Robotic arm, powder scooping device and experiment apparatus

Abstract

A robotic arm (100), the robotic arm (100) comprising a first support mechanism (10) and a second support mechanism (20). The first support mechanism (10) and the second support mechanism (20) are both configured for connecting to an operating mechanism (30), and at least one of the first support mechanism (10) and the second support mechanism (20) is configured for driving the operating mechanism (30) to move, wherein at least one of the first support mechanism (10) and the second support mechanism (20) comprises a support structure (40) and a joint (50), the joint (50) being rotationally connected to one end of the support structure (40) and the also being connected to the operating mechanism (30). By means of providing the first support mechanism (10) and the second support mechanism (20), the operating mechanism (30) can be driven to move. Moreover, at least one of the first support mechanism (10) and the second support mechanism (20) comprises a support structure (40) and a joint (50), wherein the joint (50) is rotationally connected to the support structure (40) and is connected to the operating mechanism (30), such that the operating mechanism (30) can move to accomplish required operations without manual operation, thereby reducing labor intensity and improving operation accuracy. Compared with universal robotic arms, the robotic arm (100) can be freely adjusted on the basis of required operations, and is adaptable. Further provided are a powder scooping device and an experiment apparatus.

Description

robotic arm, powder scooping device and experimental equipment

[0001] This application claims priority to Chinese Patent Application No. 202411900228.6, filed on December 19, 2024, entitled "Robotic Arm, 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 robotic arm, 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 delicate operations, such as quantitative addition of solid powders, targeted pipetting, and dispensing. Currently, these operations are either performed manually, which is labor-intensive and has low precision, or using general-purpose robotic arms. However, general-purpose robotic arms also have drawbacks such as lack of adjustability and poor adaptability. Summary of the Invention

[0004] The purpose of this application is to provide a robotic arm, a powder scooping device, and experimental equipment to solve the problems of general-purpose robotic arms being unable to be freely adjusted and having poor adaptability.

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

[0006] In a first aspect, this application provides a robotic arm, including a first support mechanism and a second support mechanism, both of which are used to connect to a working mechanism, and at least one of the first support mechanism and the second support mechanism is used to drive the working mechanism to move;

[0007] Wherein, at least one of the first support mechanism and the second support mechanism includes a support structure and a joint, the joint being rotatably connected to one end of the support structure, and the joint being used to connect to the working mechanism.

[0008] In one embodiment, the joint 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 working mechanism, and the rotation axis of the first rotating member and the rotation axis of the second rotating member intersect.

[0009] In one embodiment, the support structure includes a first support member and a second support member, the joint is rotatably connected to one end of the first support member, the second support member is rotatably connected to the first support member, and the first support member and / or the second support member move to drive the joint to move.

[0010] In one embodiment, the support structure further includes a first driving member, a first transmission member, a second driving member, and a second transmission member. The first transmission member is rotatably connected to the first support member, and the second transmission member is rotatably connected to the second support 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.

[0011] In one embodiment, both the first driving member and the second driving member are rotary motors. 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. 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.

[0012] In one embodiment, the rotation axis of the first driving member and the rotation axis of the second driving member are parallel to each other.

[0013] In one embodiment, the first transmission member, the first support member, the second transmission member, and the second support member are all connecting rods;

[0014] The first transmission member is rotatably connected to the end of the first support member away from the joint, the second support member is rotatably connected to the end of the first support member near the joint, and the second transmission member is rotatably connected to the end of the second support member away from the joint.

[0015] or

[0016] The first transmission member is rotatably connected to the middle of the first support member, one end of the second support member is connected to the second transmission member, and the other end is rotatably connected to the end of the first support member away from the joint.

[0017] In one embodiment, the first transmission member and the second transmission member have the same length, and the first support member and the second support member have the same length.

[0018] In one embodiment, both the first transmission member and the second transmission member are lead screw and nut mating pairs. The lead screw of the first transmission member is connected to the first driving member, and the lead screw of the second transmission member is connected to the second driving member. The end of the first support member away from the joint is rotatably connected to the nut of the first transmission member, and the end of the second support member away from the joint is rotatably connected to the nut of the second transmission member.

[0019] In one embodiment, the lead screws of the first transmission member and the second transmission member are arranged in parallel; both the first support member and the second support member are connecting rods, and the first support member and the second support member have the same length.

[0020] In one embodiment, the support structure further includes 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.

[0021] 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.

[0022] In one embodiment, both the third and fourth transmission components include a slider, one side of which is connected to a corresponding mover, and the side of the slider facing away from the mover is rotatably connected to a corresponding support; at least one of the third and fourth transmission components further includes a connecting arm, one end of which is connected to a corresponding slider, and the other end of which is rotatably connected to a corresponding support; both the first and second support components are connecting rods.

[0023] In one embodiment, the robotic arm further includes a base and a moving mechanism. The first support mechanism and the second support mechanism are disposed on the base, and the base is disposed on the moving mechanism, which is used to drive the base to move.

[0024] In one embodiment, the robotic arm further includes a first base, a second base, and a moving mechanism. The first support mechanism is disposed on the first base, the second support mechanism is disposed on the second base, and the first base or the second base is disposed on the moving mechanism, which is used to drive the base thereon to move.

[0025] Secondly, this application also provides a powder scooping device, including a working mechanism and a robotic arm as described in any of the various embodiments of the first aspect, wherein the working mechanism is connected to a first support mechanism and a second support mechanism of the robotic arm and is used to perform powder scooping operations.

[0026] In one embodiment, the working mechanism includes a first powder-scooping drive and a powder-scooping component. The first powder-scooping drive is connected to one end of the powder-scooping component and is used to drive the powder-scooping component to move. A first support mechanism is connected to the first powder-scooping drive, and a second support mechanism is connected to the powder-scooping component. The end of the powder-scooping component away from the first powder-scooping drive has a scooping spoon.

