer to or further away from each other.

[0049] In one embodiment, the gripper further includes a gripper fixed seat, a gripper movable seat, a gripper transmission rod, and multiple gripper transmission structures; the gripper fixed seat is connected to the loading / unloading robotic arm, the gripper transmission rod is movably connected to the gripper fixed seat, the gripper movable seat is connected to the gripper transmission rod, the multiple gripper transmission structures are spaced apart circumferentially along the gripper transmission rod and are respectively movably connected to the gripper fixed seat and the gripper movable seat, the multiple gripper transmission structures are connected one-to-one with the multiple fingers, the gripper transmission rod is used to drive the gripper movable seat to move axially along the gripper transmission rod, thereby driving the multiple gripper transmission structures to move, and the multiple gripper transmission structures are used to drive the multiple fingers to move radially along the gripper transmission rod.

[0050] In one embodiment, the loading / unloading robotic arm includes a loading / unloading support arm, a loading / unloading adjustment arm, and a loading / unloading connecting seat. The loading / unloading support arm is used to move in space. The loading / unloading connecting seat is rotatably connected to the end of the loading / unloading support arm. The gripper fixing seat is connected to the loading / unloading connecting seat. The loading / unloading adjustment arm is rotatably connected to the loading / unloading support arm and is also connected to the loading / unloading connecting seat. The loading / unloading adjustment arm is used to drive the loading / unloading connecting seat to rotate relative to the loading / unloading support arm.

[0051] In one embodiment, the loading / unloading robot further includes a gripper drive structure, which is connected to the gripper transmission rod for driving the gripper transmission rod to move; the gripper drive structure is disposed on the gripper fixing seat, or the gripper drive structure is disposed on the loading / unloading robot arm.

[0052] In one embodiment, the powder scooping device further includes a cover opening and closing assembly for opening and closing the cover of the source container and / or target container moved by the loading and unloading robot.

[0053] Thirdly, this application also provides an experimental apparatus, including a powder weighing component as described in any one of the various embodiments of the first aspect, or a powder scooping device as described in any one of the various embodiments of the second aspect.

[0054] By setting up a moving mechanism, a container seat, and a weighing device, the moving mechanism is connected to the container seat and / or the weighing device and is used to move the container seat and the weighing device relative to each other so that the container seat and the weighing device come into contact or separate in a first direction; the container seat includes a first placement structure and a second placement structure, the first placement structure is used to place the target container to be filled with powder, the second placement structure is used to place the source container containing powder, and the weighing device is set on one side of the container seat in the first direction for contacting the container seat and weighing the container seat, so that the powder weighing component can realize the automation of the weighing process, reduce labor costs, and improve operational accuracy and efficiency. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0056] Figure 1 is a structural diagram of a powder weighing assembly according to an embodiment;

[0057] Figure 2 is a structural diagram of a moving mechanism and a container seat according to one embodiment;

[0058] Figure 3 is a side view of the moving mechanism and container seat according to one embodiment;

[0059] Figure 4 is a structural diagram of a powder weighing assembly according to another embodiment;

[0060] Figure 5 is a structural diagram of a powder scooping device according to an embodiment;

[0061] Figure 6 is a structural diagram of a powder-scooping robot according to one embodiment;

[0062] Figure 7 is a structural diagram of a powder-scooping robot according to another embodiment;

[0063] Figure 8 is a structural diagram of a powder-scooping robot according to another embodiment;

[0064] Figure 9 is a partial cross-sectional view of a powder-scooping robot according to an embodiment;

[0065] Figure 10 is a structural diagram of a loading and unloading robot according to one embodiment;

[0066] Figure 11 is a structural diagram of the gripper in one embodiment;

[0067] Figure 12 is a structural diagram of another embodiment of the loading and unloading robot;

[0068] Figure 13 is a structural diagram of the gripper according to another embodiment;

[0069] Figure 14 is a structural diagram of the clamping mechanism and the powder-vibrating mechanism according to one embodiment;

[0070] Figure 15 is a structural diagram of a powder weighing assembly according to another embodiment;

[0071] Figure 16 is a structural diagram of a powder-scooping device according to another embodiment;

[0072] Figure 17 is a structural diagram of a powder-scooping and placing mechanism according to one embodiment;

[0073] Figure 18 is a structural diagram of the gripper according to another embodiment;

[0074] Figure 19 is a structural diagram of the gripper in another embodiment;

[0075] Figure 20 is a structural diagram of another embodiment of the loading and unloading robot.

[0076] Explanation of reference numerals in the attached drawings: 1000-Powder scooping device; 100-Powder weighing assembly; 10-Moving mechanism; 11-Lifting seat; 111-Base plate; 112-First side plate; 113-Second side plate; 12-Lifting drive component; 13-Lifting transmission structure; 20-Container seat; 21-First placement structure; 211-Base support; 2111-Bearing part; 2112-Contact part; 212-Limiting block; 2121-Limiting hole; 2122-Limiting arm; 213-Connecting rod; 22-Second placement structure; 221-First bracket; 2211-First receiving slot; 222-Second bracket; 2221-Second support ... Two receiving slots; 23-base; 231-first support arm; 232-second support arm; 233-connecting plate; 234-placement space; 30-weighing device; 40-pipe pressing mechanism; 41-pipe pressing drive component; 42-pipe pressing transmission component; 421-pipe pressing transmission structure; 422-rotating shaft; 43-pipe pressing arm; 431-pipe pressing plate; 4311-structural hole; 432-pipe pressing head; 4321-pressing surface; 4322-pipe pressing groove; 433-abutment joint; 434-roller; 44-first support plate; 45-second support plate; 50-box body; 51- Box lid, 511-notch, 512-first cover surface, 513-second cover surface, 52-cavity, 53-first plate, 54-second plate, 55-third plate, 56-fourth plate, 57-fifth plate, 58-sixth plate, 59-clearance opening; 200-base, 201-pulley, 202-handle, 203-mounting plate, 204-sliding plate, 205-translation mechanism; 300-powder scooping robot; 60-powder scooping robot arm, 61-first support mechanism, 62-second support mechanism, 63-support structure, 631-first support component 632-Second support member, 633-First transmission member, 634-Second transmission member, 635-First driving member, 636-Second driving member, 637-Third driving member, 6371-Motor, 6372-Stator, 6373-Guide member, 6374-Detection device, 6375-Fixed plate, 6376-End plate, 6377-Cover plate, 638-Third transmission member, 6381-Slider, 6382-Connector, 6383-Connector, 639-Fourth transmission member, 64-Joint, 641-First rotating member, 642-Second rotating member;70-Powder scooping mechanism, 71-First powder scooping drive component, 72-First powder scooping transmission component, 721-Bushing, 722-Guide shaft, 73-Powder scooping part, 731-Powder scooping rod, 732-Scooping spoon, 733-Screw shaft, 7331-Helical groove, 7332-Straight groove, 734-First nut, 735-Second nut, 736-Bearing, 737-Adapter sleeve, 738-Locking nut, 739-Adapter, 74-Second powder scooping drive component, 75-Second powder scooping transmission component, 751-First powder scooping synchronous pulley, 752-Second powder scooping synchronous pulley, 753-Powder scooping synchronous belt, 76-Third powder scooping drive component, 77-Third powder scooping transmission component; 80-Vision inspection assembly, 81-Inspection bracket, 82-First inspection component 83 - Second inspection piece; 90 - Loading / unloading robot; 91 - Loading / unloading robot arm; 911 - Loading / unloading support arm; 9111 - First loading / unloading drive structure; 9112 - Second loading / unloading drive structure; 9113 - First loading / unloading connecting arm; 9114 - Second loading / unloading connecting arm; 9115 - Third loading / unloading connecting arm; 9116 - Fourth loading / unloading connecting arm; 912 - Loading / unloading adjusting arm; 9121 - Third loading / unloading drive structure; 9122 - First adjusting arm; 9123 - Second adjusting arm; 9124 - Adjusting plate; 9125 - Third adjusting arm; 913 - Loading / unloading connecting seat; 92 - Gripper; 921 - Finger; 922 - Gripper fixed seat; 923 - Gripper movable seat; 924 - Gripper transmission. 925-Gripper transmission structure, 926-First gripper transmission component, 927-Second gripper transmission component, 9271-First rod, 9272-Second rod, 928-Elastic component, 929-Third gripper transmission component, 920-Fourth gripper transmission component, 93-Gripper drive structure, 931-Gripper drive component, 932-Belt drive mechanism, 9321-Matching component, 9322-Second synchronous pulley, 9323-Third synchronous pulley, 9324-First synchronous belt, 9325-Second synchronous belt, 941-First spline nut, 942-Second spline nut, 943-Adapter bearing, 944-Adapter, 945-Locking component, 946-Limiting component, 947-Mounting base, 948-Pressure plate, 95-Rotating mechanism. 951-Rotary drive component, 952-First rotary gear, 953-Second rotary gear, 954-Rotary bearing, 955-Induction plate, 96-Base, 97-Rotary drive component, 98-Rotary disk; L1-First rotation axis, L2-Second rotation axis, L3-Third rotation axis, L4-Fourth rotation axis, L5-Fifth rotation axis, L6-Sixth rotation axis, L7-Seventh rotation axis, L8-Eighth rotation axis, L9-Ninth rotation axis; 400-Clipping mechanism, 401-Clamping assembly, 402-Clamping piece, 403-Clamping drive component, 404-Rotation assembly, 405-First moving assembly, 406-First lifting assembly, 407-First translation assembly; 500-Buffer seat;600-Powder-vibrating mechanism; 601-Mounting arm; 602-Powder-vibrating drive component; 603-Powder-vibrating component; 604-Second moving component; 605-Second lifting component; 606-Second translation component; 700-Static removal mechanism; 800-Powder scooping component handling mechanism; 801-Base rotation drive component; 802-Loading seat; 803-Unloading seat; 804-Accommodation slot; 805-Slot; 2000-Target container; 3000-Source container; X-Third direction; Y-Second direction; Z-First direction. Detailed Implementation

[0077] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0078] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0079] 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 herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0080] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0081] Please refer to Figures 1 to 4. This application provides a powder weighing assembly 100, including a moving mechanism 10, a container seat 20, and a weighing device 30. The moving mechanism 10 is connected to the container seat 20 and / or the weighing device 30, and is used to cause relative displacement between the container seat 20 and the weighing device 30, so that the container seat 20 and the weighing device 30 come into contact or separate in the first direction Z. The container seat 20 includes a first placement structure 21 and a second placement structure 22. The first placement structure 21 is used to place a target container 2000 to be filled with powder, and the second placement structure 22 is used to place a source container 3000 containing powder (not shown). The weighing device 30 is disposed on one side of the container seat 20 in the first direction Z, and is used to contact the container seat 20 and weigh the container seat 20.

[0082] Optionally, the moving mechanism 10 can drive the container seat 20 and / or the weighing device 30 to perform lifting and lowering movements, and / or the moving mechanism 10 can drive the container seat 20 and / or the weighing device 30 to perform translational movements, without limitation. For example, the moving mechanism 10 is connected to the container seat 20 and can drive the container seat 20 to lift and lower, while the weighing device 30 is fixedly installed; or, the moving mechanism 10 is connected to the container seat 20 and can drive the container seat 20 to lift and lower, and the moving mechanism 10 is also connected to the weighing device 30 and can drive the weighing device 30 to translate; or, the moving mechanism 10 is connected to both the container seat 20 and the weighing device 30 and can drive the container seat 20 and the weighing device 30 to move closer to or further away from each other along a first direction.

[0083] In one embodiment, the moving mechanism 10 is connected to the container seat 20 and is used to drive the container seat 20 to move up and down in the first direction Z. Optionally, the moving mechanism 10 includes a lifting drive component 12 and a lifting transmission structure 13. The lifting transmission structure 13 is connected to the lifting drive component 12 and to the container seat 20. The lifting drive component 12 is used to drive the lifting transmission structure 13 to move the container seat 20 up and down in the first direction Z. Optionally, the lifting transmission structure 13 includes any one of a lead screw and nut pair, a gear and rack pair, or a worm gear pair, without limitation.

[0084] Optionally, the moving mechanism 10 further includes a lifting seat 11, on which a lifting drive component 12 is mounted. The lifting seat 11 is used to fix the lifting drive component 12 and also to guide the movement of the container seat 20. Optionally, the lifting seat 11 includes a base plate 111, a first side plate 112, and a second side plate 113. One end of each of the first side plate 112 and the second side plate 113 is connected to the base plate 111. The first side plate 112 and the second side plate 113 are spaced apart from each other and both extend along a first direction Z. The container seat 20 is disposed between the first side plate 112 and the second side plate 113, and is slidably connected to at least one of the first side plate 112 and the second side plate 113. Optionally, at least one of the surfaces of the first side plate 112 facing the second side plate 113 and the second side plate 113 facing the first side plate 112 is provided with a slide rail. The slide rail extends along the first direction Z, and the container seat 20 is slidably engaged with the slide rail.

[0085] Optionally, the lifting seat 11, lifting drive 12 and lifting transmission structure 13 of the moving mechanism 10 can be located on the same side of the container seat 20, such as on one side of the container seat 20 in the length direction (second direction Y).

[0086] By setting up the powder weighing component 100, the weighing process can be automated, reducing labor costs and improving operational accuracy and efficiency.

[0087] Please refer to Figures 1 to 4. The moving mechanism 10 is connected to the container seat 20 and is used to drive the container seat 20 to move up and down in the first direction Z. The container seat 20 also includes a seat body 23, which is connected to the moving mechanism 10. The first placement structure 21 and the second placement structure 22 are both disposed on the seat body 23, and the second placement structure 22 protrudes from the side of the first placement structure 21 away from the weighing device 30. The first placement structure 21 and the second placement structure 22 are spaced apart in the first direction Z and the second direction Y, and the second direction Y intersects the first direction Z.

[0088] The source container 3000 has its opening facing the opening of the target container 2000, and the weighing device 30 is positioned below the base 23 in the first direction Z. Optionally, the base 23 includes a first support arm 231, a second support arm 232, and a connecting plate 233. The first support arm 231 and the second support arm 232 both extend along the second direction Y and are spaced apart from each other. The space between the first support arm 231 and the second support arm 232 forms a placement space 234 for placing the target container 2000. The connecting plate 233 is connected between the first support arm 231 and the second support arm 232. The connecting plate 233 can be slidably connected to the lifting seat 11 of the moving mechanism 10 and can also be connected to the lifting transmission structure 13 of the moving mechanism 10. The first placement structure 21 and the second placement structure 22 are both connected to the first support arm 231 and the second support arm 232.

[0089] By placing the first placement structure 21 and the second placement structure 22 at intervals on the base 23, a distance is provided between the source container 3000 and the target container 2000, and the source container 3000 is located above the target container 2000, which provides sufficient operating space and convenience for scooping powder from the source container 3000 and pouring powder into the target container 2000.

[0090] Please refer to Figures 1 to 4. The first placement structure 21 includes a base 211, a limiting block 212, and a connecting rod 213. The base 211 and the limiting block 212 are spaced apart in the first direction Z, and the base 211 is located on the side of the limiting block 212 facing the weighing device 30. The base 211 and / or the limiting block 212 are connected and fixed to the base 23. The connecting rod 213 is disposed between the base 211 and the limiting block 212, with one end connected to the base 211 and the other end connected to the limiting block 212. The limiting block 212 has a limiting hole 2121 for receiving the target container 2000, and the base 211 is used to support the target container 2000.

[0091] Optionally, the limiting block 212 includes multiple limiting arms 2122 arranged circumferentially, which together form a limiting hole 2121. Optionally, the limiting block 212 can also be a plate-like structure, and the limiting hole 2121 can be a through hole penetrating the limiting block 212 in the first direction Z, or the limiting hole 2121 can be a countersunk hole with its opening direction facing away from the weighing device 30, without limitation.

[0092] Optionally, a base 211 is disposed on the side of the first support arm 231 and the second support arm 232 facing the weighing device 30, and a limiting block 212 is disposed on the surface of the first support arm 231 and the second support arm 232 facing away from the weighing device 30. One end of a connecting rod 213 is connected to the base 211, and the other end is connected to at least one of the limiting block 212, the first support arm 231, and the second support arm 232. Both the base 211 and the limiting block 212 at least partially correspond to the placement space 234, and the limiting hole 2121 corresponds to the placement space 234. The connecting rod 213 can be rod-shaped or plate-shaped, etc., and is not limited. A groove can be provided on the base 211, which can be adapted to the bottom shape of the target container 2000. The target container 2000 can enter through the limiting hole 2121 and its bottom abuts against the base 211, thus confining part of the target container 2000 within the placement space 234 to prevent the target container 2000 from falling.

[0093] Optionally, the base 211 includes a supporting portion 2111 and a contact portion 2112, the contact portion 2112 being connected to the supporting portion 2111. The supporting portion 2111 is opposite to the limiting hole 2121 in the first direction Z. The supporting portion 2111 is used to support the target container 2000, and the contact portion 2112 is used to contact the weighing device 30. Optionally, a second placement structure 22 is disposed on the surface of the limiting block 212 facing away from the base 211, and the second placement structure 22 is located on the side of the limiting hole 2121 facing the connecting plate 233.

[0094] Optionally, the base 23 and the limiting block 212 can be an integral structure, such as forming a plate-like structure together. Optionally, multiple limiting holes 2121 can be formed on the limiting block 212, and correspondingly, grooves corresponding to the number and position of the limiting holes 2121 are provided on the base 211, so that multiple target containers 2000 can be placed at the same time to improve the experimental throughput.

[0095] To facilitate the removal of the target container 2000 after powdering, the limiting block 212 fixes the target container 2000 only through friction and pushing forces. The target container 2000 can detach from the limiting block 212 when subjected to a force in the first direction Z away from the weighing device 30. Therefore, when weighing the container seat 20, it is necessary to avoid contact between the weighing device 30 and the target container 2000. Thus, by setting the base 211 and the connecting rod 213, when the weighing device 30 weighs the container seat 20, only the base 211 contacts it, which will not affect the position and force state of the target container 2000, thus ensuring the accuracy of weighing.

[0096] Please refer to Figures 1 to 4. The second placement structure 22 includes a first support 221 and a second support 222. The first support 221 and the second support 222 are spaced apart on the base 23 along the second direction Y. The first support 221 has a first receiving groove 2211 at the end away from the base 23, and the second support 222 has a second receiving groove 2221 at the end away from the base 23. The first receiving groove 2211 and the second receiving groove 2221 are used to jointly receive the source container 3000.

[0097] Optionally, the bottom wall of the first receiving tank 2211 and the bottom wall of the second receiving tank 2221 are both located above the target container 2000 in the first direction Z, so as to provide sufficient operating space for the self-source container 3000 to scoop powder and pour powder into the target container 2000.

[0098] Optionally, both the first receiving slot 2211 and the second receiving slot 2221 are flared, facilitating the placement of the source container 3000 into the first receiving slot 2211 and the second receiving slot 2221, reducing the positioning accuracy required for placing the source container 3000, and also facilitating compatibility with source containers 3000 of different sizes. Optionally, the second placement structure 22 also includes a connecting block, which connects the first support 221 and the second support 222, and the connecting block is connected to the base 23 or the limiting block 212.

[0099] Optionally, the first bracket 221, the second bracket 222, and the connecting block are an integral structure. Optionally, the first bracket 221, the second bracket 222, and the connecting block are all disposed on the aforementioned limiting block 212, so only one fixing operation is required to install the first placement structure 21 and the second placement structure 22 on the container base 20.

[0100] By setting the second placement structure 22, the source container 3000 can be placed in the first receiving groove 2211 and the second receiving groove 2221 at the same time. When the source container 3000 is a rotationally symmetric structure or a cylindrical structure with a small equivalent diameter, it is not easy to roll off the first support 221 and the second support 222, thereby improving the stability and reliability of the powder weighing assembly 100.

[0101] Please refer to Figure 3. Along the second direction Y, the distance between the first support 221 and the first placement structure 21 is less than the distance between the second support 222 and the first placement structure 21. And along the first direction Z, the distance between the first receiving groove 2211 and the first placement structure 21 is greater than the distance between the second receiving groove 2221 and the first placement structure 21.

[0102] In this configuration, the opening of the source container 3000 is located on the side of the first support 221 facing away from the second support 222, so that the source container 3000 opens at an upward angle to prevent powder from flowing out of the source container 3000. The target container 2000 is positioned along the first direction with its opening facing the side of the source container 3000, and the opening of the source container 3000 is higher than the opening of the target container 2000. This configuration improves the convenience and efficiency of powder transfer and reduces powder loss caused by powder spillage during transfer. Optionally, both the first support 221 and the second support 222 are inclined on the container base 20. In a specific embodiment, the surface of the base 23 facing away from the weighing device 30 is horizontal, and both the first support 221 and the second support 222 are inclined away from the first placement structure 21 to provide sufficient operating space for placing and retrieving the target container 2000.

[0103] By defining the relative position and size of the first support 221 and the second support 222, the source container 3000 is inclined relative to the horizontal plane on the second placement structure 22, which facilitates the powder scooping operation of the source container 3000 and prevents the powder from flowing out of the source container 3000.

[0104] It is understood that the above is a preferred example of the first placement structure 21 and the second placement structure 22. The first placement structure 21 and the second placement structure 22 can also be configured as other structures, which are not limited in this application.

[0105] Please refer to Figures 1 to 4. The powder weighing assembly 100 also includes a pressing mechanism 40, which is used to press the source container 3000 against the second placement structure 22. The pressing mechanism 40 includes a pressing drive 41, a pressing transmission 42, and a pressing arm 43. The pressing transmission 42 is connected to the pressing drive 41 and the pressing arm 43 respectively. The pressing drive 41 drives the pressing arm 43 to move through the pressing transmission 42. The end of the pressing arm 43 away from the pressing transmission 42 is used to press the source container 3000 against the second placement structure 22.

[0106] When the source container 3000 is not placed on the second placement structure 22, the pressure arm 43 is separated from the second placement structure 22. After the source container 3000 is placed on the second placement structure 22, the pressure drive 41 drives the pressure arm 43 to move closer to the source container 3000 through the pressure transmission 42 so that the pressure arm 43 presses the source container 3000. When it is necessary to remove the source container 3000 from the second placement structure 22, the pressure drive 41 drives the pressure arm 43 to move away from the source container 3000 through the pressure transmission 42 so that the pressure arm 43 releases the source container 3000.

[0107] Optionally, the clamping drive component 41 can be a motor or cylinder, etc. Optionally, the clamping transmission component 42 can include any one or a combination of multiple of the following: connecting rod, lead screw and nut pair, pulley pair, gear and rack pair, worm gear pair, etc., without limitation. Optionally, the clamping arm 43 has a buffer structure (not shown) such as a rubber layer, silicone layer, or felt layer at the part that contacts the source container 3000 to prevent damage to the source container 3000 when the clamping arm 43 clamps the source container 3000.

[0108] By setting the aforementioned pressure tube mechanism 40, the source container 3000 will not detach from the second placement structure 22 due to powder scooping operation or when the container seat 20 moves in the first direction Z, thus ensuring the stability and reliability of the powder weighing assembly 100.

[0109] Please refer to Figures 1 to 4. The crimping arm 43 includes a crimping plate 431 and a crimping head 432. One end of the crimping plate 431 is connected and fixed to the crimping transmission component 42. The crimping head 432 is located at the end of the crimping plate 431 away from the crimping transmission component 42 and facing the second placement structure 22. The crimping head 432 is provided with a pressing surface 4321, which is used to press against the side wall of the source container 3000 so that the crimping head 432 presses the source container 3000.

[0110] The crimping head 432 is connected to the end of the crimping plate 431 away from the crimping transmission component 42. When the crimping head 432 presses the source container 3000, the crimping head 432 is located in the middle position of the first support 221 and the second support 222 to prevent the source container 3000 from shifting due to uneven force on both ends.

[0111] Optionally, the crimping plate 431 has multiple structural holes 4311 for weight reduction, thereby reducing the torque of the crimping drive component 41 and the structural strength requirements and service life of the crimping transmission component 42. Optionally, the crimping head 432 has a crimping groove 4322, with the pressing surface 4321 being the groove wall of the crimping groove 4322. The crimping groove 4322 is flared to reduce the assembly and manufacturing precision requirements of the crimping head 432. Optionally, the pressing surface 4321 is provided with a buffer structure such as a rubber layer, silicone layer, or felt layer (not shown) to prevent damage to the source container 3000 when the crimping head 432 presses against it. Optionally, the crimping plate 431 and the crimping head 432 can be detachably connected by means of snap-fit, screw-fit, or riveting to facilitate the replacement of the corresponding crimping head 432 according to different sizes of source containers 3000.

[0112] By setting the aforementioned pressure arm 43 to press the source container 3000, the source container 3000 will not detach from the second placement structure 22 due to powder scooping operation or when the container seat 20 moves in the first direction Z, thus ensuring the stability and reliability of the powder weighing assembly 100.

[0113] Please refer to Figures 1 to 4. The pipe pressing mechanism 40 also includes a first support plate 44 and a second support plate 45. The first support plate 44 and the second support plate 45 are located on opposite sides of the container seat 20 (such as the seat body 23 of the container seat 20) and are close to the second placement structure 22. The pipe pressing transmission component 42 includes a pipe pressing transmission structure 421 and a rotating shaft 422. The pipe pressing transmission structure 421 is connected to the pipe pressing drive component 41 and the rotating shaft 422 respectively. The pipe pressing drive component 41 is disposed on the first support plate 44 or the second support plate 45 and is used to drive the rotating shaft 422 to rotate through the pipe pressing transmission structure 421. The rotating shaft 422 is located between the first support plate 44 and the second support plate 45, and the two ends of the rotating shaft 422 are rotatably connected to the first support plate 44 and the second support plate 45 respectively. The pipe pressing arm 43 is fixedly connected to the rotating shaft 422.

[0114] Optionally, the pressing tube transmission structure 421 includes, but is not limited to, any one or a combination of pulley pairs, connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs. Optionally, one end of the rotating shaft 422 is rotatably connected to the first support plate 44, and the other end is rotatably connected to the second support plate 45. The pressing tube transmission structure 421 can be disposed between the first support plate 44 and the second support plate 45, or it can be disposed on opposite sides of the first support plate 44 and the second support plate 45. The pressing tube transmission structure 421 is connected to the aforementioned pressing tube drive component 41 and to the rotating shaft 422, so that the pressing tube drive component 41 drives the rotating shaft 422 to rotate through the pressing tube transmission structure 421, and the rotating shaft 422 then drives the pressing tube arm 43 to rotate.

[0115] Optionally, the first support plate 44 is connected to the end of the first side plate 112 away from the bottom plate 111, and / or the first support plate 44 and the first side plate 112 are of the same structure, and / or the second support plate 45 is connected to the end of the second side plate 113 away from the bottom plate 111, and / or the second support plate 45 and the second side plate 113 are of the same structure, without limitation.

[0116] By setting the above-mentioned pressing tube mechanism 40, the space occupied by the pressing tube mechanism 40 in the second direction Y is saved. At the same time, the setting of the pressing tube transmission structure 421 allows the pressing tube drive component 41 to be installed according to the space occupation and heat dissipation conditions, which greatly improves the rationality of the arrangement and the compactness of the structure of the powder weighing assembly 100.

[0117] Please refer to Figures 1 to 4. The pressure arm 43 is located on the side of the second placement structure 22 facing away from the weighing device 30. For example, the pressure arm 43 is located on the side of the aforementioned container seat 20 facing away from the bottom plate 111. This arrangement allows the pressure arm 43 to press against the source container 3000 from above. The pressure arm 43 and the second placement structure 22 work together to fix the source container 3000, which simplifies the structure of the pressure arm 43.

[0118] Optionally, the moving mechanism 10 is located between the first support plate 44 and the second support plate 45 and on the side of the pressing arm 43 facing the weighing device 30. This arrangement not only saves space but also ensures that the rotation of the pressing arm 43 does not interfere with the lifting and lowering movement of the moving mechanism 10.

[0119] Referring to Figure 4, the powder weighing assembly 100 also includes a housing 50 and a cover 51. The housing 50 has an open cavity 52, in which the moving mechanism 10, container seat 20, weighing device 30, and pressing tube mechanism 40 are all housed. The cover 51 is movably connected to the housing 50 to open or close the opening of the cavity 52. ​​The movable connection between the cover 51 and the housing 50 can be a rotating connection or a sliding connection, etc., and is not limited thereto.

[0120] Optionally, the housing 50 includes a first plate 53, a second plate 54, a third plate 55, and a fourth plate 56. The first plate 53 and the second plate 54 are spaced apart relative to each other in the second direction Y, and the third plate 55 and the fourth plate 56 are spaced apart relative to each other in the third direction X. The first plate 53 and the second plate 54 are both connected to the third plate 55 and the fourth plate 56, and together they form a cavity 52. ​​The height of the first plate 53 in the first direction Z is less than the height of the second plate 54, the third plate 55, and the fourth plate 56 in the first direction Z to form an opening in the cavity 52.

[0121] Optionally, the cover 51 includes a fifth plate 57 and a sixth plate 58. The fifth plate 57 is connected to the sixth plate 58 and has an angle with the sixth plate 58. The sixth plate 58 is movably connected to at least one of the second plate 54, the third plate 55 and the fourth plate 56. The fifth plate 57 is used to cooperate with the first plate 53, the third plate 55 and the fourth plate 56 to close the opening of the cavity 52.

[0122] By setting up the aforementioned box 50 and box cover 51, when the box cover 51 is open, it is convenient to put in and take out powder from the source container 3000 and to scoop powder from the target container 2000; when the box cover 51 is closed, it can isolate the weighing device 30 from the outside world and prevent external environmental factors from affecting the weighing accuracy of the weighing device 30.

[0123] Please refer to Figures 3 and 4. The cover 51 is rotatably connected to the body 50. The pressure arm 43 also includes an abutment 433. The abutment 433 is located on the side of the pressure plate 431 facing away from the pressure head 432. The abutment 433 can abut against the cover 51 under the action of the pressure plate 431 and drive the cover 51 to rotate, so as to open or close the opening of the cavity 52.

[0124] The cover 51 abuts against the abutment 433 under the action of gravity. When the aforementioned pressure pipe drive 41 drives the pressure pipe arm 43 to rotate, the cover 51 rotates synchronously with the pressure pipe arm 43 under the action of gravity to close the opening of the cavity 52, or rotates under the thrust of the abutment 433 to open the opening of the cavity 52. ​​Optionally, the abutment 433 and the pressure pipe plate 431 can be an integral structure, or they can be detachably connected by means of snap-fit, screw-fit, riveting, etc., without limitation.

[0125] It is understandable that the abutment 433 may not have a physical connection with the cover 51. The abutment 433 may come into contact with and abut against the cover 51 under the action of the pressure plate 431 to drive the cover 51 to move; or, the abutment 433 may be directly connected to the cover 51, and the pressure plate 431 may drive the abutment 433 to move so that the cover 51 moves synchronously.

[0126] By setting the aforementioned abutment joint 433 to drive the box cover 51 to rotate, the opening of the cavity 52 can be opened or closed. When the pressure arm 43 presses the source container 3000, it can drive the box cover 51 to fall and close the opening of the cavity 52. ​​There is no need to set an additional motor or other drive structure to drive the box cover 51 separately, which reduces equipment costs, simplifies equipment structure, and improves work efficiency and equipment integration.

[0127] Please refer to Figures 3 and 4. The abutment joint 433 includes a roller 434, which is rotatably connected to the pressure plate 431. The roller 434 abuts against the cover 51, and the roller 434 can rotate relative to the cover 51 when the cover 51 rotates. Optionally, the outer ring of the roller 434 may be provided with an elastic pad, which may be made of rubber, plastic, or nylon, etc., to prevent the cover 51 from being damaged when the roller 434 rotates relative to the cover 51.

[0128] Optionally, the abutment 433 may also include a rotating shaft, with both ends of the rotating shaft rotatably connected to the pressure plate 431, and the middle part of the rotating shaft fixedly connected to the roller 434. The rotating shaft enables the roller 434 to be rotatably connected to the pressure plate 431.

[0129] By setting the aforementioned abutment 433 with rollers 434, the contact area between the abutment 433 and the cover 51 can be reduced when the abutment 433 drives the cover 51 to rotate, thereby reducing the friction between them and making the movement of the cover 51 smoother.

[0130] Referring to Figure 4, the lid 51 has a notch 511. When the lid 51 closes the opening of the cavity 52, the notch 511 corresponds to the source container 3000 and the target container 2000. Optionally, the notch 511 connects to the surface of the fifth plate 57 facing away from the sixth plate 58 to expand the operable space. Optionally, the notch 511 is located at the end of the fifth plate 57 away from the sixth plate 58. Optionally, the width and length of the notch 511 are both at least larger than the opening size of the source container 3000 and the opening size of the target container 2000, so that a ladle can be inserted into the source container 3000 and the target container 2000 without obstruction for powder transfer operations.

[0131] By providing a notch 511 on the lid 51, when the lid 51 closes the opening of the cavity 52, the notch 511 corresponds to the source container 3000 and the target container 2000, so that powder can be transferred between the source container 3000 and the target container 2000 without opening the lid 51. This avoids the adverse effects of external environmental factors on powder transfer and weighing operations, and improves the accuracy of powder transfer.

[0132] Please refer to Figures 14 and 15. The powder weighing assembly 100 also includes a clamping mechanism 400, which is used to pick up and place the source container 3000 on the second placement structure 22. The clamping mechanism 400 includes a clamping assembly 401, a rotating assembly 404, and a first moving assembly 405. The rotating assembly 404 is connected to both the clamping assembly 401 and the first moving assembly 405. The first moving assembly 405 is used to drive the rotating assembly 404 and the clamping assembly 401 to move synchronously. The rotating assembly 404 is used to drive the clamping assembly 401 to rotate. The clamping assembly 401 is used to clamp or release the source container 3000.

[0133] During the powder scooping process, the clamping component 401 can always clamp the source container 3000 to prevent the source container 3000 from falling or shifting. During the weighing process, the clamping component 401 places the source container 3000 on the second placement structure 22 and loosens the source container 3000 to prevent affecting the weighing result of the weighing device 30.

[0134] Optionally, the clamping assembly 401 includes a clamping member 402 and a clamping drive member 403. The clamping drive member 403 is connected to both the clamping member 402 and the rotating assembly 404. The clamping drive member 403 drives the clamping member 402 to perform opening and closing actions to clamp or release the source container 3000. Optionally, the clamping drive member 403 can be a cylinder, hydraulic cylinder, stepper motor, linear motor, etc., without limitation. Optionally, the clamping drive member 403 can be connected to the clamping member 402 through a linkage transmission structure, gear transmission structure, etc., without limitation. The clamping member 402 can be two opposing clamping blocks, each with a clamping surface on one side. The two clamping surfaces interact to clamp the source container 3000. The clamping surfaces can be V-shaped, arc-shaped, etc., without limitation.

[0135] Optionally, to improve the rationality of the movement of the powder weighing component 100 and the convenience of the powder scooping operation, the source container 3000 can be tilted at a certain angle when it is located on the second placement structure 22. Therefore, a rotating component 404 is provided to drive the clamping component 402 to rotate, so that the clamping component 401 can rotate at different angles under the drive of the rotating component 404, which facilitates the clamping component 401 to clamp the source container 3000 or to place the source container 3000 on the second placement structure 22 or on other structures. Optionally, the rotating component 404 may include a rotary motor and a transmission mechanism. The rotary motor drives the clamping component 401 to rotate through the transmission mechanism. The transmission mechanism can be a synchronous belt pulley transmission mechanism, a gear transmission mechanism, etc., without limitation.

[0136] Optionally, in order to improve the space utilization of the powder weighing assembly 100, since the distribution positions and sizes of the various components of the powder weighing assembly 100 are different, a first moving assembly 405 is set to drive the rotating assembly 404 and the clamping assembly 401 to perform translational, lifting, or combined movements synchronously, without limitation, so that the clamping assembly 401 can drive the source container 3000 to move to different horizontal and / or height positions.

[0137] In one embodiment, the first moving component 405 includes a first lifting component 406, which is connected to the rotating component 404. The first lifting component 406 drives the rotating component 404 and the clamping component 401 to move up and down synchronously, so that the clamping component 401 can drive the source container 3000 to perform powder scooping, weighing, or transfer operations at different heights. Optionally, the first lifting component 406 can be a cylinder, hydraulic cylinder, linear motor, etc., and there is no limitation.

[0138] In another embodiment, the first moving component 405 includes a first translation component 407, which is connected to the rotating component 404. The first translation component 407 drives the rotating component 404 and the clamping component 401 to move synchronously, so that the clamping component 401 can drive the source container 3000 to perform powder scooping, weighing, or transfer operations at different horizontal positions. Optionally, the first translation component 407 can be a cylinder, hydraulic cylinder, linear motor, etc., without limitation.

[0139] Preferably, the first moving component 405 includes a first lifting component 406 and a first translation component 407. The first lifting component 406 is connected to the first translation component 407 and the rotating component 404 respectively. The first lifting component 406 and the first translation component 407 can drive the clamping component 401 to perform translational movement, lifting movement or combined movement, so as to improve the flexibility of the clamping component 401.

[0140] By setting the aforementioned clamping mechanism 400, the powder weighing assembly 100 can transfer the source container 3000 through the clamping mechanism 400, and can replace the aforementioned pressing mechanism 40 in fixing the source container 3000 during the powder scooping process; in this process, the movement path of the clamping mechanism 400 is shorter and the movement amplitude is smaller, which is beneficial to improving the working efficiency and space utilization of the powder weighing assembly 100.

[0141] Referring to Figures 14 and 15, the powder weighing assembly 100 also includes a buffer seat 500 for temporarily storing the source container 3000, and a clamping mechanism 400 for placing and removing the source container 3000 on the buffer seat 500. The buffer seat 500 and the clamping mechanism 400 are located on opposite sides of the container seat 20 and are positioned close to the second placement structure 22.

[0142] For example, during the process of the powder weighing assembly 100 scooping and weighing powder from a source container 3000, another source container 3000 containing powder to be transferred can be placed on the buffer seat 500. When the powder to be transferred in the source container 3000 that is currently being scooped and weighed is exhausted and removed, the clamping mechanism 400 can transfer the source container 3000 containing powder to be transferred located on the buffer seat 500 to the second placement structure 22 to continue scooping and weighing operations, thereby shortening the transfer path of the source container 3000 and improving the working efficiency of the powder weighing assembly 100. In another example, because the second placement structure 22 has a certain tilt angle, the loading / unloading robot 90 cannot place the source container 3000 on the second placement structure 22 in one go due to the limitation of its degrees of freedom. Therefore, the loading / unloading robot 90 can first place the source container 3000 on the buffer seat 500, and then the clamping mechanism 400 can transfer the source container 3000 from the buffer seat 500 to the second placement structure 22. When it is necessary to remove the source container 3000, the clamping mechanism 400 can first transfer the source container 3000 from the second placement structure 22 to the buffer seat 500, and then the loading / unloading robot 90 can remove it from the buffer seat 500. Optionally, the source container 3000 can be placed on the buffer seat 500 by means of plugging, snapping, etc., to prevent the source container 3000 from falling.

[0143] Please refer to Figures 14 and 15. The powder weighing assembly 100 also includes a powder shaking mechanism 600. The powder shaking mechanism 600 includes a mounting arm 601, a powder shaking drive 602, and a powder shaking element 603. The powder shaking drive 602 is connected to the mounting arm 601 and the powder shaking element 603 respectively. When the powder shaking element 603 is in contact with the source container 3000, the powder shaking drive 602 is used to drive the powder shaking element 603 to move so that the source container 3000 vibrates.

[0144] Optionally, the powder-vibrating drive 602 includes at least one of a rotary motor and a vibratory motor, and the powder-vibrating component 603 includes at least one of a cam, a beater, and a whip. When the powder-vibrating drive 602 is a rotary motor, the powder-vibrating component 603 can be configured as a cam, a beater, a whip, or other structures. The powder-vibrating drive 602 drives the powder-vibrating component 603 to swing or rotate so that the powder-vibrating component 603 beats or strikes the source container 3000, causing the powder to be transferred adhering to the inner wall of the source container 3000 to fall off, thereby improving material utilization. When the powder-vibrating drive 602 is a vibratory motor, the powder-vibrating drive 602 can drive the powder-vibrating component 603 to vibrate, thereby causing the powder to be transferred adhering to the inner wall of the source container 3000 to fall off, thereby improving material utilization.

[0145] In one embodiment, the aforementioned clamping mechanism 400 moves the source container 3000 to a position close to the powder-vibrating element 603 or makes the source container 3000 contact the powder-vibrating element 603 to perform the powder-vibrating operation.

[0146] In another embodiment, the powder-vibrating mechanism 600 further includes a second moving component 604, which is connected to the mounting arm 601. The second moving component 604 is used to drive the mounting arm 601, the powder-vibrating drive component 602, and the powder-vibrating component 603 to move synchronously.

[0147] In order to improve the space utilization of the powder weighing assembly 100, since the distribution positions and sizes of the various components of the powder weighing assembly 100 are different, a second moving assembly 604 is set to drive the mounting arm 601, the powder shaking drive component 602 and the powder shaking component 603 to perform translational, lifting or combined movements simultaneously without restriction. This allows the powder shaking component 603 to perform powder shaking operation when it is close to the source container 3000. After the powder shaking operation is completed, as the powder shaking component 603 moves away from the source container 3000, the source container 3000 can continue to perform powder scooping and weighing operations, thereby improving work efficiency.

[0148] Specifically, in one embodiment, the second moving component 604 includes a second lifting component 605, which is connected to the mounting arm 601. The second lifting component 605 drives the mounting arm 601, the powder-vibrating drive component 602, and the powder-vibrating component 603 to move up and down synchronously. This allows the powder-vibrating component 603 to descend under the drive of the second lifting component 605 to approach the source container 3000 for powder vibration. After the powder vibration is completed, it rises back to its original position. The source container 3000 can continue to perform powder scooping and weighing operations during the rising of the powder-vibrating component 603, improving work efficiency and reducing the horizontal space occupied by the powder-vibrating mechanism 600. Optionally, the second lifting component 605 can be a cylinder, a hydraulic cylinder, a linear motor, etc., without limitation.