[0027] In one embodiment, the powder-scooping component includes a sliding sleeve and a powder-scooping rod. The sliding sleeve 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 one end of the powder-scooping rod. The first powder-scooping drive component is used to drive the guide shaft to rotate so as to drive the powder-scooping rod to rotate. The end of the powder-scooping rod away from the guide shaft has the scooping spoon. The second support mechanism is connected to the bushing.

[0028] In one embodiment, 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.

[0029] In one embodiment, the powder scooping component further includes an adapter, one end of which is detachably connected to the guide shaft, and the other end of which is detachably connected to the powder scooping rod.

[0030] In one embodiment, both the first support mechanism and the second support mechanism include a support structure and a connector. 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 of the first support mechanism is connected to the first powder-scooping drive member, and the second rotating member of the second support mechanism is connected to the powder-scooping member.

[0031] In one embodiment, the working mechanism includes a second powder-scooping drive component, a first powder-scooping transmission component, a third powder-scooping drive component, a second powder-scooping transmission component, and a powder-scooping component. The first and second powder-scooping transmission components are both connected to the powder-scooping component. A first support mechanism is connected to the second powder-scooping drive component, the second powder-scooping drive component is connected to the first powder-scooping transmission component, the second support mechanism is connected to the third powder-scooping drive component, and the third powder-scooping drive component is connected to the second powder-scooping transmission component. Both the first and second support mechanisms are movably connected to the powder-scooping component. The end of the powder-scooping component away from the second powder-scooping drive component has a scooping spoon. The second and third powder-scooping drive components 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 components.

[0032] 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 first powder-scooping transmission component is connected to the first nut, a second support mechanism is rotatably connected to the second nut, and a second 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 the 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 thread extending along the axial direction and a straight groove extending along the axial direction. The lead screw nut engages with the helical thread, 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.

[0033] In one embodiment, at least one of the first and second powder-scooping transmission components includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt connecting the first and second synchronous pulleys. The first synchronous pulley is connected to a corresponding powder-scooping drive component, and the second synchronous pulley is connected to a corresponding nut; or,

[0034] At least one of the first powder-scooping transmission component and the second powder-scooping transmission component includes a first gear and a second gear that mesh with each other. The first gear is connected to a corresponding powder-scooping drive component, and the second gear is connected to a corresponding nut.

[0035] In one embodiment, both the first support mechanism and the second support mechanism include a support structure and a connector. 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 of the first support mechanism is connected to the second powder-scooping drive member, and is also movably connected to the powder-scooping member. The second rotating member of the second support mechanism is connected to the third powder-scooping drive member, and is also movably connected to the powder-scooping member.

[0036] In one embodiment, the powder scooping device further includes a holding container and a target container, the holding container containing powder, and the robotic arm driving the working mechanism to move so that the working mechanism scoops out the powder from the holding container and transfers it to the target container.

[0037] Thirdly, this application also provides an experimental apparatus, including a robotic arm 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.

[0038] The robotic arm of this application, by setting a first support mechanism and a second support mechanism, can drive the working mechanism to move. At least one of the first support mechanism and the second support mechanism includes a support structure and a joint. The joint is rotatably connected to the support structure and connected to the working mechanism, which enables the working mechanism to move and complete the required operation without manual operation. This reduces labor intensity and improves operation accuracy. Compared with general-purpose robotic arms, it can be freely adjusted according to the required operation and has strong adaptability. Attached Figure Description

[0039] 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.

[0040] Figure 1 is a front view of a powder scooping device according to an embodiment;

[0041] Figure 2 is a perspective view of a powder scooping device according to an embodiment;

[0042] Figure 3 is a perspective view of a powder scooping device according to another embodiment;

[0043] Figure 4 is a perspective view of a powder scooping device according to another embodiment;

[0044] Figure 5 is a partial cross-sectional view of the powder scooping device in Figure 4 along line LL;

[0045] Figure 6 is a perspective view of a powder scooping device according to another embodiment;

[0046] Figure 7 is a perspective view of a powder scooping device according to another embodiment;

[0047] Figure 8 is a schematic diagram of a powder scooping device according to an embodiment;

[0048] Figure 9 is a schematic diagram of an experimental setup according to one embodiment;

[0049] Figure 10 is a schematic diagram of the experimental setup of another embodiment.

[0050] Explanation of reference numerals in the attached drawings: 10-First support mechanism, 20-Second support mechanism, 30-Working mechanism, 31-First powder scooping drive component, 32-Sliding sleeve, 321-Bushing, 322- Guide shaft, 33-Powder scooping rod, 331-Scooping spoon, 34-Adapter, 35-Connector, 361-Second powder scooping drive component, 362-First powder scooping transmission component, 363-Third powder scooping drive component, 364-Second powder scooping transmission component, 371-Screw shaft, 3711-Helical groove, 3712-Straight groove, 372-First nut, 373-Second nut, 374-Adapter sleeve, 375-Bearing, 376-Locking nut, 381-First synchronous pulley, 382-Second synchronous pulley, 383-Synchronous belt, 40-Support structure, 41-First support component, 42-Second support component, 43-Connecting shaft, 44-First drive component, 45-First transmission component, 46-Second drive component, 47-Second transmission component, 48-Third drive component, 481-Stator, 4 82-Moving element, 483-Guide component, 484-Detection component, 485-Base plate, 486-End plate, 487-Cover plate, 491-Third transmission component, 4911-Slider, 4912-Connector, 4913-Connecting arm, 492-Fourth transmission component, 50-Joint, 51-First rotating component, 511-First support, 512-Connecting part, 513-Second support, 514-First rotating part, 52-Second rotating component, 521-Second bracket, 522-Second rotating part, 61-First plate, 62-Second plate, 63-Third plate, 71-Screw, 72-Nut, 80-Base, 81-First base, 82-Second base, 90-Moving mechanism, 100-Mechanical arm, 1000-Powder scooping device, 2000-Experimental equipment. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used 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 in this application includes any and all combinations of one or more of the associated listed items.