[0149] In one embodiment, the second moving component 604 includes a second translation component 606, which is connected to the mounting arm 601. The second translation component 606 drives the mounting arm 601, the powder-vibrating drive component 602, and the powder-vibrating component 603 to move synchronously. This allows the powder-vibrating component 603 to move closer to the source container 3000 for powder vibration under the drive of the second translation component 606, and then move back to its original position after the powder vibration is completed. The source container 3000 can continue to perform powder scooping and weighing operations while the powder-vibrating component 603 moves away, improving work efficiency and reducing the vertical space occupied by the powder-vibrating mechanism 600. Optionally, the second translation component 606 can be a cylinder, a hydraulic cylinder, a linear motor, etc., without limitation.

[0150] In one embodiment, the second moving component 604 includes a second lifting component 605 and a second translation component 606. The second lifting component 605 is connected to the second translation component 606 and the mounting arm 601 respectively. The second lifting component 605 and the second translation component 606 work together to drive the mounting arm 601, the powder-vibrating drive component 602 and the powder-vibrating component 603 to perform translational, lifting or combined movements, so as to improve the flexibility of the powder-vibrating mechanism 600.

[0151] By setting up the above-mentioned powder-vibrating mechanism 600, the powder to be transferred adhering to the inner wall of the source container 3000 can be detached under the knocking or vibration of the powder-vibrating component 603, thereby improving the material utilization rate of the powder to be transferred.

[0152] Please refer to Figures 14 to 16. The powder weighing assembly 100 also includes a housing 50 and a cover 51. The housing 50 has an open cavity 52. ​​The moving mechanism 10, container seat 20, weigher 30, tube clamping mechanism 400 and powder shaking mechanism 600 are all housed in the cavity 52. ​​The cover 51 is movably connected to the housing 50 and connected to the mounting arm 601. The second moving assembly 604 is used to drive the cover 51 to move relative to the housing 50 to open or close the opening of the cavity 52.

[0153] Optionally, the lid 51 can be movably connected to the body 50 via a rotating connection or a sliding connection, etc., without limitation. The second moving component 604 can drive the lid 51 to move up and down, translate, and rotate relative to the body 50 to open and close the lid 51. For example, the second translation component 606 of the second moving component 604 drives the lid 51 to translate relative to the body 50. By setting the lid 51 to be movably connected to the body 50 and connected to the mounting arm 601, the second moving component 604 is used to drive the lid 51 to move relative to the body 50, so that the opening and closing action of the lid 51 can be driven by the second moving component 604 of the powder-vibrating mechanism 600. There is no need to set up an additional motor or other drive structure to drive the lid 51 separately, which reduces equipment costs, simplifies equipment structure, and improves work efficiency and equipment integration.

[0154] Please refer to Figure 16. The lid 51 has a notch 511. When the lid 51 closes the opening of the cavity 52, the notch 511 corresponds to the source container 3000 and the target container 2000. At this time, the ladle 732 can extend into the cavity 52 through the notch 511 and into the source container 3000 and the target container 2000 to perform powder transfer operations.

[0155] Optionally, the lid 51 includes a first cover surface 512 and a second cover surface 513 connected together. A notch 511 is located on the second cover surface 513. The second cover surface 513 protrudes from the first cover surface 512 in the first direction Z. The box body 50 has a clearance opening 59. The portion of the second cover surface 513 protruding from the first cover surface 512 is used to extend into the clearance opening 59, and the portion of the second cover surface 513 protruding from the first cover surface 512 is recessed inward toward one side of the cavity 52. ​​When the lid 51 moves relative to the box body 50, the clearance opening 59 is used to receive the powder scooping rod 731. Optionally, the portion of the second cover surface 513 that does not protrude from the first cover surface 512 in the first direction Z can be flush with the first cover surface 512 or recessed inward toward one side of the cavity 52, without limitation. Preferably, the second cover surface 513 is concave inward from the first cover surface 512 toward the cavity 52. ​​The first cover surface 512 is a plane, and the second cover surface 513 is an arc surface or a combination of an arc surface and a plane, without limitation.

[0156] Specifically, with the lid 51 closing the opening of the cavity 52, the scoop 732 can extend into the cavity 52 through the notch 511. When the lid 51 needs to move relative to the body 50 to open the cavity 52, the scoop 732 can exit the cavity 52 through the notch 511 and be positioned at the clearance opening 59. At this time, the scoop 732 is located on the side of the first cover surface 512 facing the cavity 52 and on the side of the second cover surface 513 facing away from the cavity 52, so that the lid 51 will not collide with the scoop 732 when it moves relative to the body 50, and the movement path of the scoop 732 is reduced, improving the working efficiency of the powder weighing assembly 100. Optionally, the notch 511 extends to the part of the second cover surface 513 for extending into the clearance opening 59, so that when the scoop 732 exits the cavity 52 through the notch 511, it can be directly positioned inside the clearance opening 59, further reducing the movement path of the scoop 732.

[0157] Referring to Figure 15, the powder weighing assembly 100 also includes an antistatic mechanism 700, which is located close to the weighing device 30. The antistatic mechanism 700 is used to eliminate static electricity at the weighing device 30. Optionally, the antistatic mechanism 700 releases positive and negative ion flows to the weighing device 30 through a structure such as an ion bar or an ion fan to neutralize the surface charge on the weighing device 30, thereby eliminating static electricity at the weighing device 30.

[0158] By setting up an antistatic mechanism 700 to eliminate static electricity at the weighing device 30, the weighing device 30 is less prone to dust accumulation, and the phenomenon of inaccurate readings caused by static electricity offsetting part of the gravity is avoided.

[0159] The powder weighing assembly 100 provided in this application obtains the actual powder transfer weight through a weight reduction method and a weight gain method, specifically as follows: A source container 3000 containing the powder to be transferred is placed on a second placement structure 22, and a target container 2000 is placed on a first placement structure 21; a moving mechanism 10 drives the container seat 20 to contact the weighing device 30 to obtain the initial weight m0 of the container seat 20; the container seat 20 and the weighing device 30 are separated, a portion of the powder in the source container 3000 is scooped up and removed from the container seat 20, and then the container seat 20 and the weighing device 30 are... The weight m1 of the scooped powder is obtained after contact with the weighing device 30. The amount scooped up is ms = m0 - m1 by the weight reduction method. The container seat 20 is kept in contact with the weighing device 30, and the scooped powder is transferred to the opening of the target container 2000. The weight mp after the transfer is obtained. The amount of powder spilled is mw = mp - m1 by the weight increase method. The remaining powder is poured into the target container 2000 by keeping the container seat 20 in contact with the weighing device 30. The weight m2 after the powder is poured is obtained. The actual amount of powder transferred is ma = m2 - mp by the weight increase method.

[0160] Please refer to Figure 5. This application also provides a powder scooping device 1000, including a powder scooping robot 300 and the powder weighing component 100 in the aforementioned embodiments. The powder scooping robot 300 is used to extend into the source container 3000 to scoop up powder and transfer the powder to the target container 2000.

[0161] Optionally, the powder-scooping robot 300 can be a robot or similar device that can move relative to the powder weighing assembly 100. The powder-scooping robot 300 can approach the powder weighing assembly 100 when powder scooping is required, and move away from the powder weighing assembly 100 when powder scooping is not required. Optionally, the powder-scooping device 1000 also includes a base 200, on which both the powder-scooping robot 300 and the powder weighing assembly 100 are mounted.

[0162] Optionally, a pulley 201 is provided at the bottom end of the base 200, which faces away from the powder-scooping robot 300 and the powder weighing component 100, and a handle 202 is provided on the base 200 to facilitate the movement of the powder-scooping device 1000. Optionally, a mounting plate 203 is also provided on the base 200, and the powder-scooping robot 300 is mounted on the mounting plate 203 so that the position of the powder-scooping robot 300 corresponds to that of the powder weighing component 100, shortening the distance between the powder-scooping robot 300 and the powder weighing component 100, and facilitating the powder-scooping robot 300 to perform powder-scooping and powder-pouring operations on the powder weighing component 100.

[0163] Optionally, the mounting plate 203 is provided with a sliding plate 204 and a translation mechanism 205. The sliding plate 204 is movably connected to the mounting plate 203, and the translation mechanism 205 is disposed on the mounting plate 203 and connected to the sliding plate 204. The powder-scooping robot 300 is mounted on the sliding plate 204. The translation mechanism 205 is used to drive the sliding plate 204 to move along the second direction Y to move the powder-scooping robot 300 closer to or further away from the powder weighing assembly 100. Optionally, the mounting plate 203 can be vertically disposed on the base 200, or the mounting plate 203 can be horizontally disposed on the base 200, without limitation. The translation mechanism 205 can be a combination structure of a motor and a lead screw and nut pair, or other structures, without limitation in this application.

[0164] The powder scooping device 1000 provided in this application can automate the powder scooping operation without human intervention, thereby reducing labor costs and improving the accuracy and efficiency of the powder scooping operation.

[0165] Please refer to Figures 6 to 9. The powder scooping robot 300 includes a powder scooping robot arm 60 and a powder scooping mechanism 70. The powder scooping mechanism 70 is disposed on the powder scooping robot arm 60. The powder scooping robot arm 60 is used to drive the powder scooping mechanism 70 to move between the source container 3000 and the target container 2000. The powder scooping mechanism 70 is used to scoop up powder from the source container 3000 and pour it into the target container 2000.

[0166] Optionally, the powder-scooping robotic arm 60 is mounted on the aforementioned sliding plate 204. The sliding plate 204 can drive the powder-scooping robotic arm 60 to move in the second direction Y, thereby driving the powder-scooping mechanism 70 to move in the second direction Y. Optionally, the powder-scooping robotic arm 60 is used to drive the powder-scooping mechanism 70 closer to or further away from the mounting plate 203 (or the sliding plate 204), and can also drive the powder-scooping mechanism 70 to swing relative to the mounting plate 203 (sliding plate 204), so that the position of the powder-scooping mechanism 70 in space is flexible and has a high degree of freedom.

[0167] Please refer to Figures 15 and 17. The powder scooping mechanism 70 includes a powder scooping rod 731. The powder scooping device 1000 also includes a powder scooping component picking and placing mechanism 800. The powder scooping component picking and placing mechanism 800 includes a seat rotation drive 801, a loading seat 802, and an unloading seat 803. The loading seat 802 and the unloading seat 803 are both connected to the seat rotation drive 801. The seat rotation drive 801 is used to drive the loading seat 802 and the unloading seat 803 to rotate. The loading seat 802 has a receiving groove 804, which is used to place the powder scooping rod 731 so that the powder scooping robotic arm 60 can be connected to the powder scooping rod 731. The unloading seat 803 has a locking groove 805, which is used to lock the powder scooping rod 731 to separate the powder scooping rod 731 from the powder scooping robotic arm 60.

[0168] Optionally, the powder scooping mechanism 800 can be connected to the powder scooping rod 731 by means of snap-fit, plug-in, magnetic attraction, etc., without limitation. Optionally, the seat rotation drive 801 is used to drive the loading seat 802 and the unloading seat 803 to rotate about an axis extending in the third direction X, so that the upper surfaces of the loading seat 802 and the unloading seat 803 face the powder scooping robot arm 60, so that the powder scooping robot arm 60 can pick up and place the powder scooping rod 731.

[0169] When the base rotation drive 801 drives the loading seat 802 and unloading seat 803 to a horizontal state, the powder scooping rod 731 can be placed on the loading seat 802 or removed from the unloading seat 803 by manual labor or by the loading / unloading robot 90. When the base rotation drive 801 drives the loading seat 802 and unloading seat 803 to an inclined state, the powder scooping robot arm 60 can connect with the powder scooping rod 731 on the loading seat 802 and drive the powder scooping rod 731 to detach from the loading seat 802, or the powder scooping robot arm 60 can drive the powder scooping rod 731 to move to the unloading seat 803. After the powder scooping rod 731 is connected to the unloading seat 803, the powder scooping robot arm 60 separates from the powder scooping rod 731.

[0170] By setting up the powder scooping component loading and unloading mechanism 800, the placement and unloading positions of the powder scooping rod 731 are integrated into one place, improving space utilization. At the same time, it realizes the automated loading and unloading of the powder scooping rod 731, shortens the moving path of the powder scooping robot arm 60 for loading and unloading the powder scooping rod 731, and improves work efficiency.

[0171] Optionally, referring to Figures 6 to 9, the powder scooping robotic arm 60 may include a first support mechanism 61 and a second support mechanism 62 arranged at intervals. Both the first support mechanism 61 and the second support mechanism 62 are connected to the powder scooping mechanism 70. The first support mechanism 61 and / or the second support mechanism 62 can move to adjust the spatial position of the powder scooping mechanism 70.

[0172] Optionally, the specific structures of the first support mechanism 61 and the second support mechanism 62 are not limited. At least one of the first support mechanism 61 and the second support mechanism 62 is movable. Specifically, the first support mechanism 61 may be fixed and the second support mechanism 62 may be movable; or the first support mechanism 61 may be movable and the second support mechanism 62 may be fixed; or both the first support mechanism 61 and the second support mechanism 62 may be movable. The movement may be translation, rotation, or any other feasible movement method, and there are no restrictions.

[0173] Optionally, when the moving distances of the first support mechanism 61 and the second support mechanism 62 are equal, the first support mechanism 61 and the second support mechanism 62 can drive the powder scooping mechanism 70 to move closer to or further away from the aforementioned mounting plate 203 (or sliding plate 204); when the moving distances of the first support mechanism 61 and the second support mechanism 62 are not equal, the first support mechanism 61 and the second support mechanism 62 can drive the powder scooping mechanism 70 to swing relative to the mounting plate 203 (or sliding plate 204) to adjust the angle of the powder scooping mechanism 70.

[0174] By setting up a first support mechanism 61 and a second support mechanism 62 that can move relatively, the powder scooping mechanism 70 can perform translational and yaw movements under the drive of the first support mechanism 61 and the second support mechanism 62, so as to complete functions such as scooping powder in the source container 3000, moving between the source container 3000 and the target container 2000, and pouring powder into the target container 2000.

[0175] Please refer to Figures 6 to 9. At least one of the first support mechanism 61 and the second support mechanism 62 includes a support structure 63 and a connector 64. The connector 64 is rotatably connected to one end of the support structure 63 and is connected to the powder scooping mechanism 70.

[0176] The specific structures of the support structure 63 and the connector 64 are not limited. The first support mechanism 61 may include the support structure 63 and the connector 64, and the second support mechanism 62 may be other structures; alternatively, the second support mechanism 62 may include the support structure 63 and the connector 64, and the first support mechanism 61 may be other structures; or both the first support mechanism 61 and the second support mechanism 62 may include the support structure 63 and the connector 64. Optionally, the connection method between the connector 64 and the powder scooping mechanism 70 may be a fixed connection, a rotating connection, a sliding connection, etc., and is not limited.

[0177] For example, both the first support mechanism 61 and the second support mechanism 62 are movable and each includes a support structure 63 and a connector 64. The connector 64 of the first support mechanism 61 and the connector 64 of the second support mechanism 62 are respectively connected to two positions of the powder scooping mechanism 70. When the first support mechanism 61 moves and / or the second support mechanism 62 moves, the connector 64 can rotate relative to the support structure 63, thereby driving the powder scooping mechanism 70 to move and complete the required operation.

[0178] Optionally, the connector 64 includes a first rotating member 641 and a second rotating member 642. The first rotating member 641 is rotatably connected to the support structure 63, and the second rotating member 642 is rotatably connected to the first rotating member 641. The second rotating member 642 is used to connect to the powder scooping mechanism 70, and the rotation axis of the first rotating member 641 and the rotation axis of the second rotating member 642 intersect.

[0179] The specific structures of the first rotating component 641 and the second rotating component 642 are not limited. The second rotating component 642 can be fixedly connected or rotatably connected to the powder-scooping mechanism 70, neither of which is restricted. The rotation axis of the first rotating component 641 and the rotation axis of the second rotating component 642 can be perpendicular or not perpendicular, such as the included angle between the rotation axes of the first rotating component 641 and the second rotating component 642 being 30 degrees, 45 degrees, 55 degrees, 60 degrees, 90 degrees, or other values. Compared to having parallel rotation axes, this provides an additional degree of rotational freedom, allowing the powder-scooping robotic arm 60 to adjust more freely and increasing the motion freedom of the powder-scooping mechanism 70. Furthermore, the rotation axes of the first rotating component 641 and the second rotating component 642 can be coplanar or non-coplanar; when coplanar, it improves the stability of the structure's rotation.

[0180] The first rotating member 641 and the second rotating member 642 can rotate relative to the support structure 63, thus providing two degrees of rotational freedom. When at least one of the first support mechanism 61 and the second support mechanism 62 drives the powder scooping mechanism 70 to move, the rotation of the first rotating member 641 and / or the second rotating member 642 enables the powder scooping mechanism 70 to move without jamming, and enables the powder scooping robotic arm 60 to perform the function required to drive the powder scooping mechanism 70 to move.

[0181] When both the first support mechanism 61 and the second support mechanism 62 have joints 64, the structures of the two joints 64 can be roughly the same or different, without restriction.

[0182] In one embodiment, referring to Figures 6 and 7, the powder scooping mechanism 70 includes a first powder scooping drive 71, a first powder scooping transmission 72, and a powder scooping rod 731. The first powder scooping drive 71 is disposed on the powder scooping robotic arm 60. One end of the first powder scooping transmission 72 is connected to the first powder scooping drive 71, and the other end is connected to the powder scooping rod 731. The first powder scooping drive 71 is used to drive the powder scooping rod 731 to move to scoop or pour powder. Optionally, the first powder scooping drive 71 can be a motor or other drive structure, without limitation. Optionally, the first powder scooping drive 71 can drive the powder scooping rod 731 to rotate and / or translate to scoop or pour powder, without limitation. Optionally, a scooping spoon 732 is provided on the end of the powder scooping rod 731 away from the first powder scooping transmission 72 for scooping and pouring powder. Optionally, the first powder scooping drive 71 is connected to the first support mechanism 61, and the first powder scooping transmission 72 is connected to the second support mechanism 62. Optionally, the powder-scooping rod 731 is generally in the shape of a straight-extending rod, with its length direction being the direction of straight extension. The powder-scooping rod 731 can scoop powder by rotating or by translating, without limitation.

[0183] Optionally, the first powder-scooping transmission component 72 includes a bushing 721 and a guide shaft 722. The bushing 721 is sleeved on the outer periphery of the guide shaft 722, and the guide shaft 722 is rotatable relative to the bushing 721. One end of the guide shaft 722 is connected to the first powder-scooping drive component 71, and the other end is connected to the powder-scooping rod 731. The first powder-scooping drive component 71 is used to drive the guide shaft 722 to rotate, thereby driving the powder-scooping rod 731 to rotate. The end of the powder-scooping rod 731 away from the guide shaft 722 has a scoop 732. The second support mechanism 62 is connected to the bushing 721.

[0184] The bushing 721 is roughly sleeve-shaped, and its outer circumferential surface can be cylindrical or cylindrical with annular protrusions, without limitation. The guide shaft 722 is a cylindrical straight rod, and both ends of the guide shaft 722 can extend out of the bushing 721, or one end can extend out while the other end does not, without limitation. The bushing 721 is connected and fixed to the second support mechanism 62, while the guide shaft 722 can rotate relative to the bushing 721, thereby causing the first powder-scooping drive 71 to drive the guide shaft 722 to rotate, which in turn drives the powder-scooping rod 731 to rotate, and then drives the scoop 732 to rotate, realizing the powder-scooping or powder-pouring operation.

[0185] Optionally, the powder scooping mechanism 70 includes a first powder scooping drive 71 and a powder scooping component 73. The first powder scooping drive 71 is connected to one end of the powder scooping component 73 and is used to drive the powder scooping component 73 to move. A first support mechanism 61 is connected to the first powder scooping drive 71, and a second support mechanism 62 is connected to the powder scooping component 73. Optionally, the powder scooping component 73 may include the aforementioned first powder scooping transmission component 72 and powder scooping rod 731.

[0186] It is understandable that the first powder-scooping transmission component 72 can also be other structures, without limitation. For example, the first powder-scooping transmission component 72 can be a coupling, which connects the first powder-scooping drive component 71 and the powder-scooping rod 731.

[0187] Optionally, referring to Figures 6 and 7, the guide shaft 722 is also movable relative to the bushing 721, allowing the first support mechanism 61 and the second support mechanism 62 to move relatively closer or further apart. The direction of movement of the guide shaft 722 relative to the bushing 721 is the axial direction of the guide shaft 722. This arrangement allows the first support mechanism 61 and the second support mechanism 62 to move relatively closer or further apart via the movement of the guide shaft 722 relative to the bushing 721, thereby further enhancing the flexibility and freedom of movement of the powder-scooping mechanism 70. Even without the translation mechanism 205, the powder-scooping rod 731 can still move in the second direction Y.

[0188] Optionally, as shown in Figures 6 and 7, the powder scooping component 73 also includes an adapter 739, one end of which is detachably connected to the guide shaft 722, and the other end of which is detachably connected to the powder scooping rod 731.

[0189] The specific structure of the adapter 739 is not limited. The detachable connection between the adapter 739 and the guide shaft 722 and the scooping rod 731 can be a screw connection, a snap-fit ​​connection, an interference fit, etc., without limitation. By setting the adapter 739, the connection between the scooping rod 731 and the guide shaft 722 can be easily made, and the scooping rod 731 can be easily replaced to switch between different specifications of scoops 732.

[0190] In one embodiment, the first powder-scooping drive 71 is a rotary motor. The first powder-scooping drive 71 can drive the first powder-scooping transmission 72 to rotate through the output shaft of the rotary motor, thereby driving the powder-scooping rod 731 to rotate, realizing the powder-scooping and powder-pouring operations. The structure is simple and easy to implement.

[0191] In another embodiment, referring to Figures 8 and 9, the powder scooping mechanism 70 includes a second powder scooping drive 74, a second powder scooping transmission 75, a third powder scooping drive 76, a third powder scooping transmission 77, and a powder scooping component 73. The second powder scooping transmission 75 and the third powder scooping transmission 77 are both connected to the powder scooping component 73. A first support mechanism 61 is connected to the second powder scooping drive 74, and the second powder scooping drive 74 is connected to the second powder scooping transmission 75. A second support mechanism 62 is connected to the third powder scooping drive 76, and the third powder scooping drive 76 is connected to the third powder scooping transmission 77. Both the first support mechanism 61 and the second support mechanism 62 are movably connected to the powder scooping component 73 (e.g., both the first support mechanism 61 and the second support mechanism 62 are slidably connected to the powder scooping component 73, and / or, both the first support mechanism 61 and the second support mechanism 62 are rotatably connected to the powder scooping component 73), and the end of the powder scooping component 73 away from the second powder scooping drive 74 has a scooping spoon 732. The second powder-scooping drive component 74 and the third powder-scooping drive component 76 are used to drive the powder-scooping component 73 to perform any one of the following movements: moving, rotating, or a combination of moving and rotating, through the corresponding powder-scooping transmission component.

[0192] Optionally, the second powder-scooping drive component 74 and the third powder-scooping drive component 76 can be structures such as rotary motors, linear motors, and hydraulic pumps, without limitation. The specific structures of the second powder-scooping transmission component 75, the third powder-scooping transmission component 77, and the powder-scooping component 73 are not limited, as long as they enable the powder-scooping component 73 to perform any kind of movement, such as moving, rotating, or a combination of moving and rotating, under the drive of the second powder-scooping drive component 74 and the third powder-scooping drive component 76.

[0193] When the powder scooping component 73 moves, it moves along its own axis, enabling it to move forward or backward. When the powder scooping component 73 rotates, it rotates around its own axis, enabling it to scoop and pour powder. When the powder scooping component 73 undergoes a combined movement of movement and rotation, it can achieve any combination of forward, backward, scooping, and pouring movements. In this way, the flexibility of the powder scooping mechanism 70 can be significantly improved.

[0194] Optionally, the powder scooping component 73 includes a lead screw shaft 733, a first nut 734, a second nut 735, and a powder scooping rod 731. A first support mechanism 61 is rotatably connected to the first nut 734, a second powder scooping transmission component 75 is connected to the first nut 734, a second support mechanism 62 is rotatably connected to the second nut 735, and a third powder scooping transmission component 77 is connected to the second nut 735. The lead screw shaft 733 passes through the first nut 734 and the second nut 735, and both the first nut 734 and the second nut 735 are movably connected to the lead screw shaft 733. One end of the lead screw shaft 733 away from the second powder scooping drive component 74 is connected to one end of the powder scooping rod 731, and the end of the powder scooping rod 731 away from the lead screw shaft 733 has a scoop 732.

[0195] In this embodiment, one of the first nut 734 and the second nut 735 is a lead screw nut, and the other is a spline nut. The lead screw shaft 733 has a helical groove 7331 extending helically along the axial direction and a straight groove 7332 extending linearly along the axial direction. The lead screw nut is engaged with the helical groove 7331, and the spline nut is engaged with the straight groove 7332. The first nut 734 and / or the second nut 735 rotate relative to the lead screw shaft 733 to drive the lead screw shaft 733 to perform any of the following movements: movement, rotation, or a combination of movement and rotation.

[0196] In this embodiment, the connection method between the lead screw shaft 733 and the powder scooping rod 731 can be welding, gluing, snap-fitting, screwing, etc. The lead screw shaft 733 and the powder scooping rod 731 can be directly connected, or they can be detachably connected via an adapter 739; there are no restrictions. The connection method between the powder scooping transmission component and the nut can be screwing, gluing, snap-fitting, etc.

[0197] In this embodiment, the first nut 734, the second nut 735, and the lead screw shaft 733 together form a lead screw spline mating pair. The second powder-scooping drive component 74 can drive the first nut 734 to rotate, and the third powder-scooping drive component 76 can drive the second nut 735 to rotate. Since one of the first nut 734 and the second nut 735 is a lead screw nut and the other is a spline nut, the rotation of the lead screw nut generates a transmission effect with the helical groove 7331, and the rotation of the spline nut also generates a transmission effect with the straight groove 7332, thereby enabling the lead screw shaft 733 to perform any of the following movements: translation, rotation, or a combination of translation and rotation.

[0198] Specifically, when the lead screw nut is fixed and does not rotate (i.e., the corresponding powder scooping drive is not working) while the spline nut rotates (i.e., the corresponding powder scooping drive is working), the lead screw shaft 733 performs a compound motion of spiral forward or spiral backward; when the lead screw nut rotates while the spline nut is fixed and does not rotate, the lead screw shaft 733 moves linearly; when both the lead screw nut and the spline nut rotate, the lead screw shaft 733 performs approximately a stationary rotational motion.

[0199] For example, as shown in Figures 8 and 9, the first nut 734 is a lead screw nut and the second nut 735 is a spline nut.

[0200] Optionally, the powder scooping robot 300 may also be equipped with a bearing 736, which is located inside the second rotating part 642 of the connector 64. The outer ring of the bearing 736 is connected to the inner wall of the second rotating part 642, and the inner ring is connected to the first nut 734 or the second nut 735, so as to realize the rotational connection between the first nut 734 or the second nut 735 and the corresponding support mechanism.

[0201] Optionally, due to the size limitations of the first nut 734 and the second nut 735, direct connection with the bearing 736 is not possible. The powder-scooping robot 300 can also be equipped with an adapter sleeve 737 and a locking nut 738. The adapter sleeve 737 is at least partially located inside the bearing 736 and connected to the inner ring of the bearing 736. The adapter sleeve 737 is fitted onto the lead screw shaft 733 but has no transmission relationship with it. There is a gap between the adapter sleeve 737 and the lead screw shaft 733. The locking nut 738 is connected to and locked to one end of the adapter sleeve 737. The first nut 734 and the second nut 735 can each be equipped with an adapter sleeve 737, a bearing 736, and a locking nut 738. The first nut 734 and the second nut 735 are respectively connected and fixed to the end of the corresponding adapter sleeve 737 furthest from the locking nut 738. Since the lengths of the first nut 734 and the second nut 735 are limited, an adapter sleeve 737 is provided to allow the first nut 734 and the second nut 735 to connect with the corresponding bearing 736. By locking the end of the adapter sleeve 737 that protrudes from the second rotating member 642 and is away from the first nut 734 or the second nut 735 with a locking nut 738, the axial movement of the first nut 734 and the second nut 735 can be restricted, ensuring structural stability. When the second powder scooping drive member 74 and the third powder scooping drive member 76 drive the first nut 734 and the second nut 735 to rotate respectively, the first nut 734 and the second nut 735 drive the adapter sleeve 737 connected to them to rotate, thereby causing the inner ring of the bearing 736 connected to the adapter sleeve 737 to rotate, while the outer ring of the bearing 736 and the second rotating member 642 do not rotate accordingly. This allows the first nut 734 to rotate relative to the first support mechanism 61, and the second nut 735 to rotate relative to the second support mechanism 62.

[0202] The connection method between the adapter sleeve 737 and the first nut 734 and the second nut 735 can be screwed, glued, snap-fit, etc., and is not limited here. The connection method between the adapter sleeve 737 and the bearing 736 can be interference fit, transition fit, etc., and is not limited here.

[0203] By setting up a lead screw spline joint, arbitrary movements of the lead screw shaft 733, including movement, rotation, and combined movement and rotation, can be achieved with a simple structure, which can improve the flexibility of the powder scooping mechanism 70 and facilitate more complex operations. Even without the translation mechanism 205, the powder scooping rod 731 can still move in the second direction Y.

[0204] Optionally, referring to Figure 8, at least one of the second powder scooping transmission component 75 and the third powder scooping transmission component 77 includes a first powder scooping synchronous pulley 751, a second powder scooping synchronous pulley 752, and a powder scooping synchronous belt 753 connecting the first powder scooping synchronous pulley 751 and the second powder scooping synchronous pulley 752. The first powder scooping synchronous pulley 751 is connected to the corresponding powder scooping drive component, and the second powder scooping synchronous pulley 752 is connected to the nut on the corresponding lead screw spline mating pair.

[0205] Optionally, the first powder-scooping synchronous pulley 751 is connected to the second powder-scooping drive 74 (or the third powder-scooping drive 76), and the second powder-scooping synchronous pulley 752 is sleeved on the outer periphery of the corresponding nut or adapter sleeve 737 and fixed thereto (e.g., by screw connection, adhesive connection, snap connection, etc.). The powder-scooping synchronous belt 753 is wound around the first powder-scooping synchronous pulley 751 and the second powder-scooping synchronous pulley 752. When the corresponding powder-scooping drive works, it drives the first powder-scooping synchronous pulley 751 to rotate, which in turn drives the second powder-scooping synchronous pulley 752 to rotate via the powder-scooping synchronous belt 753, thereby driving the corresponding lead screw spline mating pair to perform the required movement. Alternatively, at least one of the second powder-scooping transmission component 75 and the third powder-scooping transmission component 77 includes a meshing first gear and a second gear. The first gear is connected to the second powder-scooping drive 74 (or the third powder-scooping drive 76), and the second gear is connected to the corresponding nut. Through gear transmission, the power of the powder-scooping drive component can also be transmitted to the corresponding nut.

[0206] By setting up the aforementioned powder-scooping robot 300, the powder-scooping mechanism 70 can perform functions such as scooping, moving, and pouring powder under the drive of the powder-scooping robot arm 60, eliminating the need for manual powder-scooping and pouring operations, reducing labor costs, and improving the accuracy and efficiency of powder-scooping operations.

[0207] In one embodiment, referring to Figures 6 and 7, the support structure 63 includes a first support member 631, a second support member 632, a first transmission member 633, a second transmission member 634, a first drive member 635, and a second drive member 636. The first support member 631 is rotatably connected to the connector 64 and the first transmission member 633, respectively. The second support member 632 is rotatably connected to the first support member 631 and the second transmission member 634, respectively. The first drive member 635 is connected to the first transmission member 633 and is used to drive the first transmission member 633 to move the first support member 631. The second drive member 636 is connected to the second transmission member 634 and is used to drive the second transmission member 634 to move the second support member 632.

[0208] Optionally, one end of the first support member 631 and one end of the second support member 632 are both rotatably connected to the connector 64, the first transmission member 633 is rotatably connected to the end of the first support member 631 away from the connector 64, and the second transmission member 634 is rotatably connected to the end of the second support member 632 away from the connector 64. Optionally, the first driving member 635 and the second driving member 636 are both disposed on the base 200 (or mounting plate 203).

[0209] Optionally, both the first support member 631 and the second support member 632 extend generally along a straight line or curve and have opposite ends in the length direction. One end of the first support member 631 is rotatably connected to the first rotating member 641 of the connector 64. Optionally, the first support member 631 extends along a straight line, and this straight line is parallel to the rotation axis of the first rotating member 641, that is, the first rotating member 641 rotates about an axis extending along the length direction of the first support member 631.

[0210] At least one of the first support member 631 and the second support member 632 shall perform active movement. Due to their rotational connection, they jointly support the joint 64 and drive the joint 64 to move. Active movement refers to movement caused by a power input; if there is no power input, it is follower movement. For example, the first support member 631 performs active movement, and the second support member 632 performs follower movement; or, the second support member 632 performs active movement, and the first support member 631 performs follower movement; or, both the first support member 631 and the second support member 632 perform active movement. The active movement of the first support member 631 and / or the second support member 632 can be translation, rotation, etc., without limitation.

[0211] When the first support member 631 and / or the second support member 632 move, the position of the connector 64 can be changed. The connector 64 is rotatably connected to one end of the first support member 631, which allows the position of the powder scooping mechanism 70 connected to the connector 64 to change and move flexibly without interference.

[0212] Optionally, the specific structure and type of the first driving component 635, the first transmission component 633, the second driving component 636, and the second transmission component 634 are not limited, and any feasible configuration is acceptable. For example, the first driving component 635 and the second driving component 636 can be a motor, a cylinder, etc. It should be understood that, according to the required movement of the powder scooping mechanism 70, the first driving component 635 and / or the second driving component 636 can be controlled to work, driving the first support component 631 and / or the second support component 632 to move through the first transmission component 633 and / or the second transmission component 634 respectively, thereby adjusting the position of the connector 64. In other words, at least one of the first driving member 635 and the second driving member 636 may be inactive. Taking the first driving member 635 being inactive and the second driving member 636 being active as an example, since the first driving member 635 is inactive, the first transmission member 633 is also inactive. However, since the first support member 631 is rotatably connected to the first transmission member 633, when the second driving member 636 drives the second support member 632 to move through the second transmission member 634, the first support member 631 can rotate relative to the first transmission member 633. Therefore, the position of the connector 64 can also be changed. The embodiments of this application do not limit how the first driving member 635 and the second driving member 636 work, as long as they can drive the connector 64 to move. The rotatable connection between the first transmission member 633 and the first support member 631, and the rotatable connection between the second transmission member 634 and the second support member 632, can all be achieved through structures such as shafts or universal joints, and are not limited here.

[0213] By setting up the above-mentioned support mechanism, the position of the connector 64 can be flexibly adjusted by controlling whether and how the first driving component 635 and the second driving component 636 work, which makes it highly adaptable.

[0214] Please refer to Figures 6 and 7. The first driving component 635 and the second driving component 636 are both rotary motors. The first support component 631 and the second support component 632 are both connecting rods. The first transmission component 633 includes any one or more of the following: connecting rod, lead screw and nut pair, gear and rack pair, and worm gear pair. The second transmission component 634 includes any one or more of the following: connecting rod, lead screw and nut pair, gear and rack pair, and worm gear pair.

[0215] Optionally, the rotation axis of the first drive member 635 and the rotation axis of the second drive member 636 are parallel to each other. In this way, the direction in which the first drive member 635 drives the first transmission member 633 to move (e.g., rotate or move) is either the same as or opposite to the direction in which the second drive member 636 drives the second transmission member 634 to move (e.g., rotate or move). This simplifies the structure and control logic and avoids overly complex motion that would make it difficult to control the movement of the connector 64.

[0216] Optionally, the first drive unit 635 and the second drive unit 636 can be servo motors, stepper motors, etc., and the rotary motor can be equipped with a reducer, gearbox or brake, etc., without limitation.

[0217] In one specific embodiment, referring to Figure 6, the first transmission member 633, the first support member 631, the second transmission member 634, and the second support member 632 are all connecting rods. One end of the first support member 631 is rotatably connected to the connector 64, one end of the first transmission member 633 is rotatably connected to the end of the first support member 631 away from the connector 64, and the other end of the first transmission member 633 is connected to the first drive member 635; one end of the second support member 632 is rotatably connected to the end of the first support member 631 near the connector 64, one end of the second transmission member 634 is rotatably connected to the end of the second support member 632 away from the connector 64, and the other end of the second transmission member 634 is connected to the second drive member 636.

[0218] Optionally, the axes of the first driving member 635 and the second driving member 636 can coincide. Further, the first transmission member 633, the first support member 631, the second transmission member 634, and the second support member 632 all employ connecting rods. The axes of relative rotation between the first transmission member 633 and the first support member 631, the axes of relative rotation between the first support member 631 and the second support member 632, and the axes of relative rotation between the second transmission member 634 and the second support member 632 are all parallel to the axis of the first driving member 635. This results in the first transmission member 633, the first support member 631, the second transmission member 634, and the second support member 632 generally forming a quadrilateral structure (which can be a quadrilateral structure in the projection direction of the axis of the first driving member 635). Any two adjacent sides of the quadrilateral structure can rotate relative to each other, resulting in good deformability, a simple structure, and low cost. Alternatively, the axes of the first driving member 635 and the second driving member 636 can be parallel but spaced apart.

[0219] Other options include the axes of rotation between the first transmission member 633 and the first support member 631, the axes of rotation between the first support member 631 and the second support member 632, and the axes of rotation between the second transmission member 634 and the second support member 632 being parallel to each other, but not parallel to the axis of the first drive member 635.

[0220] Alternatively, the axes of rotation between the first transmission member 633 and the first support member 631, the axes of rotation between the first support member 631 and the second support member 632, and the axes of rotation between the second transmission member 634 and the second support member 632 may not be parallel.

[0221] In another specific embodiment, which is basically the same as the embodiment shown in FIG6, the difference is that the first transmission member 633 is rotatably connected to the middle of the first support member 631, one end of the second support member 632 is connected to the second transmission member 634, and the other end is rotatably connected to the end of the first support member 631 away from the joint 64.

[0222] The middle part of the first support member 631 can be at the midpoint or near the midpoint (allowing for a certain distance from the midpoint). This method ensures that the position between the middle of the first support member 631 and the connector 64 is free from interference from the second support member 632, which is beneficial for the powder scooping mechanism 70 to perform more complex movements. In addition, the dimensions of the second support member 632 and the second transmission member 634 can be appropriately reduced to minimize the space occupied by the structure.

[0223] Furthermore, the first support member 631 is essentially a lever with the first transmission member 633 as its fulcrum. Compared to the method where the second support member 632 is rotatably connected to the end of the first support member 631 near the connector 64, when the powder scooping mechanism 70 performs the same movement, the movement direction of the second support member 632 is opposite. For example, when the powder scooping mechanism 70 moves upward, with the second support member 632 rotatably connected to the end of the first support member 631 near the connector 64, the second support member 632 moves towards the first support member 631; while with the first transmission member 633 rotatably connected to the middle of the first support member 631, and the second support member 632 rotatably connected to the end of the first support member 631 away from the connector 64, the second support member 632 moves away from the first support member 631. This allows for more flexible adjustment of the operating modes of the first drive member 635 and the second drive member 636, which simplifies the control logic.

[0224] Optionally, referring to Figure 6, the first transmission component 633 and the second transmission component 634 have the same length, and the first support component 631 and the second support component 632 have the same length. This results in a simple structure, simple control logic, high coordination, easy implementation, and low cost.

[0225] In another specific embodiment, referring to Figure 7, it is basically the same as the embodiment shown in Figure 6, except that both the first transmission member 633 and the second transmission member 634 are lead screw and nut mating pairs. The lead screw of the first transmission member 633 is connected to the first drive member 635, and the lead screw of the second transmission member 634 is connected to the second drive member 636. The end of the first support member 631 away from the joint 64 is rotatably connected to the nut of the first transmission member 633, and the end of the second support member 632 away from the joint 64 is rotatably connected to the nut of the second transmission member 634. Optionally, the lead screws of the first transmission member 633 and the second transmission member 634 are arranged in parallel.

[0226] In this embodiment, the connecting rods of the first transmission member 633 and the second transmission member 634 in Figure 6 are replaced with a lead screw and nut pair. In the embodiment shown in Figure 6, the connecting rods of the first transmission member 633 and the second transmission member 634 rotate. In the embodiment shown in Figure 7, the first drive member 635 and the second drive member 636 are rotary motors, and the axis of the rotary motor is the same as the extension direction of the corresponding lead screw. By driving the lead screw to rotate through the rotary motor, the lead screw drives the nut to move linearly, and the nut drives the corresponding support member to move (or move and rotate), thereby driving the joint 64 to move. The lead screws of the first transmission member 633 and the second transmission member 634 are arranged in parallel, which allows the end of the first support member 631 rotatably connected to the nut of the first transmission member 633 and the end of the second support member 632 rotatably connected to the nut of the second transmission member 634 to move relatively closer or relatively farther away in the extension direction of the lead screw. This simplifies the control logic of the first drive member 635 and the second drive member 636, resulting in a simple structure, small footprint, and low cost.

[0227] Optionally, referring to Figure 7, both the first support member 631 and the second support member 632 are connecting rods, and the first support member 631 and the second support member 632 have the same length.

[0228] In this design, the end of the second support member 632 away from the nut of the second transmission member 634 can be rotatably connected to the end of the first support member 631 near the joint 64, or it can be rotatably connected to the middle of the first support member 631, etc., without limitation. In this way, the structure of the first support member 631 and the second support member 632 is simple, and the size of the second support member 632 can be appropriately reduced.