[0054] 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.

[0055] In fields such as biology, pharmaceuticals, chemicals, and medicine, many experiments and production processes involve delicate operations, such as quantitative addition of solid powders, targeted pipetting, and dispensing. Currently, these operations are either performed manually, which is labor-intensive and has low precision, or using general-purpose robotic arms. However, general-purpose robotic arms also have drawbacks such as lack of adjustability and poor adaptability.

[0056] The purpose of this application is to provide a robotic arm, a powder scooping device, and experimental equipment to solve the problems of general-purpose robotic arms being unable to be freely adjusted and having poor adaptability.

[0057] To achieve the objectives of this application, the following technical solution is provided.

[0058] Please refer to Figures 1 to 8. This application provides a robotic arm 100, including a first support mechanism 10 and a second support mechanism 20. Both the first support mechanism 10 and the second support mechanism 20 are used to connect to a working mechanism 30, and at least one of the first support mechanism 10 and the second support mechanism 20 is used to drive the working mechanism 30 to move.

[0059] The specific structures of the first support mechanism 10 and the second support mechanism 20 are not limited. At least one of the first support mechanism 10 and the second support mechanism 20 is movable. Specifically, the first support mechanism 10 may be fixed and the second support mechanism 20 may be movable; or the first support mechanism 10 may be movable and the second support mechanism 20 may be fixed; or both the first support mechanism 10 and the second support mechanism 20 may be movable. The movement may be translation, rotation, or any other feasible movement method, and there are no restrictions.

[0060] The working mechanism 30 can be any feasible structure without limitation. The working mechanism 30 is used to perform at least one required operation, such as dispensing glue, tightening screws, scooping powder, and pipetting liquids.

[0061] The first support mechanism 10 and the second support mechanism 20 are connected to different positions of the working mechanism 30. One or both of them can move to drive the working mechanism 30 to move, thereby driving the working mechanism 30 to perform the required operation.

[0062] The first support mechanism 10 and the second support mechanism 20 include at least one of the support structure 40 and the connector 50. The connector 50 is rotatably connected to one end of the support structure 40 and is used to connect to the working mechanism 30.

[0063] The specific structures of the support structure 40 and the connector 50 are not limited. The first support mechanism 10 may include the support structure 40 and the connector 50, and the second support mechanism 20 may be other structures; or, the second support mechanism 20 may include the support structure 40 and the connector 50, and the first support mechanism 10 may be other structures; or, both the first support mechanism 10 and the second support mechanism 20 may include the support structure 40 and the connector 50.

[0064] The connection method between the connector 50 and the working mechanism 30 can be a fixed connection, a rotating connection, etc., without restriction.

[0065] For example, referring to Figures 1 and 2, both the first support mechanism 10 and the second support mechanism 20 are movable, and both include a support structure 40 and a connector 50. The connector 50 of the first support mechanism 10 and the connector 50 of the second support mechanism 20 are respectively connected to two positions of the working mechanism 30. During the movement of the first support mechanism 10 and / or the second support mechanism 20, the connector 50 can rotate relative to the support structure 40, thereby driving the working mechanism 30 to move and complete the required operation. Other embodiments are not described in detail.

[0066] The robotic arm 100 of this embodiment can drive the working mechanism 30 to move by setting a first support mechanism 10 and a second support mechanism 20. At least one of the first support mechanism 10 and the second support mechanism 20 includes a support structure 40 and a connector 50. The connector 50 is rotatably connected to the support structure 40 and connected to the working mechanism 30, which enables the working mechanism 30 to move and complete the required operation without manual operation. This reduces labor intensity and improves operation accuracy. Compared with general-purpose robotic arms, it can be freely adjusted according to the required operation and has strong adaptability.

[0067] As described above, the structures of the first support mechanism 10 and the second support mechanism 20 may be largely the same or different. In the following text, one of them will be described in detail, while the other can be referred to.

[0068] Optionally, referring to Figures 1 and 2, the second support mechanism 20 includes a support structure 40 and a connector 50 as an example. The connector 50 includes a first rotating member 51 and a second rotating member 52. The first rotating member 51 is rotatably connected to the support structure 40, and the second rotating member 52 is rotatably connected to the first rotating member 51. The second rotating member 52 is used to connect to the working mechanism 30, and the rotation axis of the first rotating member 51 and the rotation axis of the second rotating member 52 intersect.

[0069] The specific structures of the first rotating component 51 and the second rotating component 52 are not limited. The second rotating component 52 can be fixedly connected or rotatably connected to the working mechanism 30, neither of which is restricted. The rotation axis of the first rotating component 51 and the rotation axis of the second rotating component 52 can be perpendicular or not perpendicular, such as the included angle between the rotation axes of the first rotating component 51 and the second rotating component 52 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 robotic arm 100 to adjust more freely and increasing the motion freedom of the working mechanism 30. Furthermore, the rotation axes of the first rotating component 51 and the second rotating component 52 can be coplanar or non-coplanar; when coplanar, this improves the stability of the structural rotation.