[0229] It is understandable that the structures of the first support mechanism 61 and the second support mechanism 62 can be roughly the same. For example, the support structure 63 of the first support mechanism 61 and the support structure 63 of the second support mechanism 62 are both combinations of two rotary motors and four connecting rods as shown in Figure 6; or the support structure 63 of the first support mechanism 61 and the support structure 63 of the second support mechanism 62 are both combinations of two rotary motors, a lead screw and nut pair and connecting rods as shown in Figure 7. The structures of the first support mechanism 61 and the second support mechanism 62 can also be different. For example, one of the support structures 63 of the first support mechanism 61 and the second support structure 63 of the second support mechanism 62 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 63 of the first support mechanism 61 and the second support structure 63 of the second support mechanism 62 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 63 of the first support mechanism 61 and the second support structure 62 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.

[0230] In another embodiment, referring to FIG8, the support structure 63 includes a first support member 631, a second support member 632, a third drive member 637, a third transmission member 638, and a fourth transmission member 639. The third transmission member 638 is rotatably connected to the first support mechanism 61, and the fourth transmission member 639 is rotatably connected to the second support mechanism 62. The third drive member 637 is connected to both the third transmission member 638 and the fourth transmission member 639, and is used to drive the third transmission member 638 and the fourth transmission member 639 to move independently.

[0231] A third driving component 637, a third transmission component 638, and a fourth transmission component 639 constitute a power structure. In this embodiment, one or more power structures can be set. When one power structure is set, it can drive one connector 64 to move. Referring to Figures 6 and 7 above, the other connector 64 can be driven by any feasible structure in the aforementioned embodiments, without limitation. When multiple power structures are set, two of the power structures can drive two connectors 64 connected to the same powder scooping mechanism 70 to move, and other power structures can also drive connectors 64 connected to other powder scooping mechanisms 70 to move. For example, one third driving component 637 can independently drive more than two (such as four, six, eight, etc.) transmission components to move. By setting two third driving components 637 as shown in Figure 8, multiple powder scooping mechanisms 70 can be driven independently, which can meet the powder transfer requirements of multiple powder weighing components 100, thereby improving the flexibility of the device and the experimental throughput.

[0232] The third driving component 637, the third transmission component 638, and the fourth transmission component 639 can be any feasible structure. For example, the third driving component 637 can be a rotary motor, a linear motor, a hydraulic pump, a cylinder, etc., without limitation. The third transmission component 638 and the fourth transmission component 639 can be sliders, connecting rods, and various mating pairs. The third driving component 637 can drive the third transmission component 638 and the fourth transmission component 639 to move independently, which can drive the corresponding first support mechanism 61 and second support mechanism 62 to move independently, thereby driving the joint 64 connected to the first support mechanism 61 and the second support mechanism 62 to move, thereby adjusting the posture or position of the powder scooping mechanism 70 connected to the joint 64.

[0233] By setting the third driving component 637 to drive the third transmission component 638 and the fourth transmission component 639 to move independently, compared with the structures shown in Figures 6 and 7, one driving component can be reduced, thus reducing structural complexity and cost.

[0234] Optionally, referring to Figure 8, the third drive member 637 is a linear motor, and the linear motor includes multiple independently movable movers 6371. The third transmission member 638 and the fourth transmission member 639 are respectively connected to different movers 6371.

[0235] Specifically, the linear motor of the third drive unit 637 includes a linearly extending stator 6372, a guide member 6373 disposed on the stator 6372 and extending in the same direction as the stator 6372, and multiple movers 6371 slidably connected to the guide member 6373. The stator 6372 drives the multiple movers 6371 to slide along the guide member 6373 through electromagnetic induction effect. The multiple movers 6371 can move independently along a straight line on the guide member 6373.

[0236] The guide component 6373 can be plate-shaped, rod-shaped, or, for example, a slide rail or slide rod; there are no restrictions. The guide component 6373 is an insulating component to avoid affecting the electromagnetic induction effect between the stator 6372 and the mover 6371. Multiple guide components 6373 can be provided, spaced apart on the stator 6372 (e.g., on opposite sides of the stator 6372). The mover 6371 can be directly mounted on the guide component 6373, or it can be mounted to the guide component 6373 via a mating structure; there are no limitations.

[0237] Optionally, the third drive unit 637 is further provided with a detection device 6374 for detecting the position of the mover 6371. The detection device 6374 can be a grating detection structure or a photoelectric sensor, etc. For example, the detection device 6374 consists of a grating ruler and two grating read heads. The two grating read heads are respectively connected to the two movers 6371 and move with the movers 6371 on the guide member 6373. The grating ruler is set along the extension direction of the stator 6372 and is located within the movement range of the two movers 6371. By setting the detection device 6374, the movement position of the mover 6371 can be precisely controlled, and collisions with other structures can be avoided, thereby improving the operating accuracy and safety of the powder scooping robot 300.

[0238] A linear motor with a third drive element 637 can be equipped with multiple movers 6371. Two adjacent movers 6371 are connected to a third transmission element 638 and a fourth transmission element 639, respectively. The remaining two adjacent movers 6371 can be connected to another third transmission element 638 and another fourth transmission element 639, or they can be connected to other mechanisms to achieve more complex functions. For example, as shown in Figure 8, a stator 6372 is equipped with four movers 6371. Two adjacent movers 6371 form a group, forming two groups of movers 6371. Each group of movers 6371 is connected to the corresponding third transmission element 638 and fourth transmission element 639, thereby driving the four corresponding transmission elements to move.

[0239] Multiple linear motors can be provided for the third driving component 637, and each linear motor can have multiple independently movable movers 6371. For example, when both the first support mechanism 61 and the second support mechanism 62 include the support structure 63 shown in FIG8, as shown in FIG8, the third driving component 637 has two linear motors, with the stators 6372 of the two linear motors arranged parallel to each other. Each linear motor has four movers 6371, and there are two powder-scooping mechanisms 70. Each powder-scooping mechanism 70 is driven to work by the movement of the four movers 6371 on the two linear motors. The number of movers 6371 on each of the two linear motors can be more than four, and is not limited here. This configuration allows multiple identical or different powder-scooping mechanisms 70 to be driven simultaneously, improving experimental throughput, equipment flexibility, and versatility.

[0240] The third transmission component 638 and the fourth transmission component 639 can be connected and fixed to the corresponding moving part 6371 respectively, and the first support mechanism 61 and the second support mechanism 62 can be rotatably connected to the corresponding transmission component respectively.

[0241] By setting the third driving component 637 as a linear motor and having multiple independently movable movers 6371, the movement of the third transmission component 638 and the fourth transmission component 639 can be easily achieved, resulting in a simple structure.

[0242] In one embodiment, referring to FIG8, the third transmission member 638 and the fourth transmission member 639 both include a slider 6381. One side of the slider 6381 is connected to the corresponding mover 6371, and the side of the slider 6381 facing away from the mover 6371 is rotatably connected to the corresponding support member. The first support mechanism 61 and the second support mechanism 62 are both connecting rods.

[0243] The structure of slider 6381 is not limited; it can be connected and fixed to mover 6371 by means of screw connection, snap-fit ​​connection, etc. Slider 6381 can move with mover 6371 under the drive of stator 6372. The first support mechanism 61 and the second support mechanism 62 are set as connecting rods, which is simple in structure and low in cost.

[0244] The method by which the slider 6381 is rotatably connected to the corresponding support member, namely the first support mechanism 61 or the second support mechanism 62, is not limited. Optionally, both the third transmission member 638 and the fourth transmission member 639 include a connector 6382, which is fixedly connected to the slider 6381 and rotatably connected to the corresponding support member. The specific structure of the connector 6382 is not limited; it can be configured to facilitate relative rotation with the corresponding support member. The connection method between the connector 6382 and the slider 6381 can be any feasible method, such as screw connection or snap-fit ​​connection, without limitation. In this way, the slider 6381 can be rotatably connected to the corresponding support member through the connector 6382, which simplifies the structure of the slider 6381 and makes it easy to manufacture.

[0245] Optionally, referring to Figure 8, at least one of the third transmission member 638 and the fourth transmission member 639 further includes a connecting member 6383, one end of which is connected to the corresponding slider 6381, and the other end of which is rotatably connected to the corresponding support member.

[0246] One end of the connector 6383 is fixedly connected to the slider 6381, and any feasible connection method such as screw connection or snap connection can be used. The other end of the connector 6383 can be connected to a connector 6382, which is rotatably connected to the corresponding support member.

[0247] The connector 6383 can extend a certain length along a straight line or curve, and can be rod-shaped or plate-shaped, etc., without limitation. For example, as shown in Figure 8, the slider 6381 of one of the third transmission components 638 is connected and fixed to one end of the connector 6383, and the other end of the connector 6383 is connected and fixed to one of the connector heads 6382, which is rotatably connected to the first support mechanism 61.

[0248] By setting the connector 6383, the corresponding support component can have a larger range of motion, which makes it easier to adjust the more complex motion posture and position of the powder scooping mechanism 70, thus improving its flexibility.

[0249] It is understood that the third transmission component 638 and the fourth transmission component 639 can both be composed of a slider 6381 and a connector 6382; or, both transmission components can both be composed of a slider 6381, a connector 6382 and a connector 6383; or, one of the two transmission components can be composed of a slider 6381 and a connector 6382, and the other can be composed of a slider 6381, a connector 6382 and a connector 6383, and there are no restrictions on which component is composed of these components.

[0250] Optionally, referring to Figure 8, the linear motor may further include a fixed plate 6375, on which the stator 6372 and guide member 6373 are mounted, and all three extend in the same direction. Optionally, the linear motor may further include an end plate 6376, with one end plate 6376 at each opposite end of the fixed plate 6375. The stator 6372 and guide member 6373 may also be connected to the end plate 6376. The end plate 6376 serves to support and fix the motor, as well as limit the maximum stroke of the mover 6371. Optionally, the linear motor may further include a cover plate 6377, with both ends of the cover plate 6377 connected and fixed to the end plate 6376. The cover plate 6377 is positioned directly above the stator 6372 and spaced apart from it, providing protection. The mover 6371 can be disposed on the side of the cover plate 6377 facing the stator 6372, and the slider 6381 can be disposed on the side of the cover plate 6377 facing away from the stator 6372. Both the mover 6371 and the slider 6381 extend beyond the width of the cover plate 6377 and are connected at the points where they extend beyond the cover plate 6377. The cover plate 6377 also serves to guide the mover 6371 and the slider 6381.

[0251] In any of the above-mentioned support structures 63, each driving component and transmission component is a common structure that is easy to obtain, simple in structure, and low in cost.

[0252] Please refer to Figures 6 and 7. The powder scooping device 1000 also includes a translation mechanism 205, which is connected to the first support mechanism 61 and / or the second support mechanism 62 and is used to drive the support mechanism thereon to move.

[0253] Optionally, the first support mechanism 61 and / or the second support mechanism 62 are disposed on the aforementioned sliding plate 204, and the translation mechanism 205 is used to drive the sliding plate 204 to move, thereby moving the support mechanism thereon. For example, both the first support mechanism 61 and the second support mechanism 62 are disposed on the sliding plate 204, and the two support mechanisms translate together; or, one of the first support mechanism 61 and the second support mechanism 62 is disposed on the sliding plate 204, and the other is fixedly disposed on the aforementioned mounting plate 203, and the two support mechanisms can move closer to or further away from each other. The above configuration can further improve the freedom of movement and flexibility of the powder scooping mechanism 70.

[0254] Optionally, the translation mechanism 205 includes a drive device and a transmission device. The drive device is mounted on the aforementioned mounting plate 203, and the transmission device connects the drive device and the sliding plate 204. The drive device can be a motor or a cylinder, etc., and the transmission device can be a lead screw and nut pair, a gear pair, or a pulley pair, etc., without limitation.

[0255] Referring to Figure 5, the powder weighing assembly 100 includes a housing 50 and a lid 51. The housing 50 has an open cavity 52, in which the moving mechanism 10, container seat 20, and weighing device 30 are all housed. The lid 51 is movably connected to the housing 50 to open or close the opening of the cavity 52. ​​The lid 51 has a notch 511, which corresponds to the source container 3000 and the target container 2000 when the lid 51 closes the opening of the cavity 52. ​​The powder scooping robot 300 can be located on the side of the powder weighing assembly 100 near the notch 511, for extending into the cavity 52 through the notch 511. Specifically, the powder scooping robot arm 60 of the powder scooping robot 300 drives the powder scooping rod 731 of the powder scooping mechanism 70 to extend into the cavity 52 through the notch 511. Furthermore, the powder scooping rod 731 enters the target container 2000 and the source container 3000. This design allows the powder scooping device 1000 to transfer powder through the notch 511 on the lid 51 without opening the lid 51, thus improving work efficiency.

[0256] Referring to Figure 5, the powder scooping device 1000 also includes a vision detection component 80, which is located near the powder weighing component 100 and is used to detect the working status of the powder weighing component 100 and / or the powder scooping robot 300. Optionally, the vision detection component 80 is located on the base 200.

[0257] Optionally, both the housing 50 and the lid 51 are transparent, or parts of the housing 50 and lid 51 are transparent, and the vision inspection component 80 is used to inspect the condition of the cavity 52 through the housing 50 and lid 51. Specifically, the vision inspection component 80 can be used to detect the position of the source container 3000 within the cavity 52, the remaining amount of powder in the source container 3000, the position of the target container 2000, the powder spilled during the process of the aforementioned powder-scooping robot 300 transferring powder from the source container 3000 to the target container 2000, and the position of the powder-scooping robot 300 within the container, etc., without limitation. Both the target container 2000 and the source container 3000 are transparent containers.

[0258] By setting up the aforementioned visual inspection component 80, the working conditions inside the cavity 52 can be monitored by the visual inspection component 80, eliminating the need for manual opening of the box cover 51 for inspection, thus saving labor and time costs, and improving work efficiency and the reliability of the powder scooping device 1000.

[0259] Please refer to Figure 5. The visual inspection component 80 includes a first inspection element 82 and a second inspection element 83. The first inspection element 82 is disposed on the first side of the powder weighing component 100, and the second inspection element 83 is disposed on the second side of the powder weighing component 100. The first side and the second side are different sides.

[0260] Optionally, the visual inspection assembly 80 also includes an inspection bracket 81, which is disposed on the base 200 and close to the powder weighing assembly 100. The first inspection element 82 and the second inspection element 83 are both disposed on the inspection bracket 81.

[0261] Optionally, the first detection element 82 is disposed on the first side of the powder weighing assembly 100, and the second detection element 83 is disposed on the second side of the powder weighing assembly 100. The first side can be above the powder weighing assembly 100 in the first direction Z, and the second side can be one side of the powder weighing assembly 100 in the third direction X, where the third direction X intersects both the first direction Z and the second direction Y. Specifically, when the powder scooping device 1000 is placed on a horizontal plane, the first direction Z is the height direction of the powder scooping device 1000, the second direction Y is the front-back direction of the powder scooping device 1000, and the third direction X is the left-right direction of the powder scooping device 1000. Optionally, the positions of the first detection element 82 and the second detection element 83 can be interchanged.

[0262] Optionally, the detection bracket 81 can be movably connected to the base 200. Specifically, the detection bracket 81 can move relative to the base 200 in the first direction Z and / or the second direction Y. Optionally, both the first detection element 82 and the second detection element 83 can be movably connected to the detection bracket 81. Specifically, the first detection element 82 can move relative to the detection bracket 81 in the first direction Z and / or the second direction Y, and / or the second detection element 83 can move relative to the detection bracket 81 in the first direction Z and / or the second direction Y, so that the first detection element 82 and the second detection element 83 can adjust their positions according to the positions of the components in the cavity 52, so as to accurately monitor the working conditions in the cavity 52.

[0263] By setting the first detection element 82 and the second detection element 83, the working condition inside the cavity 52 can be monitored from multiple different directions. On the one hand, spatial positioning can be achieved, and on the other hand, the cavity 52 can be monitored more comprehensively.

[0264] Please refer to Figures 10 to 13. The powder scooping device 1000 also includes a loading and unloading robot 90, which is used to pick up and place the source container 3000 and the target container 2000 on the powder weighing assembly 100.

[0265] Optionally, the specific structure of the loading / unloading robot 90 is not limited. Specifically, before the loading / unloading robot 90 picks up and places the source container 3000 and the target container 2000 on the powder weighing assembly 100, the aforementioned box cover 51 and pressing tube mechanism 40 are both in the open state. The powder weighing assembly 100 is exposed to the outside through the opening of the cavity 52 of the box body 50. The loading / unloading robot 90 grabs the source container 3000 or the target container 2000 into the cavity 52 and places the target container 2000 on the first placement structure 21, or places the source container 3000 on the second placement structure 22.

[0266] By setting up a loading / unloading robot 90, which is used to pick up and place the source container 3000 and the target container 2000 on the powder weighing component 100, the loading and unloading processes of both the source container 3000 and the target container 2000 can be automated, eliminating the need for manual labor, reducing labor costs, and improving work efficiency. Furthermore, the loading / unloading robot 90, in conjunction with the aforementioned powder scooping robot 300 and the powder weighing component 100, can operate in a dust-free and relatively enclosed space, without the need for frequent opening of the box cover 51. This provides a stable working environment for the powder dispensing process, ensuring both the accuracy and speed of the powder dispensing process, and reducing the frequency of human contact with the powder scooping device 1000, thus minimizing interference with the device.

[0267] Please refer to Figures 10 to 13. The loading and unloading robot 90 includes a loading and unloading robot arm 91 and a gripper 92. The gripper 92 is disposed on the loading and unloading robot arm 91. The loading and unloading robot arm 91 is used to drive the gripper 92 to move. The gripper 92 includes multiple fingers 921. The multiple fingers 921 can move closer to each other or further away from each other.

[0268] Optionally, a loading / unloading robotic arm 91 is mounted on a base 200. Optionally, multiple fingers 921 are spaced apart in a circumferential direction, and the multiple fingers 921 can move closer to or further away from each other to clamp or loosen the open container 3000 and the target container 2000.

[0269] Optionally, the loading / unloading robotic arm 91 is used to move the gripper 92 to change the distance between the gripper 92 and the aforementioned container seat 20. Furthermore, the gripper 92 can rotate relative to the loading / unloading robotic arm 91 to adjust its angle. When the placement angles of the source container 3000 and the target container 2000 are different, it is necessary to change the angle of the gripper 92 relative to the container seat 20 to correctly place the source container 3000 and the target container 2000. Optionally, the specific structure of the loading / unloading robotic arm 91 and the gripper 92 are not limited.

[0270] Optionally, the number of fingers 921 can be 2, 3, or 4, etc., without limitation. The specific structure of the fingers 921 is not limited; they can be rod-shaped, block-shaped, plate-shaped, etc. Optionally, the minimum radial distance between the multiple fingers 921 should be less than the minimum equivalent diameter of the source container 3000 and the target container 2000, so that the multiple fingers 921 can provide sufficient pressure and friction to the source container 3000 and the target container 2000 when gripping them. Optionally, the portion of the gripper 92 used to contact the source container 3000 and the target container 2000 is provided with an elastic pad (not shown) with a high coefficient of friction and a certain degree of resilience; it can be made of materials such as rubber and silicone, without limitation.

[0271] By setting up the above-mentioned loading and unloading robot 90, the source container 3000 and the target container 2000 can be gripped or released by the gripper 92, and moved in conjunction with the loading and unloading robot arm 91, thereby improving the applicability of the loading and unloading robot 90 and enabling it to be used with powder weighing components 100 in various different arrangements.

[0272] Please refer to Figures 11 and 13. The gripper 92 also includes a gripper fixed seat 922, a gripper movable seat 923, a gripper transmission rod 924, and multiple gripper transmission structures 925. The gripper fixed seat 922 is connected to the loading / unloading robotic arm 91. The gripper transmission rod 924 is movably connected to the gripper fixed seat 922. The gripper movable seat 923 is connected to the gripper transmission rod 924. Multiple gripper transmission structures 925 are spaced apart circumferentially along the gripper transmission rod 924 and are movably connected to the gripper fixed seat 922 and the gripper movable seat 923, respectively. Each gripper transmission structure 925 is connected to a corresponding finger 921. The gripper transmission rod 924 is used to drive the gripper movable seat 923 to move axially along the gripper transmission rod 924, thereby driving the multiple gripper transmission structures 925 to move. The multiple gripper transmission structures 925 are used to drive the multiple fingers 921 to move radially along the gripper transmission rod 924.

[0273] The gripper transmission structure 925 includes a first gripper transmission component 926 and a second gripper transmission component 927. One end of the first gripper transmission component 926 is rotatably connected to the gripper fixing seat 922, and the other end is rotatably connected to one end of the second gripper transmission component 927. The other end of the second gripper transmission component 927 is connected to the finger 921, and the second gripper transmission component 927 is also rotatably connected to the gripper movable seat 923.