[0070] Optionally, the first rotating component 51 includes a first bracket (not shown in the figure) and a first rotating part 514. One end of the first rotating part 514 is fixedly connected to the first bracket, and the other end of the first rotating part 514 is rotatably connected to the support structure 40. Optionally, the first rotating part 514 may also be rotatably connected to both the first bracket and the support structure 40. The first rotating part 514 may be a shaft or a universal joint, etc.

[0071] Alternatively, the first rotating part 514 is rotatably connected to the first bracket and fixedly connected to the support structure 40. In this embodiment, the first rotating part 514 and the support structure 40 can be an integral structure, that is, the first rotating part 51 can only include the first bracket.

[0072] Regardless of the method described above, the first bracket can rotate relative to the supporting structure 40.

[0073] Optionally, the first bracket is U-shaped and includes a first support portion 511, a connecting portion 512, and a second support portion 513 connected in sequence, with the first support portion 511 and the second support portion 513 arranged at intervals relative to each other. The first support portion 511, the connecting portion 512, and the second support portion 513 can all be generally plate-shaped, and can be an integral structure or a split structure, without limitation.

[0074] Optionally, the first rotating part 514 is a straight, rod-shaped extension. One end of the first rotating part 514 is connected to the connecting part 512, and the other end protrudes from the side of the connecting part 512 facing away from the first support part 511. Optionally, the connecting part 512 has a hole through which the first rotating part 514 passes and is connected to the connecting part 512. In this way, the first rotating member 51 is generally shaped like a slingshot frame.

[0075] Optionally, the first rotating member 51 has an axisymmetric structure, with the axis of symmetry being the center line of the first rotating part 514. The symmetrical first rotating member 51 helps maintain structural stability, reduces structural wear caused by asymmetrical rotation, and avoids structural instability.

[0076] Optionally, the second rotating member 52 includes a second bracket 521 and a second rotating part 522. The second bracket 521 is disposed between the first support part 511 and the second support part 513. The two opposite ends of the second bracket 521 may each have a second rotating part 522, with one second rotating part 522 connected to the first support part 511 and the other connected to the second support part 513. The second bracket 521 can rotate relative to the first bracket. The second rotating part 522 can be rotatably connected to the first bracket and fixedly connected to the second bracket 521, or it can be fixedly connected to the first bracket and rotatably connected to the second bracket 521, or it can be rotatably connected to both the first bracket and the second bracket 521; there are no limitations. The second rotating part 522 can preferably be a rotating shaft.

[0077] Optionally, the center lines of the two second rotating parts 522 coincide, and the second rotating member 52 has an axisymmetric structure, with the axis of symmetry being the center line of the two second rotating parts 522. The symmetrical second rotating member 52 can help maintain structural stability, reduce structural wear caused by asymmetrical rotation, and avoid structural instability.

[0078] Optionally, the second bracket 521 has a through hole for mounting the working mechanism 30. The working mechanism 30 can be connected and fixed to the second bracket 521 or can rotate and / or move relative to it. That is, the working mechanism 30 can pass through the through hole of the second bracket 521, which facilitates the installation of the working mechanism 30 and simplifies the structure.

[0079] The first rotating member 51 and the second rotating member 52 can rotate relative to the support structure 40, thereby providing two rotational degrees of freedom. When at least one of the first support mechanism 10 and the second support mechanism 20 drives the working mechanism 30 to move, the rotation of the first rotating member 51 and / or the second rotating member 52 enables the working mechanism 30 to move without jamming, and enables the robotic arm 100 to drive the working mechanism 30 to move and complete the required operation.

[0080] When both the first support mechanism 10 and the second support mechanism 20 have joints 50, the structures of the two joints 50 can be roughly the same or different, without restriction.

[0081] Optionally, the second bracket 521 of the connector 50 of the first support mechanism 10 is generally U-shaped and includes a first plate 61, a second plate 62 and a third plate 63 connected in sequence. The first plate 61 and the third plate 63 are spaced apart and arranged opposite to each other. The first plate 61 is connected to one of the second rotating parts 522 and the third plate 63 is connected to the other second rotating part 522. The second plate 62 has a through hole. The surface of the second plate 62 facing away from the first plate 61 is used to connect and fix with the driving component of the working mechanism 30. The rotating shaft of the driving component passes through the through hole of the second plate 62. The space between the first plate 61 and the third plate 63 can be used to install structures such as adapters and connectors 35, without limitation.

[0082] Optionally, the second bracket 521 of the joint 50 of the second support mechanism 20 is generally cubic in shape, with a second rotating part 522 connected to each end of its length direction.

[0083] Optionally, taking the second support mechanism 20, which includes a support structure 40 and a connector 50, as an example, the first support mechanism 10 can be referred to. The support structure 40 includes a first support member 41 and a second support member 42. The connector 50 is rotatably connected to one end of the first support member 41, and the second support member 42 is rotatably connected to the first support member 41. The movement of the first support member 41 and / or the second support member 42 drives the connector 50 to move.

[0084] Both the first support member 41 and the second support member 42 extend generally along a straight line or curve and have opposite ends in the length direction. One end of the first support member 41 is connected to the first rotating member 51 (first rotating part 514) of the connector 50. Optionally, the first support member 41 extends along a straight line, and this straight line is parallel to the rotation axis of the first rotating member 51 (the center line of the first rotating part 514); in other words, the first rotating member 51 of the second support mechanism 20 rotates about an axis extending along the length direction of the first support member 41.

[0085] The first support member 41 and the second support member 42 can be connected by a connecting shaft 43, and at least one of the first support member 41 and the second support member 42 can rotate relative to the connecting shaft 43, thereby realizing a rotatable connection between the first support member 41 and the second support member 42. The centerline of the connecting shaft 43 intersects with the length direction of the first support member 41 and the length direction of the second support member 42, and may even be perpendicular to them.

[0086] At least one of the first support member 41 and the second support member 42 performs active movement. Due to their rotational connection, they jointly support the joint 50 and drive the joint 50 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 41 performs active movement, and the second support member 42 performs follower movement; or, the second support member 42 performs active movement, and the first support member 41 performs follower movement; or, both the first support member 41 and the second support member 42 perform active movement. The active movement of the first support member 41 and / or the second support member 42 can be translation, rotation, etc., without limitation.

[0087] When the first support member 41 and / or the second support member 42 move, the position of the joint 50 can be changed. The joint 50 is rotatably connected to one end of the first support member 41, which allows the position of the working mechanism 30 connected to the joint 50 to change and move flexibly without interference.

[0088] Optionally, referring to Figures 1 and 2, the support structure 40 further includes a first driving member 44, a first transmission member 45, a second driving member 46, and a second transmission member 47. The first transmission member 45 is rotatably connected to the first support member 41, and the second transmission member 47 is rotatably connected to the second support member 42. The first driving member 44 is connected to the first transmission member 45 and is used to drive the first transmission member 45 to move the first support member 41. The second driving member 46 is connected to the second transmission member 47 and is used to drive the second transmission member 47 to move the second support member 42.

[0089] The specific structure and type of the first driving member 44, the first transmission member 45, the second driving member 46, and the second transmission member 47 are not limited; any feasible configuration is acceptable. For example, the first driving member 44 and the second driving member 46 can be a motor, a cylinder, etc. It should be understood that, according to the required movement of the working mechanism 30, the first driving member 44 and / or the second driving member 46 can be controlled to work, driving the first support member 41 and / or the second support member 42 to move through the first transmission member 45 and / or the second transmission member 47, thereby adjusting the position of the joint 50. That is to say, at least one of the first driving member 44 and the second driving member 46 can be inactive. Taking the first driving member 44 being inactive and the second driving member 46 being active as an example, since the first driving member 44 is inactive, the first transmission member 45 is also inactive. However, since the first support member 41 is rotatably connected to the first transmission member 45, when the second driving member 46 drives the second support member 42 to move through the second transmission member 47, the first support member 41 can rotate relative to the first transmission member 45, thus also changing the position of the joint 50. The embodiments of this application do not impose restrictions on how the first driving member 44 and the second driving member 46 work, as long as they can drive the joint 50 to move. The rotational connection method between the first transmission member 45 and the first support member 41, as well as the rotational connection method between the second transmission member 47 and the second support member 42, can all be achieved through structures such as rotating shafts or universal joints, and are not limited here.

[0090] Therefore, by setting the first driving component 44, the first transmission component 45, the second driving component 46 and the second transmission component 47, the position of the connector 50 can be flexibly adjusted by controlling whether the first driving component 44 and the second driving component 46 work and how they work, thus making it highly adaptable.

[0091] Optionally, referring to Figures 1, 2, and 3, both the first drive component 44 and the second drive component 46 are rotary motors. Specifically, they can be servo motors, stepper motors, etc., and the rotary motors can have built-in reducers, gearboxes, or brakes, etc., without limitation. Optionally, the first transmission component 45 includes any one or a combination of connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs. Optionally, the second transmission component 47 includes any one or a combination of connecting rods, lead screw and nut pairs, gear and rack pairs, and worm gear pairs. Such drive and transmission structures are common, readily available, simple, and low-cost.

[0092] Optionally, the rotation axis of the first drive member 44 and the rotation axis of the second drive member 46 are parallel to each other. In this way, the direction in which the first drive member 44 drives the first transmission member 45 to move (e.g., rotate or move) is either the same as or opposite to the direction in which the second drive member 46 drives the second transmission member 47 to move (e.g., rotate or move). This simplifies the structure and control logic and avoids overly complex motion that makes it difficult to control the movement of the connector 50.

[0093] In one specific embodiment, referring to Figures 1 and 2, the first transmission member 45, the first support member 41, the second transmission member 47, and the second support member 42 are all connecting rods. The first transmission member 45 is rotatably connected to the end of the first support member 41 away from the joint 50, the second support member 42 is rotatably connected to the end of the first support member 41 near the joint 50, and the second transmission member 47 is rotatably connected to the end of the second support member 42 away from the joint 50.

[0094] Optionally, the axes of the first driving member 44 and the second driving member 46 can coincide. The first transmission member 45, the first support member 41, the second transmission member 47, and the second support member 42 are all connected by linkages. The axes of relative rotation between the first transmission member 45 and the first support member 41, the axes of relative rotation between the first support member 41 and the second support member 42, and the axes of relative rotation between the second transmission member 47 and the second support member 42 are parallel to each other and all parallel to the axis of the first driving member 44. In this way, the axes of rotation between the first driving member 44, the first transmission member 45 and the first support member 41, the first support member 41 and the second support member 42, and the second transmission member 47 and the second support member 42, when projected along the extension direction, are sequentially connected to form a quadrilateral structure. Any two adjacent sides of the quadrilateral structure can rotate relative to each other, resulting in good deformability, simple structure, and low cost. Preferably, the axes of the first driving member 44, the axis of rotation between the first transmission member 45 and the first support member 41, the axis of rotation between the first support member 41 and the second support member 42, and the axis of rotation between the second transmission member 47 and the second support member 42, when projected along the extension direction, are sequentially connected to form a parallelogram structure. Specifically, the distance from the axis of the first driving member 44 to the axis of rotation between the first transmission member 45 and the first support member 41 is equal to the distance from the axis of rotation between the first support member 41 and the second support member 42 to the axis of rotation between the second transmission member 47 and the second support member 42, and the distance from the axis of the first driving member 44 to the axis of rotation between the second transmission member 47 and the second support member 42 is equal to the distance from the axis of rotation between the first transmission member 45 and the first support member 41 to the axis of rotation between the first support member 41 and the second support member 42. With this configuration, the first transmission member 45, the first support member 41, the second transmission member 47, and the second support member 42 work together to improve the stability and flexibility of the movement of the working mechanism 30.