[0274] When the gripper drive rod 924 drives the gripper movable seat 923 to approach the gripper fixed seat 922, the gripper movable seat 923 drives multiple second gripper drive components 927 to move outward radially in the gripper drive rod 924. Multiple first gripper drive components 926, driven by the multiple second gripper drive components 927, also rotate outward radially in the gripper drive rod 924, causing the multiple fingers 921 to move away from each other, thus opening the gripper 92. At this time, the gripper 92 is used to release or prepare to grasp the source container 3000 and the target container 2000.

[0275] When the gripper drive rod 924 drives the gripper movable seat 923 away from the gripper fixed seat 922, the gripper movable seat 923 drives multiple second gripper drive components 927 to move inward radially inward in the gripper drive rod 924. Multiple first gripper drive components 926, driven by the multiple second gripper drive components 927, also rotate inward radially in the gripper drive rod 924, causing the multiple fingers 921 to move closer together, thus causing the gripper 92 to retract. At this time, the gripper 92 is used to grasp the source container 3000 and the target container 2000.

[0276] Optionally, the gripper 92 also includes an elastic element 928, which is disposed between and connects the gripper fixed seat 922 and the gripper movable seat 923. During the process of the gripper fixed seat 922 and the gripper movable seat 923 moving away from and towards each other, the elastic element 928 undergoes elastic deformation to provide additional tensile or thrust force to the gripper movable seat 923.

[0277] The specific structure of the gripper transmission structure 925 is not limited, and the following specific embodiments are provided for reference.

[0278] In one specific embodiment, please refer to Figure 11. The first gripper transmission component 926 and the second gripper transmission component 927 are both connecting rods. The second gripper transmission component 927 includes a first rod 9271 and a second rod 9272. The first rod 9271 and the second rod 9272 are connected and have an included angle. The angle of the included angle is not limited. For example, the included angle between the first rod 9271 and the second rod 9272 can be 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc.

[0279] Optionally, the first rod 9271 and the second rod 9272 are perpendicular, the extension direction of the first rod 9271 is parallel to the axis of the gripper drive rod 924, and the second rod 9272 extends radially along the gripper drive rod 924.

[0280] The end of the first rod 9271 away from the second rod 9272 is rotatably connected to the first gripper transmission component 926. The end of the second rod 9272 away from the first rod 9271 is connected to the finger 921. The gripper movable seat 923 is slidably connected to the second rod 9272. The second rod 9272 can translate radially relative to the gripper movable seat 923.

[0281] Optionally, the second lever 9272 and the gripper movable seat 923 can move relative to each other via a slide rail slider, slide rail pulley, or slide rod sleeve, without limitation. Optionally, the first gripper transmission component 926 can extend in a straight line or in a curved direction, without limitation.

[0282] When the gripper drive rod 924 drives the gripper movable seat 923 closer to the gripper fixed seat 922, the second rod 9272 translates outward relative to the gripper movable seat 923 in the radial direction of the gripper drive rod 924 to open the gripper 92. When the gripper drive rod 924 drives the gripper movable seat 923 away from the gripper fixed seat 922, the second rod 9272 translates inward relative to the gripper movable seat 923 in the radial direction of the gripper drive rod 924 to retract the gripper 92.

[0283] In another specific embodiment, please refer to Figure 13. Compared with the embodiment shown in Figure 11, the embodiment shown in Figure 13 is different in that the movable jaw seat 923 is rotatably connected to the first rod 9271 and the second rod 9272 near the junction, and a third jaw transmission member 929 and a fourth jaw transmission member 920 are also provided. One end of the third jaw transmission member 929 is rotatably connected to the movable jaw seat 923, and the other end is rotatably connected to the fourth jaw transmission member 920. The fourth jaw transmission member 920 is also rotatably connected to the second jaw transmission member 927. The finger 921 is fixedly connected to the fourth jaw transmission member 920. The second jaw transmission member 927, the third jaw transmission member 929, the fourth jaw transmission member 920 and the movable jaw seat 923 form a parallelogram structure so that the finger 921 always extends along the axial direction of the jaw transmission rod 924.

[0284] Optionally, the fourth gripper drive 920 can be configured as the third rod of the second gripper drive 927. In the embodiment shown in FIG13, the third rod is rotatably connected to the second rod 9272, while in the embodiment shown in FIG11, the third rod is fixedly connected to the second rod 9272.

[0285] When the gripper drive rod 924 drives the gripper movable seat 923 closer to the gripper fixed seat 922, the second rod 9272 rotates outward relative to the gripper movable seat 923 in the radial direction of the gripper drive rod 924 to open the gripper 92. When the gripper drive rod 924 drives the gripper movable seat 923 away from the gripper fixed seat 922, the second rod 9272 rotates inward relative to the gripper movable seat 923 in the radial direction of the gripper drive rod 924 to retract the gripper 92.

[0286] By setting the gripper 92 as described above, the distance between the gripper movable seat 923 and the gripper fixed seat 922 can be adjusted by the gripper transmission rod 924 to change the space between multiple fingers 921, thereby realizing the gripping and releasing functions. There is no need to set a separate drive for each finger 921, which simplifies the structure of the gripper 92.

[0287] In one embodiment, referring to Figures 18 to 20, the gripper drive rod 924 is a spline shaft, and the gripper 92 further includes a first spline nut 941 and a second spline nut 942. The first spline nut 941 and the second spline nut 942 are spaced apart along the axial direction of the gripper drive rod 924, and are both sleeved on the gripper drive rod 924 and are movably connected to the gripper drive rod 924 (such as sliding connection and / or rotational connection). The first spline nut 941 is connected and fixed to the gripper fixed seat 922, and the second spline nut 942 is connected and fixed to the gripper movable seat 923.

[0288] The spline shaft, the first spline nut 941, and the second spline nut 942 together form a ball spline. A ball spline is a high-precision, directional linear transmission component in which steel balls inside the spline nut roll back and forth in the groove of the spline shaft, providing smooth and unrestricted linear motion.

[0289] Optionally, the gripper fixing seat 922 can be connected and fixed to the side circumferential surface of the first spline nut 941 and / or the surface of the first spline nut 941 opposite to each other on the axis of the spline shaft; no specific limitation is imposed. The connection method between the gripper fixing seat 922 and the first spline nut 941 can be welding, bonding, snap-fitting, screwing, riveting, etc.; no specific limitation is imposed.

[0290] Similarly, the connection method between the second spline nut 942 and the jaw movable seat 923 can be referred to the connection method between the first spline nut 941 and the jaw fixed seat 922 mentioned above, and will not be repeated here.

[0291] By setting the gripper transmission rod 924 as a spline shaft, the gripper fixed seat 922 and the gripper movable seat 923 are movably connected to the spline shaft through spline nuts, respectively. The transmission efficiency between the spline shaft and the spline nut is high and the transmission accuracy is good, which can reduce the friction and movement deviation between the gripper fixed seat 922 and the gripper movable seat 923 and the gripper transmission rod 924.

[0292] In one embodiment, as shown in FIG19, the first spline nut 941 and the second spline nut 942 are both slidably connected to the gripper transmission rod 924 along the axial direction of the gripper transmission rod 924. The gripper 92 also includes a gripper drive member 931, which is connected to the gripper fixing seat 922 and connected to one end of the gripper transmission rod 924. The gripper drive member 931 is used to drive the gripper transmission rod 924 to move along its own axial direction.

[0293] The first spline nut 941 and the second spline nut 942 are slidably connected to the gripper transmission rod 924 in the following way: a groove is provided on the outer periphery of the spline shaft along its own axial direction, and the first spline nut 941 and the second spline nut 942 are both connected to the groove and can move along the groove, so that the two spline nuts can move relative to the gripper transmission rod 924 along the axial direction of the gripper transmission rod 924.

[0294] Optionally, the gripper drive 931 can be a motor, with its output end being the drive shaft of the motor (such as a telescopic rod). The drive shaft of the motor is connected to one end of the gripper transmission rod 924 and moves linearly, enabling the gripper transmission rod 924 to move linearly. Alternatively, the gripper drive 931 can be a hydraulic cylinder or a pneumatic cylinder, with its output end being the piston rod of the hydraulic cylinder or pneumatic cylinder. The piston rod of the gripper drive 931 can perform linear telescopic motion, causing the gripper transmission rod 924 to move linearly, without any limitation.

[0295] With this configuration, the gripper drive unit 931 drives the gripper transmission rod 924 to move along its own axial direction. When the gripper drive unit 931 moves the gripper transmission rod 924 upward (from the gripper movable seat 923 towards the gripper fixed seat 922), the gripper transmission rod 924 moves the second spline nut 942 toward the first spline nut 941, thereby moving the gripper movable seat 923 toward the gripper fixed seat 922, causing the fingers 921 to open. When the gripper drive unit 931 moves the gripper transmission rod 924 downward (from the gripper fixed seat 922 towards the gripper movable seat 923), the gripper transmission rod 924 moves the second spline nut 942 away from the first spline nut 941, thereby moving the gripper movable seat 923 away from the gripper fixed seat 922, causing the fingers 921 to tighten.

[0296] In one embodiment, as shown in Figures 18 and 19, the gripper drive rod 924 is also capable of rotating about its own axis relative to the gripper drive member 931. The gripper drive member 931 is a motor, and the gripper drive rod 924 is rotatably connected to the output end of the gripper drive member 931 via a transition bearing 943.

[0297] Optionally, the adapter bearing 943 includes a relatively movable inner ring and an outer ring. The inner ring of the adapter bearing 943 is sleeved on one end of the gripper drive rod 924 and is fixedly connected to the gripper drive rod 924. The outer ring of the adapter bearing 943 is fixedly connected to the output end of the gripper drive member 931. This allows the gripper drive rod 924 to rotate relative to the gripper drive member 931 around its own axis. Alternatively, the gripper drive rod 924 can be fixedly connected to the outer ring of the adapter bearing 943, and the gripper drive member 931 can be fixedly connected to the inner ring of the adapter bearing 943; there are no limitations.

[0298] Optionally, the output end of the gripper drive 931 is provided with an adapter 944, and the outer ring of the adapter bearing 943 is connected and fixed to the output end of the gripper drive 931 through the adapter 944. The specific shape of the adapter 944 is not limited, as long as it can be adapted to the output end of the gripper drive 931 and the outer ring of the adapter bearing 943.

[0299] By setting the gripper transmission rod 924 to rotate relative to the gripper drive member 931 around its own axis, the gripper transmission rod 924 can drive the spline nut connected to it to rotate or be driven by the spline nut connected to it to rotate, thereby driving multiple fingers 921 to rotate, which can adjust the position of the fingers 921 of the gripper 92 to facilitate the gripping of different objects.

[0300] In one embodiment, as shown in Figures 18 and 19, the gripper 92 further includes a locking member 945, a limiting member 946, and an elastic member 928. The locking member 945 is disposed at the end of the gripper transmission rod 924 and is located on the side of the gripper movable seat 923 facing away from the gripper fixed seat 922. The limiting member 946 is disposed on the gripper transmission rod 924 and is located between the first spline nut 941 and the second spline nut 942. One end of the elastic member 928 elastically abuts against the limiting member 946, and the other end elastically abuts against the gripper movable seat 923.

[0301] The locking element 945 is fixedly connected to the end of the gripper transmission rod 924 and is used to move the gripper movable seat 923 upward when the gripper drive element 931 drives the gripper transmission rod 924 upward (from the gripper movable seat 923 to the gripper fixed seat 922). The locking element 945 can be ring-shaped, block-shaped, etc., and there is no specific limitation.

[0302] Optionally, the limiting member 946 is connected and fixed to the gripper transmission rod 924, and the connection method is not limited. The limiting member 946 is used to work together with the elastic member 928 to drive the gripper movable seat 923 downward when the gripper drive member 931 drives the gripper transmission rod 924 downward (from the gripper fixed seat 922 to the gripper movable seat 923). The limiting member 946 can be annular, or it can be a plurality of protrusions evenly arranged along the circumference of the gripper transmission rod 924, and the specific design is not limited.

[0303] Optionally, an elastic element 928 is wound around the gripper drive rod 924. One end of the elastic element 928 abuts against the limiting element 946, and the other end abuts against the gripper movable seat 923 or the second spline nut 942. The elastic element 928 is preferably a compression spring or a rubber sleeve. The elastic deformation of the elastic element 928 provides a buffering force to the gripper movable seat 923 and provides preload through the elastic element 928. The engagement of the elastic element 928 and the limiting element 946 is similar to the engagement of the elastic element 928 and the stepped structure on the gripper transmission rod 924. As the gripper transmission rod 924 drives the gripper movable seat 923 to move closer to the gripper fixed seat 922, the locking element 945 abuts against the movement of the gripper movable seat 923, and the finger 921 gradually opens. At this time, the elastic element 928 returns to its initial deformation and remains unchanged. As the gripper transmission rod 924 drives the gripper movable seat 923 away from the gripper fixed seat 922, the limiting element 946 and the elastic element 928 work together to press the gripper movable seat 923 to move, and the finger 921 gradually tightens. To ensure the clamping force of the finger 921, the gripper transmission rod 924 will continue to move under the action of the gripper drive element 931. At this time, the elastic element 928 is further compressed under the action of the limiting element 946.

[0304] By setting the locking element 945, the limiting element 946 and the elastic element 928, the relative movement of the gripper movable seat 923 relative to the gripper fixed seat 922 is realized, thereby realizing the opening and closing of the finger 921.

[0305] In one embodiment, as shown in Figures 18 and 19, the gripper 92 further includes a rotating mechanism 95, which is connected to the gripper fixing seat 922 and can drive the gripper fixing seat 922 to rotate axially around the gripper transmission rod 924.

[0306] The rotating mechanism 95 can be directly connected to the gripper fixing seat 922 or indirectly connected to the gripper fixing seat 922, without limitation.

[0307] By setting a rotating mechanism 95, the gripper fixing seat 922 can rotate around the axis of the gripper transmission rod 924, thereby driving the fingers 921 of the gripper 92 to rotate. The gripping position of the gripper 92 relative to the object to be gripped can be adjusted, which can improve the applicability of the gripper 92, such as opening and closing covers.

[0308] In one embodiment, as shown in Figures 18 and 19, the first spline nut 941 and the second spline nut 942 are both fixed relative to the gripper drive rod 924 in the circumferential direction. The rotating mechanism 95 includes a rotating drive member 951, a first rotating gear 952, and a second rotating gear 953. The rotating drive member 951 is connected to the first rotating gear 952, and the second rotating gear 953 is connected to the gripper fixing seat 922. The first rotating gear 952 and the second rotating gear 953 mesh. The rotating drive member 951 drives the first rotating gear 952 to rotate and drives the second rotating gear 953 to rotate, thereby driving the gripper fixing seat 922 and the gripper drive rod 924 to rotate synchronously.

[0309] Understandably, both the first spline nut 941 and the second spline nut 942 are fixed relative to the gripper drive rod 924 in the circumferential direction, meaning that the first spline nut 941 and the second spline nut 942 will not rotate relative to the gripper drive rod 924. With this configuration, under the drive of the rotary drive component 951, the first spline nut 941, the gripper fixing seat 922, and the gripper drive rod 924 rotate synchronously, and the gripper fixing seat 922 and the gripper movable seat 923 will not rotate relative to each other, thus preventing the gripper drive structure 925 from twisting during rotation and affecting its use.

[0310] The rotary drive component 951 can be a motor, cylinder, or other similar device, without limitation. Optionally, the first rotary gear 952 is connected and fixed to the output end of the rotary drive component 951, and can rotate following the output end of the rotary drive component 951. Optionally, the second rotary gear 953 is connected and fixed to the gripper fixing seat 922, and the connection method can be welding, bonding, snap-fitting, screwing, riveting, etc., without limitation.

[0311] Optionally, other transmission mechanisms (such as gears, racks, etc.) can be provided between the first rotating gear 952 and the second rotating gear 953, and the two can mesh directly without restriction. Optionally, other transmission structures can also be used to replace the first rotating gear 952 and the second rotating gear 953, such as a combination of a synchronous pulley and a synchronous belt, a worm gear mechanism, etc., without restriction.

[0312] Optionally, the second rotary gear 953 rotates and drives the gripper fixing seat 922 to rotate. The gripper fixing seat 922 drives the gripper transmission rod 924 to rotate through the first spline nut 941. Since the second spline nut 942 also rotates synchronously with the gripper transmission rod 924, the gripper transmission rod 924 also drives the gripper movable seat 923 to rotate through the second spline nut 942, thereby realizing the synchronous rotation of the gripper fixing seat 922, the gripper transmission rod 924 and the gripper movable seat 923.

[0313] By setting the aforementioned rotating mechanism 95 to drive the gripper fixing seat 922 and the gripper transmission rod 924 to rotate synchronously, the transmission method is simple and efficient.

[0314] In one embodiment, as shown in Figures 18 and 19, the gripper 92 further includes a mounting base 947 and a pressure plate 948. The gripper drive member 931 and the rotation drive member 951 are both disposed on the mounting base 947, and the gripper fixing base 922 is rotatably connected to the mounting base 947 through a rotating bearing 954.

[0315] Optionally, the rotating bearing 954 includes an inner ring and an outer ring that can rotate relative to each other. The gripper fixing seat 922 is connected and fixed to the inner ring of the rotating bearing 954, and the mounting seat 947 is connected and fixed to the outer ring of the rotating bearing 954. The relative rotation of the inner ring and the outer ring of the rotating bearing 954 can realize the rotation of the gripper fixing seat 922 relative to the mounting seat 947.

[0316] The pressure plate 948 is disposed on the gripper fixing seat 922 and is used to limit the rotation bearing 954 in the axial direction of the gripper transmission rod 924.

[0317] Optionally, the pressure plate 948 and the gripper fixing seat 922 can be an integral structure or a separate structure, without limitation. In the orthogonal projection along the axial direction of the gripper drive rod 924, at least a portion of the pressure plate 948 overlaps with the rotary bearing 954. This arrangement can limit the rotary bearing 954 in the axial direction of the gripper drive rod 924, preventing the rotary bearing 954 from moving in the axial direction of the gripper drive rod 924.

[0318] Optionally, the gripper 92 may also include a sensor (not shown) and a sensing plate 955. The sensor is mounted on the mounting base 947, and the sensing plate 955 is mounted on the pressure plate 948. When the rotation drive 951 drives the gripper fixing base 922 to rotate, the pressure plate 948 rotates with the gripper fixing base 922 and drives the sensing plate 955 to rotate relative to the sensor.

[0319] Optionally, the sensor and sensing element 955 can adopt any feasible sensing control structure in the art, without specific limitations. Optionally, the sensor can be an optocoupler sensor, and the sensing element 955 can be a metal sheet. When the sensing element 955 rotates into the sensor, it will cause a signal change in the sensor. The sensor and sensing element 955 cooperate with each other to realize functions such as zeroing the rotary drive 951 and counting the number of rotations.

[0320] Please refer to Figures 10 and 12. The loading / unloading robotic arm 91 includes a loading / unloading support arm 911, a loading / unloading adjustment arm 912, and a loading / unloading connecting seat 913. The loading / unloading support arm 911 is used to move in space. The loading / unloading connecting seat 913 is rotatably connected to the end of the loading / unloading support arm 911. The gripper fixing seat 922 is connected to the loading / unloading connecting seat 913. The loading / unloading adjustment arm 912 is rotatably connected to the loading / unloading support arm 911 and is connected to the loading / unloading connecting seat 913. The loading / unloading adjustment arm 912 is used to drive the loading / unloading connecting seat 913 to rotate relative to the loading / unloading support arm 911.

[0321] There are no restrictions on the structure of the loading / unloading support arm 911. The following two specific implementation methods are provided:

[0322] In one specific embodiment, referring to Figure 10, the loading / unloading support arm 911 includes a first loading / unloading drive structure 9111, a second loading / unloading drive structure 9112, a first loading / unloading connecting arm 9113, a second loading / unloading connecting arm 9114, a third loading / unloading connecting arm 9115, and a fourth loading / unloading connecting arm 9116. The first loading / unloading drive structure 9111 and the second loading / unloading drive structure 9112 are both disposed on the base 200. One end of the first loading / unloading connecting arm 9113 is connected to the first loading / unloading drive structure 9111, and the other end is rotatably connected to the second loading / unloading connecting arm 9114. The end of the loading / unloading connecting arm 9114 away from the first loading / unloading connecting arm 9113 is rotatably connected to the loading / unloading connecting seat 913. One end of the third loading / unloading connecting arm 9115 is connected to the second loading / unloading drive structure 9112, and the other end is rotatably connected to one end of the fourth loading / unloading connecting arm 9116. The other end of the fourth loading / unloading connecting arm 9116 is rotatably connected to the second loading / unloading connecting arm 9114. The connection position of the fourth loading / unloading connecting arm 9116 and the second loading / unloading connecting arm 9114 is spaced apart from the connection position of the first loading / unloading connecting arm 9113 and the second loading / unloading connecting arm 9114.