[0095] Alternatively, the axes of the first drive member 44 and the second drive member 46 may be parallel but spaced apart.

[0096] Alternatively, the axes of rotation of the first transmission member 45 relative to the first support member 41, the axes of rotation of the first support member 41 and the second support member 42 relative to each other, and the axes of rotation of the second transmission member 47 relative to the second support member 42 may be parallel to each other, but may not be parallel to the axis of the first driving member 44, such as being perpendicular or intersecting perpendicularly.

[0097] Alternatively, the axes of rotation between the first transmission member 45 and the first support member 41, the axes of rotation between the first support member 41 and the second support member 42, and the axes of rotation between the second transmission member 47 and the second support member 42 may not be parallel.

[0098] In another specific embodiment, which is basically the same as the embodiments shown in Figures 1 and 2, as shown in Figure 6, the difference is that the first transmission member 45 is rotatably connected to the middle of the first support member 41, one end of the second support member 42 is connected to the second transmission member 47, and the other end is rotatably connected to the end of the first support member 41 away from the joint 50.

[0099] The middle part of the first support member 41 can be at the midpoint or near the midpoint (allowing a certain distance from the midpoint). This method ensures that the position between the middle of the first support member 41 and the joint 50 is free from interference from the second support member 42, which is beneficial for the working mechanism 30 to perform more complex movements. In addition, the dimensions of the second support member 42 and the second transmission member 47 can be appropriately reduced to reduce the space occupied by the structure.

[0100] Furthermore, the first support member 41 is essentially a lever with the first transmission member 45 as its fulcrum. Compared to the method where the second support member 42 is rotatably connected to the end of the first support member 41 near the joint 50, when the working mechanism 30 performs the same movement, the movement direction of the second support member 42 is opposite. For example, when the working mechanism 30 moves upward, with the second support member 42 rotatably connected to the end of the first support member 41 near the joint 50, the second support member 42 moves towards the first support member 41; while with the first transmission member 45 rotatably connected to the middle of the first support member 41, and the second support member 42 rotatably connected to the end of the first support member 41 away from the joint 50, the second support member 42 moves away from the first support member 41. This allows for more flexible adjustment of the operating modes of the first drive member 44 and the second drive member 46, simplifying the control logic.

[0101] Optionally, referring to Figures 1 and 2, the first transmission member 45 and the second transmission member 47 have the same length, and the first support member 41 and the second support member 42 have the same length. This results in a simple structure, simple control logic, high coordination, easy implementation, and low cost.

[0102] In another specific embodiment, referring to Figure 3, it is basically the same as the embodiments shown in Figures 1 and 2, except that the first transmission member 45 and the second transmission member 47 are both lead screw and nut mating pairs. The lead screw 71 of the first transmission member 45 is connected to the first drive member 44, and the lead screw 71 of the second transmission member 47 is connected to the second drive member 46. The end of the first support member 41 away from the joint 50 is rotatably connected to the nut 72 of the first transmission member 45, and the end of the second support member 42 away from the joint 50 is rotatably connected to the nut 72 of the second transmission member 47.

[0103] In this embodiment, the connecting rods of the first transmission member 45 and the second transmission member 47 in Figures 1 and 2 are replaced with a lead screw and nut mating pair. In the embodiments of Figures 1 and 2, the connecting rods of the first transmission member 45 and the second transmission member 47 rotate. In the embodiment shown in Figure 3, the first drive member 44 and the second drive member 46 are rotary motors, and the axis of the rotary motors is in the same direction as the extension of the corresponding lead screw 71. By driving the lead screw 71 to rotate through the rotary motor, the lead screw 71 drives the nut 72 to move linearly. The nut 72 drives the corresponding support member to move (or move and rotate), thereby driving the joint 50 to move.

[0104] Optionally, referring to Figure 3, the lead screw 71 of the first transmission member 45 and the lead screw 71 of the second transmission member 47 are arranged in parallel. The first support member 41 and the second support member 42 are both connecting rods, and the first support member 41 and the second support member 42 have the same length.

[0105] In this configuration, the end of the second support member 42 furthest from the nut 72 of the second transmission member 47 can be rotatably connected to the end of the first support member 41 near the joint 50, or it can be rotatably connected to the middle of the first support member 41, without limitation. This simplifies the structure of the first support member 41 and the second support member 42 and allows for a reduction in the size of the second support member 42. The lead screw 71 of the first transmission member 45 and the lead screw 71 of the second transmission member 47 are arranged in parallel, allowing the end of the first support member 41 rotatably connected to the nut 72 of the first transmission member 45 and the end of the second support member 42 rotatably connected to the nut 72 of the second transmission member 47 to move relatively closer or further apart in the extension direction of the lead screw 71. This simplifies the control logic of the first drive member 44 and the second drive member 46, resulting in a simple structure, small footprint, and low cost.

[0106] It is understandable that the structures of the first support mechanism 10 and the second support mechanism 20 can be roughly the same. For example, the support structure 40 of the first support mechanism 10 and the support structure 40 of the second support mechanism 20 are both combinations of two rotary motors and four connecting rods as shown in Figures 1 and 2; or the support structure 40 of the first support mechanism 10 and the support structure 40 of the second support mechanism 20 are both combinations of two rotary motors, a lead screw and nut pair and connecting rods as shown in Figure 3. The structures of the first support mechanism 10 and the second support mechanism 20 can also be different. For example, one of the support structures 40 of the first support mechanism 10 and the second support structure 40 of the second support mechanism 20 may be a combination of two rotary motors and four connecting rods, and the other may be a combination of two rotary motors, a lead screw and nut pair, and a connecting rod; or one of the support structures 40 of the first support mechanism 10 and the second support structure 20 may be a combination of two rotary motors and four connecting rods, and the other may be a single support rod; or one of the support structures 40 of the first support mechanism 10 and the second support structure 20 may be a combination of two rotary motors, a lead screw and nut pair, and a connecting rod, and the other may be a single support rod.

[0107] In another embodiment, referring to Figure 4, the support structure 40 further includes a third driving member 48, a third transmission member 491, and a fourth transmission member 492. The third transmission member 491 is rotatably connected to the first support member 41, and the fourth transmission member 492 is rotatably connected to the second support member 42. The third driving member 48 is connected to the third transmission member 491 and the fourth transmission member 492 respectively, and is used to drive the third transmission member 491 and the fourth transmission member 492 to move independently.

[0108] A third driving component 48, a third transmission component 491, and a fourth transmission component 492 constitute a power structure. In this embodiment, one or more power structures can be set. When one power structure is set, it can drive one connector 50 to move. Referring to Figures 1 to 3 above, the other connector 50 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 50 connected to the same working mechanism 30 to move, and other power structures can also drive connectors 50 connected to other working mechanisms 30 to move. For example, one third driving component 48 can independently drive more than two (such as four, six, eight, etc.) transmission components to move. By setting two third driving components 48 as shown in Figure 4, multiple working mechanisms 30 can be driven independently, which can improve the flexibility of the device and the experimental throughput.

[0109] The third driving component 48, the third transmission component 491, and the fourth transmission component 492 can be any feasible structure. For example, the third driving component 48 can be a rotary motor, a linear motor, a hydraulic pump, a cylinder, etc., without limitation. The third transmission component 491 and the fourth transmission component 492 can be sliders, connecting rods, and various mating pairs, etc. The third driving component 48 can drive the third transmission component 491 and the fourth transmission component 492 to move independently, which can drive the corresponding first support component 41 and second support component 42 to move independently, thereby driving the joint 50 connected to the first support component 41 and the second support component 42 to move, thereby adjusting the posture or position of the working mechanism 30 connected to the joint 50.

[0110] By setting a third driving component 48 to drive the third transmission component 491 and the fourth transmission component 492 to move independently, compared with the structures shown in Figures 1 to 3, one driving component can be reduced, thus reducing structural complexity and cost.

[0111] Optionally, referring to Figure 4, the third drive member 48 is a linear motor, and the linear motor includes multiple independently movable movers 482. The third transmission member 491 and the fourth transmission member 492 are respectively connected to different movers 482.

[0112] Specifically, the linear motor of the third drive unit 48 includes a linearly extending stator 481, a guide member 483 disposed on the stator 481 and extending in the same direction as the stator 481, and multiple movers 482 slidably connected to the guide member 483. The stator 481 drives the multiple movers 482 to slide along the guide member 483 through electromagnetic induction effect. The multiple movers 482 can move independently along a straight line on the guide member 483.

[0113] The guide member 483 can be plate-shaped, rod-shaped, or, for example, a slide rail or slide rod; there are no restrictions. The guide member 483 is an insulating component to avoid affecting the electromagnetic induction effect between the stator 481 and the mover 482. There can be multiple guide members 483, spaced apart on the stator 481 (e.g., on opposite sides of the stator 481). The mover 482 can be directly mounted on the guide member 483, or it can be mounted on the guide member 483 through a mating structure; there are no limitations.

[0114] Optionally, the third drive unit 48 also includes a detection element 484, which can be disposed on the guide member 483 for detecting the position of the mover 482. The detection element 484 can be a grating detection structure or a photoelectric sensor, etc. For example, the detection element 484 consists of a grating ruler and two grating read heads. The two grating read heads are respectively connected to the two movers 482 and move with the movers 482 on the guide member 483. The grating ruler is set along the extension direction of the stator 481 and is located within the movement range of the two movers 482. By setting the detection element 484, the movement position of the mover 482 can be precisely controlled, and collisions with other structures can be avoided, thereby improving the operating accuracy and safety of the robotic arm 100.

[0115] A linear motor of a third drive member 48 can be equipped with multiple movers 482. Two adjacent movers 482 are connected to a third transmission member 491 and a fourth transmission member 492, respectively. The remaining two adjacent movers 482 can be connected to another third transmission member 491 and another fourth transmission member 492, or they can be connected to other mechanisms to achieve more complex functions. For example, as shown in Figure 4, a stator 481 is equipped with four movers 482. Two adjacent movers 482 form a group, forming two groups of movers 482. Each group of movers 482 is connected to the corresponding third transmission member 491 and fourth transmission member 492, thereby driving the four corresponding transmission members to move.

[0116] Multiple linear motors can be provided for the third driving component 48, and each linear motor can have multiple independently movable movers 482. For example, when both the first support mechanism 10 and the second support mechanism 20 include the support structure 40 shown in Figure 4, as shown in Figure 4, the third driving component 48 has two linear motors, with their stators 481 arranged parallel to each other. Each linear motor has four movers 482, and there are two working mechanisms 30. Each working mechanism 30 is driven to work by the movement of the four movers 482 on the two linear motors. The number of movers 482 on each of the two linear motors can be more than four, and this is not limited here. This configuration allows multiple identical or different working mechanisms 30 to be driven simultaneously, improving experimental throughput, equipment flexibility, and versatility.