[0323] The first loading / unloading drive structure 9111 and the second loading / unloading drive structure 9112 have similar structures. Taking the first loading / unloading drive structure 9111 as an example, it includes a driver and a gearbox. The driver is mounted on the base 200 and connected to the gearbox. The gearbox is connected to the first loading / unloading connecting arm 9113 and can also be rotatably connected to the base 200. Optionally, the first loading / unloading drive structure 9111 includes a first motor, a first gear connected to the first motor, and a second gear meshing with the first gear. The second gear is rotatably connected to the base 200 and connected to the first loading / unloading connecting arm 9113. It is understood that the gearbox can be implemented in other ways, such as using a combination of a synchronous pulley and a synchronous belt to replace the first gear and the second gear; this is not limited here. Alternatively, the gearbox can be omitted, and the driver can be connected to the first loading / unloading connecting arm 9113 via a coupling.

[0324] Driven by the first loading / unloading drive structure 9111, the first loading / unloading connecting arm 9113 can drive the second loading / unloading connecting arm 9114 and the gripper 92 to rotate around the connection position between the first loading / unloading connecting arm 9113 and the first loading / unloading drive structure 9111. Driven by the second loading / unloading drive structure 9112, the third loading / unloading connecting arm 9115 can drive the second loading / unloading connecting arm 9114 and the gripper 92 to rotate around the connection position between the second loading / unloading connecting arm 9114 and the fourth loading / unloading connecting arm 9116 via the fourth loading / unloading connecting arm 9116. Under the combined drive of the first loading / unloading drive structure 9111 and the second loading / unloading drive structure 9112, the gripper 92 can perform various linear or curvilinear movements, without any specific limitations.

[0325] In another specific embodiment, please refer to Figure 12. It is basically the same as the embodiment shown in Figure 10, but the difference is that the first loading and unloading connecting arm 9113 and the second loading and unloading connecting arm 9114 both include two plate-shaped members arranged relatively apart and multiple connecting columns connecting the two plate-shaped members. The plate-shaped members of the first loading and unloading connecting arm 9113 and the second loading and unloading connecting arm 9114 are rotatably connected in a one-to-one correspondence.

[0326] There are no restrictions on the structure of the loading / unloading adjusting arm 912. The following two specific implementation methods are provided:

[0327] In one specific embodiment, referring to Figure 10, the loading / unloading adjustment arm 912 includes a third loading / unloading drive structure 9121, a first adjustment arm 9122, a second adjustment arm 9123, an adjustment plate 9124, and a third adjustment arm 9125. The third loading / unloading drive structure 9121 is disposed on the base 200. One end of the first adjustment arm 9122 is connected to the third loading / unloading drive structure 9121, and the other end of the first adjustment arm 9122 is rotatably connected to one end of the second adjustment arm 9123. The adjustment plate 9124 is rotatably connected to the first loading / unloading connecting arm 9113. The end of the second adjustment arm 9123 away from the first adjustment arm 9122 is rotatably connected to the adjustment plate 9124. The two ends of the third adjustment arm 9125 are rotatably connected to the adjustment plate 9124 and the loading / unloading connecting arm 913, respectively. The three positions where the adjustment plate 9124 is rotatably connected to the first loading / unloading connecting arm 9113, the second adjustment arm 9123, and the third adjustment arm 9125 form a triangle.

[0328] The third loading / unloading drive structure 9121 may include a driver and a coupling. The driver can be connected to the first adjusting arm 9122 via the coupling. Alternatively, the third loading / unloading drive structure 9121 may include a driver and a gear set. The driver can be connected to the first adjusting arm 9122 via the gear set. Alternatively, a combination of a synchronous pulley and a synchronous belt can be used instead of the aforementioned gear set. All of the above methods are acceptable and no specific limitation is imposed.

[0329] The first adjusting arm 9122 and the second adjusting arm 9123 can be rotatably connected by means of snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc. The connection position of the adjusting plate 9124 with the first loading / unloading connecting arm 9113, the second adjusting arm 9123 and the third adjusting arm 9125 forms a triangle. This triangle can be an equilateral triangle or an isosceles triangle, or a triangle with three unequal interior angles, without restriction.

[0330] Driven by the third loading / unloading drive structure 9121, the first adjusting arm 9122 rotates, and through the second adjusting arm 9123, the adjusting plate 9124 rotates around the connection position between the first loading / unloading connecting arm 9113 and the adjusting plate 9124. Since the connection positions between the adjusting plate 9124 and the first loading / unloading connecting arm 9113, the second adjusting arm 9123 and the third adjusting arm 9125 are relatively fixed, the third adjusting arm 9125 will move with the rotation of the adjusting plate 9124, thereby driving the loading / unloading connecting seat 913 to rotate relative to the first loading / unloading connecting arm 9113.

[0331] In another specific embodiment, please refer to Figure 12. It is basically the same as the embodiment shown in Figure 10, but the difference is that in the embodiment shown in Figure 10, the first adjusting arm 9122, the second adjusting arm 9123, the adjusting plate 9124 and the third adjusting arm 9125 are all located outside the first loading and unloading connecting arm 9113 and the second loading and unloading connecting arm 9114, while in the embodiment shown in Figure 12, the first adjusting arm 9122, the second adjusting arm 9123, the adjusting plate 9124 and the third adjusting arm 9125 are all disposed between the two plate-shaped parts of the first loading and unloading connecting arm 9113 and the second loading and unloading connecting arm 9114.

[0332] By setting up the aforementioned loading and unloading robotic arm 91, the distance and position between the gripper 92 and the container seat 20 can be adjusted, and the angle between the gripper 92 and the container seat 20 can also be adjusted, so that the gripper 92 can be adjusted according to the position of the target object, increasing the degree of freedom of movement of the gripper 92 and making the gripper 92 more flexible.

[0333] In another embodiment, as shown in FIG20, it is basically the same as the embodiment shown in FIG10. The loading and unloading support arm 911 also includes a first loading and unloading connecting arm 9113, a second loading and unloading connecting arm 9114, a third loading and unloading connecting arm 9115, a fourth loading and unloading connecting arm 9116, a first loading and unloading drive structure 9111, a second loading and unloading drive structure 9112, and a loading and unloading adjustment arm 912. The main difference is in the structure of the loading and unloading adjustment arm 912.

[0334] The loading / unloading robot 90 also includes a base 96. One end of the loading / unloading adjusting arm 912 is fixedly connected to the base 96, and the other end is rotatably connected to the loading / unloading connecting seat 913. The loading / unloading adjusting arm 912 includes a first adjusting arm 9122, a second adjusting arm 9123, an adjusting plate 9124, and a third adjusting arm 9125. One end of the first adjusting arm 9122 is fixedly connected to the base 96, and the other end of the first adjusting arm 9122 is rotatably connected to one end of the second adjusting arm 9123. The adjusting plate 9124 is rotatably connected to the first loading / unloading connecting arm 9113. The end of the second adjusting arm 9123 away from the first adjusting arm 9122 is rotatably connected to the adjusting plate 9124. The two ends of the third adjusting arm 9125 are rotatably connected to the adjusting plate 9124 and the loading / unloading connecting seat 913, respectively. The three positions where the adjusting plate 9124 is rotatably connected to the first loading / unloading connecting arm 9113, the second adjusting arm 9123, and the third adjusting arm 9125 form a triangle.

[0335] The connection methods between each adjusting arm and between each adjusting arm and the adjusting plate 9124 are the same as described above and will not be repeated here.

[0336] With this configuration, the first loading / unloading drive structure 9111 drives the first loading / unloading connecting arm 9113 to rotate the second loading / unloading connecting arm 9114, and the second loading / unloading drive structure 9112 drives the second loading / unloading connecting arm 9114 to rotate around the connection position between the second loading / unloading connecting arm 9114 and the fourth loading / unloading connecting arm 9116. This allows relative rotation between the adjusting arms of the loading / unloading adjusting arm 912 when the position of the gripper 92 relative to the base 96 changes. This enhances the structural stability of the loading / unloading robotic arm 91 and simplifies the driving method of the structure.

[0337] In one embodiment, as shown in FIG20, the first loading / unloading connecting arm 9113 is rotatably connected to the adjusting plate 9124 to rotate around the first rotation axis L1, the third adjusting arm 9125 is rotatably connected to the adjusting plate 9124 to rotate around the second rotation axis L2, the second loading / unloading connecting arm 9114 is rotatably connected to the loading / unloading connecting seat 913 to rotate around the third rotation axis L3, and the third adjusting arm 9125 is rotatably connected to the loading / unloading connecting seat 913 to rotate around the fourth rotation axis L4; the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4 are all parallel to each other, and the distance between the first rotation axis L1 and the second rotation axis L2 is equal to the distance between the third rotation axis L3 and the fourth rotation axis L4, and the distance between the first rotation axis L1 and the third rotation axis L3 is equal to the distance between the second rotation axis L2 and the fourth rotation axis L4.

[0338] Understandably, the first rotation axis L1 passes through the connection point between the first loading / unloading connecting arm 9113 and the adjusting plate 9124, so that both the adjusting plate 9124 and the first loading / unloading connecting arm 9113 can rotate around the first rotation axis L1. The rotation axes between each adjusting arm, each connecting arm, and the adjusting plate 9124 are similar to the first rotation axis L1, and are for reference only, without further explanation. Optionally, the adjusting arms, each connecting arm, and the adjusting plate 9124 can be rotatably connected by hinges, bushings, shafts, screws, nuts, etc., without any specific limitations.

[0339] Optionally, the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4, as well as the fifth to ninth rotation axes L9 (described later), are all parallel to each other. Optionally, when the loading / unloading robot 90 is placed on a horizontal plane, the first to ninth rotation axes L1 are all parallel to the horizontal plane.

[0340] Understandably, the distance between the first rotation axis L1 and the second rotation axis L2 is equal to the distance between the third rotation axis L3 and the fourth rotation axis L4, and the distance between the first rotation axis L1 and the third rotation axis L3 is equal to the distance between the second rotation axis L2 and the fourth rotation axis L4. With this arrangement, the projections of the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4, when projected along the extension direction, are sequentially connected and form a parallelogram. Specifically, in the orthographic projection along the extension direction, the first rotation axis L1 and the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4 form one set of equal sides, and the first rotation axis L1 and the third rotation axis L3, the second rotation axis L2, and the fourth rotation axis L4 form another set of equal sides, with opposite sides in both sets being equal.

[0341] With this configuration, the first loading / unloading drive structure 9111 drives the first loading / unloading connecting arm 9113 to rotate the second loading / unloading connecting arm 9114, and the second loading / unloading drive structure 9112 drives the second loading / unloading connecting arm 9114 to rotate around the connection position between the second loading / unloading connecting arm 9114 and the fourth loading / unloading connecting arm 9116. This ensures that when the position of the gripper 92 relative to the base 96 changes, the projections of the rotation axes between the second loading / unloading connecting arm 9114, the third adjusting arm 9125, the loading / unloading connecting seat 913, and the adjusting plate 9124 always form a parallelogram, working together to ensure the stability of the gripper 92's movement in space.

[0342] And / or, the first adjusting arm 9122 is rotatably connected to the second adjusting arm 9123 to rotate about the fifth rotation axis L5, the first loading / unloading drive structure 9111 drives the first loading / unloading connecting arm 9113 to rotate about the sixth rotation axis L6, and the second adjusting arm 9123 is rotatably connected to the adjusting plate 9124 to rotate about the seventh rotation axis L7; the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6 and the seventh rotation axis L7 are all parallel to each other, and the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the fifth rotation axis L5 and the seventh rotation axis L7, and the distance between the first rotation axis L1 and the seventh rotation axis L7 is equal to the distance between the fifth rotation axis L5 and the sixth rotation axis L6.

[0343] Similarly, the projections of the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6, and the seventh rotation axis L7 along their extension directions are connected sequentially to form a parallelogram. The specific method can be referred to the aforementioned first rotation axis L1, second rotation axis L2, third rotation axis L3, and fourth rotation axis L4, and will not be repeated here.

[0344] Optionally, when using the loading / unloading robotic arm 91 in the embodiments of Figures 10 and 12, the first adjusting arm 9122 can rotate under the drive of the third loading / unloading drive structure 9121, and its rotation axis coincides with the sixth rotation axis L6. At this time, the parallelogram structure formed by the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6, and the seventh rotation axis L7 in their orthogonal projection along their extension direction can work together to drive the loading / unloading connecting seat 913 to rotate relative to the second loading / unloading connecting arm 9114, which can adjust the gripping direction of the gripper 92 so that the gripper 92 can perform pitching motion and prevent the gripper 92 from moving erratically when adjusting the direction.

[0345] When the loading / unloading robotic arm 91 in the embodiment of Figure 20 is used, since one end of the first adjusting arm 9122 is fixed relative to the base 96, one side of the parallelogram structure formed by the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6, and the seventh rotation axis L7 in the orthographic projection along their extension direction is relatively fixed (i.e., the line connecting the fifth rotation axis L5 and the sixth rotation axis L6). When the first loading / unloading drive structure 9111 drives the first loading / unloading connecting arm 9113 to drive the second loading / unloading connecting arm 9114 to rotate, and the second loading / unloading drive structure 9112 drives the second loading / unloading connecting arm 9114 to rotate around the connection position between the second loading / unloading connecting arm 9114 and the fourth loading / unloading connecting arm 9116, the line connecting the fifth rotation axis L5 and the sixth rotation axis L6 and the line connecting the fifth rotation axis L5 and the seventh rotation axis L7 can rotate relative to each other in the orthographic projection along the extension direction. This ensures that the loading / unloading robotic arm 91 can rotate smoothly, avoids jamming, enhances the structural stability of the loading / unloading robotic arm 91, and simplifies the driving method of the structure.

[0346] And / or, the output shaft of the second loading / unloading drive structure 9112 coincides with the output shaft of the first loading / unloading drive structure 9111, the second loading / unloading drive structure 9112 drives the third loading / unloading connecting arm 9115 to rotate around the sixth rotation axis L6, the rotation axis of the first loading / unloading connecting arm 9113 and the second loading / unloading connecting arm 9114 rotatably connected coincides with the first rotation axis L1, the third loading / unloading connecting arm 9115 and the fourth loading / unloading connecting arm 9116 rotatably connected to rotate around the eighth rotation axis L8, the fourth loading / unloading connecting arm 9116 and the second loading / unloading connecting arm 9114 rotatably connected to rotate around the ninth rotation axis L9; the first rotation axis L1, the sixth rotation axis L6, the eighth rotation axis L8 and the ninth rotation axis L9 are all parallel to each other, and the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the eighth rotation axis L8 and the ninth rotation axis L9, and the distance between the first rotation axis L1 and the ninth rotation axis L9 is equal to the distance between the sixth rotation axis L6 and the eighth rotation axis L8.

[0347] Optionally, the sixth rotation axis L6 passes through the connection position between the first loading / unloading connecting arm 9113 and the first loading / unloading drive structure 9111, and the connection position between the third loading / unloading connecting arm 9115 and the second loading / unloading drive structure 9112. The projections of the first rotation axis L1, the sixth rotation axis L6, the eighth rotation axis L8, and the ninth rotation axis L9 along their extension directions are sequentially connected to form a parallelogram. The specific method is the same as described above for the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4, and will not be repeated here.

[0348] With this configuration, the second loading / unloading drive structure 9112 drives the second loading / unloading connecting arm 9114 to rotate around the connection position between the second loading / unloading connecting arm 9114 and the fourth loading / unloading connecting arm 9116. This ensures that when the position of the gripper 92 relative to the base 96 changes, the parallelogram structure formed by its rotation axis ensures that each connecting arm always works in coordination, thereby ensuring the stability of the gripper 92's movement.

[0349] Optionally, the rotation axes of the loading / unloading support arm 911 and the loading / unloading adjustment arm 912 of the loading / unloading robot 90 can be configured to satisfy any combination of one or more of the above three parallelogram structures. In a specific embodiment, as shown in Figure 20, the first rotation axis L1 to the ninth rotation axis L9 are all parallel to each other, and the distance between the first rotation axis L1 and the second rotation axis L2 is equal to the distance between the third rotation axis L3 and the fourth rotation axis L4, the distance between the first rotation axis L1 and the third rotation axis L3 is equal to the distance between the second rotation axis L2 and the fourth rotation axis L4, the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the fifth rotation axis L5 and the seventh rotation axis L7, the distance between the first rotation axis L1 and the seventh rotation axis L7 is equal to the distance between the fifth rotation axis L5 and the sixth rotation axis L6, the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the eighth rotation axis L8 and the ninth rotation axis L9, and the distance between the first rotation axis L1 and the ninth rotation axis L9 is equal to the distance between the sixth rotation axis L6 and the eighth rotation axis L8. Optionally, the different loading and unloading robots 90 in the embodiments of this application all meet the above requirements.

[0350] Please refer to Figures 10 and 12. The loading / unloading robot 90 also includes a gripper drive structure 93, which is connected to the gripper transmission rod 924 to drive the gripper transmission rod 924. Optionally, the gripper drive structure 93 is disposed on the gripper fixing seat 922, or the gripper drive structure 93 is disposed on the loading / unloading robot arm 91.

[0351] Optionally, the gripper drive structure 93 includes a gripper drive component 931 and a transmission mechanism. The gripper drive component 931 can be mounted on the gripper fixing seat 922 or on the loading / unloading robotic arm 91. The gripper drive component 931 is connected to the transmission mechanism, and the transmission mechanism is connected to the gripper transmission rod 924. The gripper drive component 931 drives the gripper transmission rod 924 to move through the transmission mechanism, so that the multiple fingers 921 move closer or further apart from each other.

[0352] Optionally, the gripper drive component 931 can be a motor, specifically a servo motor, stepper motor, etc. The motor can have a built-in reducer, gearbox, or brake, etc., without limitation. The transmission mechanism can be a coupling, lead screw and nut pair, gear and rack pair, worm gear pair, etc., without limitation.

[0353] Optionally, the gripper drive 931 is mounted on the gripper fixing seat 922. The gripper drive 931 is a linear stepper motor, and the transmission mechanism is a lead screw and nut pair. The lead screw of the lead screw and nut pair is connected and fixed to the output shaft of the gripper drive 931, and the nut of the lead screw and nut pair is connected and fixed to the gripper transmission rod 924. The gripper drive 931 drives the lead screw to rotate, so that the nut drives the gripper transmission rod 924 to perform linear motion.

[0354] Optionally, the gripper drive 931 is mounted on the gripper fixing seat 922. The gripper drive 931 is a through-shaft linear stepper motor, and the transmission mechanism is a coupling. One end of the transmission mechanism is connected and fixed to the lead screw of the gripper drive 931, and the other end is connected and fixed to the gripper transmission rod 924. The lead screw of the gripper drive 931 moves linearly to drive the gripper transmission rod 924 to move.

[0355] Optionally, the gripper drive unit 931 is mounted on the loading / unloading robotic arm 91. The gripper drive unit 931 is a motor, and the transmission mechanism is a belt drive mechanism 932. The belt drive mechanism 932 includes a mating part 9321, a first synchronous pulley, a second synchronous pulley 9322, a third synchronous pulley 9323, a first synchronous belt 9324, and a second synchronous belt 9325. The first synchronous pulley is connected to the gripper drive unit 931, the first synchronous pulley and the second synchronous pulley 9322 are connected via the first synchronous belt 9324, the second synchronous pulley 9322 and the third synchronous pulley 9323 are connected via the second synchronous belt 9325, and the second synchronous pulley 9322 is rotatably connected to the first loading / unloading connecting arm 9113. The third synchronous pulley 9323 is mated and connected to the mating part 9321, and the mating part 9321 is drively connected to the gripper drive rod 924.

[0356] The belt drive mechanism 932 can also be any other feasible belt drive mechanism 932, without limitation. The belt drive mechanism 932 transmits power through the friction generated when the first synchronous pulley, the second synchronous pulley 9322, and the third synchronous pulley 9323 are tensioned with the first synchronous belt 9324 and the second synchronous belt 9325. The transmission structure is simple and the operation is smooth.

[0357] Optionally, the mating component 9321 and the gripper transmission rod 924 can mesh with a rack and a gear, converting the rotational motion of the gear into the reciprocating linear motion of the rack, thus driving the gripper transmission rod 924 to move linearly, resulting in high transmission efficiency. For example, the mating component 9321 is a gear, which is fixedly connected to the third synchronous pulley 9323. A rack structure is fixedly connected to the end of the gripper transmission rod 924 away from the gripper movable seat 923, and the gear meshes with the rack. When the third synchronous pulley 9323 is driven to rotate, it drives the gear to rotate, which in turn drives the rack to move, causing the gripper transmission rod 924 to move linearly. Optionally, the mating component 9321 and the gripper transmission rod 924 can also be connected via a worm gear or similar transmission structure; there are no limitations.

[0358] By setting the gripper drive structure 93 to drive the gripper transmission rod 924 to move, the multiple fingers 921 of the gripper 92 can achieve radial movement along the gripper transmission rod 924 through the linear movement of the gripper transmission rod 924. The structure is simple and the transmission efficiency is high.

[0359] In one embodiment, as shown in FIG20, the loading and unloading robot 90 further includes a rotation drive 97 and a rotating disk 98. The base 96 is connected and fixed to the rotating disk 98, and the rotation drive 97 is connected to the rotating disk 98 and can drive the rotating disk 98 to rotate.

[0360] The rotation drive component 97 can be a motor, cylinder, or other similar device, without limitation. Optionally, the rotation drive component 97 can drive the rotating disk 98 to rotate via a transmission mechanism (such as a gear rack or gear set), thereby driving the base 96 and the loading / unloading support arm 911, loading / unloading adjustment arm 912, and gripper 92 connected thereon to rotate synchronously.

[0361] With this configuration, the loading / unloading robot 90 or gripper 92 can grip the target objects around it, expanding the operable range.

[0362] In the above embodiments, the rotational connection between components can be a hinge, pivot, shaft, riveting, etc., without limitation. For example, a rotational connection can be achieved through a shaft, universal joint, or other structure.

[0363] Optionally, the powder scooping device 1000 also includes a lid opening / closing assembly (not shown), which is used to open / close the lids of the source container 3000 and / or the target container 2000 moved by the loading / unloading robot 90. For example, the container is opened before powder transfer and closed after powder transfer. The specific structure of the lid opening / closing assembly is not limited. Exemplarily, the lid opening / closing assembly includes a bottle body clamping mechanism for fixing the bottle body, a bottle cap clamping mechanism for fixing the bottle cap, and a lid opening / closing drive mechanism for driving relative movement between the bottle body clamping mechanism and the bottle cap clamping mechanism.

[0364] There are no restrictions on the opening and closing methods of the source container 3000 and the target container 2000. They can be either rotary or plug-in type.

[0365] By setting up a cover opening and closing assembly, which is used to open and close the cover of the source container 3000 and / or the target container 2000 moved by the loading and unloading robot 90, the cover opening and closing process of the source container 3000 and the target container 2000 can be automated without manual operation, thus improving work efficiency.

[0366] Optionally, the powder scooping device 1000 may also include, but is not limited to, one or more combinations of a liquid addition component, a mixing component, a filtering component, and a testing component. The liquid addition component is used to quantitatively add liquid to the target container 2000 after powder addition; the mixing component is used to perform solid-liquid mixing treatment on the target container 2000 after powder and liquid have been added, and the mixing component may be one or more of a shaker, a temperature-controlled magnetic stirrer, a centrifuge, etc.; the filtering component is used to filter the solution in the target container 2000; and the testing component is used to test the solution, such as visual inspection to obtain the state of the solution, LCMS detection to obtain relevant properties of the solution, rheometer detection to obtain the mechanical properties of the solution, etc.

[0367] Optionally, the loading / unloading robot 90 can be mounted on a ground rail, allowing it to interact with materials between various modules such as the powder weighing component 100, the cover opening / closing component, the liquid adding component, the mixing component, the filtering component, and the inspection component. This increases the working range of the loading / unloading robot 90 and enables a fully automated experimental process.

[0368] This application also provides an experimental apparatus (not shown) including the powder weighing component 100 of any of the foregoing embodiments. This experimental apparatus can be used to perform a wide variety of experiments, not limited to the powder transfer described above.

[0369] This application also provides an experimental device (not shown), including the powder scooping device 1000 of any of the foregoing embodiments. The experimental device can transfer powder through the powder scooping device 1000 to achieve the required experimental operation.

[0370] The aforementioned experimental equipment is characterized by its adjustable nature, automated operation, and strong adaptability.

[0371] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0372] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A powder weighing assembly, characterized by, The device includes a moving mechanism, a container seat, and a weighing device. The moving mechanism is connected to the container seat and / or the weighing device and is used to move the container seat relative to the weighing device so that the container seat and the weighing device come into contact or separate in a first direction. The container seat includes a first placement structure and a second placement structure. The first placement structure is used to place a target container to be filled with powder, and the second placement structure is used to place a source container containing powder. The weighing device is disposed on one side of the container seat in the first direction and is used to contact the container seat and weigh the container seat.

2. The powder weighing assembly of claim 1, wherein, The moving mechanism is connected to the container seat and is used to drive the container seat to move up and down in the first direction; the container seat also includes a seat body, which is connected to the moving mechanism, and the first placement structure and the second placement structure are both disposed on the seat body, and the second placement structure protrudes from the side of the first placement structure away from the weighing device; the first placement structure and the second placement structure are spaced apart in both the first direction and the second direction, and the second direction intersects the first direction.

3. The powder weighing assembly of claim 2, wherein, The first placement structure includes a base, a limiting block, and a connecting rod. The base and the limiting block are spaced apart in the first direction, and the base is located on the side of the limiting block facing the weighing device. The base and / or the limiting block are connected and fixed to the base body. The connecting rod is disposed between the base and the limiting block, with one end connected to the base and the other end connected to the limiting block. The limiting block has a limiting hole for receiving the target container, and the base is used to support the target container.

4. Powder weighing assembly according to claim 2 or 3, characterized in that The second placement structure includes a first support and a second support, which are spaced apart from each other along the second direction on the base. The first support has a first receiving groove at the end away from the base, and the second support has a second receiving groove at the end away from the base. The first receiving groove and the second receiving groove are used to jointly receive the source container.

5. The powder weighing assembly of claim 4, wherein, Along the second direction, the distance between the first support and the first placement structure is less than the distance between the second support and the first placement structure, and along the first direction, the distance between the first receiving slot and the first placement structure is greater than the distance between the second receiving slot and the first placement structure; the opening of the source container is located on the side of the first support facing away from the second support, and the opening of the source container is higher than the opening of the target container.

6. The powder weighing assembly according to any one of claims 1-5, wherein, The powder weighing assembly further includes a tube pressing mechanism, which is used to press the source container against the second placement structure. The tube pressing mechanism includes a tube pressing drive, a tube pressing transmission, and a tube pressing arm. The tube pressing transmission is connected to the tube pressing drive and the tube pressing arm respectively. The tube pressing drive drives the tube pressing arm to move through the tube pressing transmission. One end of the tube pressing arm away from the tube pressing transmission is used to press the source container against the second placement structure.

7. The powder weighing assembly of claim 6, wherein, The crimping arm includes a crimping plate and a crimping head. One end of the crimping plate is connected and fixed to the crimping drive component. The crimping head is located at the end of the crimping plate away from the crimping drive component and facing the second placement structure. The crimping head has a pressing surface, which is used to press against the side wall of the source container so that the crimping head presses against the source container.

8. Powder weighing assembly according to claim 6 or 7, characterized in that The pipe pressing mechanism further includes a first support plate and a second support plate, which are located on opposite sides of the container seat and close to the second placement structure. The pipe pressing transmission component includes a pipe pressing transmission structure and a rotating shaft. The pipe pressing transmission structure is connected to the pipe pressing drive component and the rotating shaft respectively. The pipe pressing drive component is disposed on the first support plate or the second support plate and is used to drive the rotating shaft to rotate through the pipe pressing transmission structure. The rotating shaft is located between the first support plate and the second support plate, and both ends of the rotating shaft are rotatably connected to the first support plate and the second support plate respectively. The pipe pressing arm is fixedly connected to the rotating shaft.

9. The powder weighing assembly of claim 8, wherein, The pressure tube arm is located on the side of the second placement structure facing away from the weighing device; the moving mechanism is located between the first support plate and the second support plate and on the side of the pressure tube arm facing the weighing device.

10. The powder weighing assembly of claim 7, wherein, The powder weighing assembly also includes a housing and a lid. The housing has an open cavity, in which the moving mechanism, the container seat, the weighing device, and the pressing tube mechanism are all housed. The lid is movably connected to the housing to open or close the opening of the cavity.

11. The powder weighing assembly of claim 10, wherein, The lid is rotatably connected to the box body. The pressure tube arm also includes an abutment. The abutment is located on the side of the pressure tube plate facing away from the pressure tube head. The abutment can abut against the lid under the action of the pressure tube plate and drive the lid to rotate, so as to open or close the opening of the cavity.

12. The powder weighing assembly of claim 11, wherein, The abutment includes a roller, which is rotatably connected to the pressure plate. The roller abuts against the box cover, and the roller can rotate relative to the box cover when the box cover rotates.

13. The powder weighing assembly of any of claims 10-12, wherein, The lid has a notch, and when the lid closes the opening of the cavity, the notch corresponds to the source container and the target container.

14. The powder weighing assembly of any one of claims 1-5, wherein, The powder weighing assembly further includes a clamping mechanism for picking up and placing the source container on the second placement structure. The clamping mechanism includes a clamping component, a rotating component, and a first moving component. The rotating component is connected to the clamping component and the first moving component. The first moving component is used to drive the rotating component and the clamping component to move synchronously. The rotating component is used to drive the clamping component to rotate. The clamping component is used to clamp or release the source container.

15. The powder weighing assembly of claim 14, wherein, The first moving component includes a first lifting component, which is connected to the rotating component. The first lifting component is used to drive the rotating component and the clamping component to move up and down synchronously; and / or, the first moving component includes a first translation component, which is connected to the rotating component. The first translation component is used to drive the rotating component and the clamping component to translate synchronously.

16. The powder weighing assembly of claim 14, wherein, The powder weighing assembly also includes a buffer seat for temporarily storing the source container, and the tube clamping mechanism is used to pick up and place the source container on the buffer seat; the buffer seat and the tube clamping mechanism are respectively located on opposite sides of the container seat and are close to the second placement structure.

17. The powder weighing assembly of claim 14, wherein, The powder weighing assembly further includes a powder shaking mechanism, which includes a mounting arm, a powder shaking drive, and a powder shaking element. The powder shaking drive is connected to the mounting arm and the powder shaking element respectively. When the powder shaking element contacts the source container, the powder shaking drive is used to drive the powder shaking element to move so that the source container vibrates.

18. The powder weighing assembly of claim 17, wherein, The powder-vibrating mechanism further includes a second moving component, which is connected to the mounting arm and is used to drive the mounting arm, the powder-vibrating drive component, and the powder-vibrating component to move synchronously.

19. The powder weighing assembly of claim 18, wherein, The second moving component includes a second lifting component, which is connected to the mounting arm and is used to drive the mounting arm, the powder-vibrating drive, and the powder-vibrating component to move synchronously; and / or, the second moving component includes a second translation component, which is connected to the mounting arm and is used to drive the mounting arm, the powder-vibrating drive, and the powder-vibrating component to move synchronously.

20. The powder weighing assembly of claim 17, wherein, The powder-vibrating drive includes at least one of a rotary motor and a vibration motor, and the powder-vibrating component includes at least one of a cam, a beater arm, and a whip.

21. The powder weighing assembly of claim 18, wherein, The powder weighing assembly further includes a box body and a box cover. The box body has an open cavity. The moving mechanism, the container seat, the weighing device, the tube clamping mechanism, and the powder shaking mechanism are all housed in the cavity. The box cover is movably connected to the box body and is connected to the mounting arm. The second moving assembly is used to drive the box cover to move relative to the box body to open or close the opening of the cavity.

22. The powder weighing assembly of claim 21, wherein, The lid has a notch, which corresponds to the source container and the target container when the lid closes the opening of the cavity. The lid includes a first cover surface and a second cover surface connected together. The notch is located on the second cover surface, which protrudes from the first cover surface in the first direction. The box body has a clearance opening, where the portion of the second cover surface protruding from the first cover surface is used to extend into the clearance opening, and the portion of the second cover surface protruding from the first cover surface is recessed into one side of the cavity. When the lid moves relative to the box body, the clearance opening is used to receive the powder scooping rod.

23. The powder weighing assembly of any one of claims 1-22, wherein, The powder weighing assembly also includes an antistatic mechanism, which is located close to the weighing device and is used to eliminate static electricity at the weighing device.

24. A powder scooping device, characterized by Includes a powder-scooping robot and a powder weighing assembly as described in any one of claims 1 to 23, wherein the powder-scooping robot is used to scoop powder from the source container and transfer the powder to the target container.

25. The powder scooping device of claim 24, wherein, The powder-scooping robot includes a powder-scooping robotic arm and a powder-scooping mechanism. The powder-scooping mechanism is disposed on the powder-scooping robotic arm. The powder-scooping robotic arm is used to drive the powder-scooping mechanism to move between the source container and the target container. The powder-scooping mechanism is used to scoop up powder from the source container and pour it into the target container.

26. The powder scooping device according to claim 25, wherein The powder scooping mechanism includes a powder scooping rod, and the powder scooping device further includes a powder scooping component picking and placing mechanism. The powder scooping component picking and placing mechanism includes a base rotation drive, a loading seat, and an unloading seat. The loading seat and the unloading seat are both connected to the base rotation drive. The base rotation drive is used to drive the loading seat and the unloading seat to rotate. The loading seat has a receiving groove for placing the powder scooping rod so that the powder scooping robotic arm can connect to the powder scooping rod. The unloading seat has a locking slot for locking the powder scooping rod to separate the powder scooping rod from the powder scooping robotic arm.

27. The powder scooping device of claim 25, wherein, The powder-scooping robotic arm includes a first support mechanism and a second support mechanism spaced apart. Both the first support mechanism and the second support mechanism are connected to the powder-scooping mechanism. The first support mechanism and / or the second support mechanism can move to adjust the spatial position of the powder-scooping mechanism.

28. The powder scooping device of claim 27, wherein, The powder scooping mechanism includes a first powder scooping drive, a first powder scooping transmission, and a powder scooping rod. One end of the first powder scooping transmission is connected to the first powder scooping drive, and the other end is connected to the powder scooping rod. The first powder scooping drive is used to drive the powder scooping rod to move to scoop or pour powder. The first powder scooping drive is connected to the first support mechanism, and the first powder scooping transmission is connected to the second support mechanism.

29. The powder scooping device of claim 28, wherein, The first powder-scooping transmission component includes 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 to the first powder-scooping drive component, and the other end is connected to the powder-scooping rod. The first powder-scooping drive component is used to drive the guide shaft to rotate, thereby driving the powder-scooping rod to rotate. The end of the powder-scooping rod away from the guide shaft has a scooping spoon. The second support mechanism is connected to the bushing. The guide shaft is also movable relative to the bushing, and the first support mechanism and the second support mechanism can move relatively closer or relatively farther apart.

30. The powder scooping device of claim 27, wherein, The powder scooping mechanism includes a second powder scooping drive, a second powder scooping transmission, a third powder scooping drive, a third powder scooping transmission, and a powder scooping component. The second and third powder scooping transmissions are both connected to the powder scooping component. The first support mechanism is connected to the second powder scooping drive, the second powder scooping drive is connected to the second powder scooping transmission, the second support mechanism is connected to the third powder scooping drive, and the third powder scooping drive is connected to the third powder scooping transmission. The first and second support mechanisms are both movably connected to the powder scooping component. The second and third powder scooping drive are used to drive the powder scooping component to perform any one of the following movements: movement, rotation, or a combination of movement and rotation, via the corresponding powder scooping transmission.

31. The powder scooping device of claim 30, wherein, The powder-scooping component includes a lead screw shaft, a first nut, a second nut, and a powder-scooping rod. A first support mechanism is rotatably connected to the first nut. A second powder-scooping transmission component is connected to the first nut. A third powder-scooping transmission component is connected to the second nut. The lead screw shaft passes through the first nut and the second nut, and both the first nut and the second nut are movably connected to the lead screw shaft. The end of the lead screw shaft away from the second powder-scooping drive component is connected to one end of the powder-scooping rod. The end of the powder-scooping rod away from the lead screw shaft has a scooping spoon. One of the first nut and the second nut is a lead screw nut, and the other is a spline nut. The lead screw shaft has a helical groove extending axially and a straight groove extending axially. The lead screw nut engages with the helical groove, and the spline nut engages with the straight groove. The first nut and / or the second nut rotate relative to the lead screw shaft to drive the lead screw shaft to perform any of the following movements: movement, rotation, or a combination of movement and rotation.

32. Scoop means according to any one of claims 27-31, characterized in that At least one of the first support mechanism and the second support mechanism includes a support structure and a connector. The connector is rotatably connected to one end of the support structure and is connected to the powder scooping mechanism. The support structure includes a first support member, a second support member, a first transmission member, a second transmission member, a first driving member, and a second driving member. The first support member is rotatably connected to the connector and the first transmission member, and the second support member is rotatably connected to the first support member and the second transmission member. The first driving member is connected to the first transmission member and is used to drive the first transmission member to move the first support member. The second driving member is connected to the second transmission member and is used to drive the second transmission member to move the second support member.

33. The powder scooping device of claim 32, wherein, Both the first driving component and the second driving component are rotary motors, both the first support component and the second support component are connecting rods, and the first transmission component includes any one or a combination of connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs. The second transmission component includes any one or a combination of connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs.

34. Scoop means according to any one of claims 27-31, characterized in that At least one of the first support mechanism and the second support mechanism includes a support structure and a connector. The connector is rotatably connected to one end of the support structure and is connected to the powder scooping mechanism. The support structure includes a first support member, a second support member, a third driving member, a third transmission member, and a fourth transmission member. The third transmission member is rotatably connected to the first support member, and the fourth transmission member is rotatably connected to the second support member. The third driving member is connected to the third transmission member and the fourth transmission member respectively and is used to drive the third transmission member and the fourth transmission member to move independently.

35. The powder scooping device according to claim 34, wherein, The third driving component is a linear motor, and the linear motor includes multiple independently movable movers. The third transmission component and the fourth transmission component are respectively connected to different movers.

36. The powder scooping device according to any one of claims 32-35, wherein, The connector includes a first rotating component and a second rotating component. The first rotating component is rotatably connected to the support structure, and the second rotating component is rotatably connected to the first rotating component. The second rotating component is used to connect to the powder scooping mechanism, and the rotation axis of the first rotating component and the rotation axis of the second rotating component intersect.

37. The powder scooping device according to any one of claims 27-36, wherein, The powder scooping device also includes a translation mechanism, which is connected to the first support mechanism and / or the second support mechanism and is used to drive the support mechanism thereon to move.

38. The powder scooping device according to any one of claims 24-37, wherein, The powder weighing assembly includes a box body and a box cover. The box body has an open cavity. The moving mechanism, the container seat, and the weighing device are all housed in the cavity. The box cover is movably connected to the box body to open or close the opening of the cavity. The box cover has a notch. When the box cover closes the opening of the cavity, the notch corresponds to the source container and the target container. The powder scooping robot is positioned near the notch and is used to extend into the cavity through the notch.

39. The powder scooping device according to any one of claims 24-38, wherein, The powder scooping device also includes a vision detection component, which is located close to the powder weighing component and is used to detect the working status of the powder weighing component and / or the powder scooping robot.

40. The powder scooping device according to claim 39, wherein, The visual inspection component includes a first inspection element and a second inspection element. The first inspection element is disposed on a first side of the powder weighing component, and the second inspection element is disposed on a second side of the powder weighing component. The first side and the second side are different sides.

41. The powder scooping device according to any one of claims 24-40, wherein, The powder scooping device also includes a loading and unloading robot, which is used to pick up and place the source container and the target container on the powder weighing assembly.

42. The powder scooping device according to claim 41, wherein, The loading and unloading robot includes a loading and unloading robot arm and a gripper. The gripper is disposed on the loading and unloading robot arm and is used to drive the gripper to move. The gripper includes multiple fingers, which can move closer to or further away from each other.

43. The powder scooping device of claim 42, wherein, The gripper further includes a gripper fixed seat, a gripper movable seat, a gripper transmission rod, and multiple gripper transmission structures. The gripper fixed seat is connected to the loading / unloading robotic arm. The gripper transmission rod is movably connected to the gripper fixed seat. The gripper movable seat is connected to the gripper transmission rod. Multiple gripper transmission structures are spaced apart circumferentially along the gripper transmission rod and are movably connected to the gripper fixed seat and the gripper movable seat, respectively. Each of the multiple gripper transmission structures is connected to a corresponding finger. The gripper transmission rod drives the gripper movable seat to move axially along the gripper transmission rod, thereby driving the multiple gripper transmission structures to move. The multiple gripper transmission structures drive the multiple fingers to move radially along the gripper transmission rod.

44. The powder scooping device of claim 43, wherein, The loading and unloading robotic arm includes a loading and unloading support arm, a loading and unloading adjustment arm, and a loading and unloading connecting seat. The loading and unloading support arm is used to move in space. The loading and unloading connecting seat is rotatably connected to the end of the loading and unloading support arm. The gripper fixing seat is connected to the loading and unloading connecting seat. The loading and unloading adjustment arm is rotatably connected to the loading and unloading support arm and is connected to the loading and unloading connecting seat. The loading and unloading adjustment arm is used to drive the loading and unloading connecting seat to rotate relative to the loading and unloading support arm.

45. The powder scooping device of claim 43 or 44, wherein, The loading / unloading robot also includes a gripper drive structure, which is connected to the gripper transmission rod to drive the gripper transmission rod to move; the gripper drive structure is disposed on the gripper fixing seat, or the gripper drive structure is disposed on the loading / unloading robot arm.

46. The powder scooping device according to any one of claims 41-45, wherein, The powder scooping device also includes a cover opening and closing assembly, which is used to open and close the cover of the source container and / or target container moved by the loading and unloading robot.

47. An experimental apparatus comprising: It includes the powder weighing assembly as described in any one of claims 1 to 23, or the powder scooping device as described in any one of claims 24 to 46.

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