[0117] The third transmission component 491 and the fourth transmission component 492 can be connected and fixed to the corresponding moving part 482 respectively, and the first support component 41 and the second support component 42 can be rotatably connected to the corresponding transmission component respectively.

[0118] By setting the third driving component 48 as a linear motor and having multiple independently movable movers 482, it is easy to drive the third transmission component 491 and the fourth transmission component 492 to move, resulting in a simple structure.

[0119] In one embodiment, referring to FIG4, both the third transmission member 491 and the fourth transmission member 492 include a slider 4911. One side of the slider 4911 is connected to the corresponding mover 482, and the side of the slider 4911 facing away from the mover 482 is rotatably connected to the corresponding support member. The first support member 41 and the second support member 42 are both connecting rods.

[0120] The structure of slider 4911 is not limited; it can be connected and fixed to mover 482 by means of screws, snap-fit, or other connection methods. Slider 4911 can move along with mover 482 under the drive of stator 481. The first support member 41 and the second support member 42 are set as connecting rods, which results in a simple structure and low cost.

[0121] The method of rotatable connection between slider 4911 and its corresponding support member, namely the first support member 41 or the second support member 42, is not limited. Optionally, both the third transmission member 491 and the fourth transmission member 492 further include a connector 4912, which is fixedly connected to slider 4911 and rotatably connected to its corresponding support member. The specific structure of connector 4912 is not limited; it can be configured to facilitate relative rotation with the corresponding support member. The connection method between connector 4912 and slider 4911 can be any feasible method, such as screw connection or snap-fit ​​connection, without limitation. In this way, slider 4911 can be rotatably connected to its corresponding support member through connector 4912, which simplifies the structure of slider 4911 and makes it easy to manufacture.

[0122] Optionally, referring to Figure 4, at least one of the third transmission member 491 and the fourth transmission member 492 further includes a connecting arm 4913, one end of which is connected to the corresponding slider 4911, and the other end of which is rotatably connected to the corresponding support member.

[0123] One end of the connecting arm 4913 is fixedly connected to the slider 4911, and any feasible connection method such as screw connection or snap connection can be used. The other end of the connecting arm 4913 can be connected to a connector 4912, which is rotatably connected to the corresponding support member.

[0124] The connecting arm 4913 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 4, the slider 4911 of one of the third transmission members 491 is connected and fixed to one end of the connecting arm 4913, and the other end of the connecting arm 4913 is connected and fixed to one of the connecting heads 4912, which is rotatably connected to the first support member 41.

[0125] By setting the connecting arm 4913, the corresponding support member can have a larger range of motion, so as to realize more complex motion posture and position adjustment of the working mechanism 30, and improve flexibility.

[0126] It is understood that the third transmission component 491 and the fourth transmission component 492 can both be composed of a slider 4911 and a connector 4912; or, both transmission components can both be composed of a slider 4911, a connector 4912 and a connecting arm 4913; or, one of the two transmission components can be composed of a slider 4911 and a connector 4912, and the other can be composed of a slider 4911, a connector 4912 and a connecting arm 4913, and there are no restrictions.

[0127] Optionally, referring to Figure 4, the linear motor may further include a base plate 485, on which the stator 481 and guide member 483 are mounted, and all three extend in the same direction. Optionally, the linear motor may further include end plates 486, with one end plate 486 at each opposite end of the base plate 485. The stator 481 and guide member 483 may also be connected to the end plates 486. The end plates 486 provide support and fixation, and limit the maximum stroke of the mover 482. Optionally, the linear motor may further include a cover plate 487, with both ends of the cover plate 487 connected and fixed to the end plates 486. The cover plate 487 is positioned directly above the stator 481 and spaced apart from it, providing protection. The mover 482 can be disposed on the side of the cover plate 487 facing the stator 481, and the slider 4911 can be disposed on the side of the cover plate 487 away from the stator 481. Both the mover 482 and the slider 4911 extend beyond both sides of the cover plate 487 in the width direction and are connected at the points where they extend beyond the cover plate 487. The cover plate 487 also serves to guide the mover 482 and the slider 4911.

[0128] In one embodiment, referring to Figures 1 to 3, the robotic arm 100 further includes a base 80 and a moving mechanism 90. A first support mechanism 10 and a second support mechanism 20 are disposed on the base 80, which is disposed on the moving mechanism 90, which is used to drive the base 80 to move.

[0129] The base 80 can be plate-shaped or any other feasible shape. The first drive member 44 and the second drive member 46 of the first support mechanism 10 and the second support mechanism 20 can be disposed on the base 80. When the first transmission member 45 and the second transmission member 47 are a lead screw and nut mating pair, at least a part of the first transmission member 45 and the second transmission member 47 can also be disposed on the base 80 without limitation.

[0130] The moving mechanism 90 can be any feasible mechanism, capable of driving the base 80 to move in at least one degree of freedom. For example, as shown in Figures 1 to 3, the moving mechanism 90 can drive the base 80 to move linearly in the horizontal direction. Optionally, the moving mechanism 90 includes a drive assembly and a transmission assembly, with the transmission assembly connecting the drive assembly and the base 80. The drive assembly can be a motor or cylinder, etc., and the transmission assembly can be a lead screw and nut pair, a gear pair, or a pulley pair, etc., without limitation.

[0131] By setting up the base 80 and the moving mechanism 90, the first support mechanism 10 and the second support mechanism 20 can be moved as a whole, which increases the degree of freedom of the robotic arm 100, thereby making it easier to change the spatial position of the working mechanism 30 and facilitate experimental operations.

[0132] In another embodiment, as shown in FIG7, the robotic arm 100 further includes a first base 81, a second base 82, and a moving mechanism 90. A first support mechanism 10 is disposed on the first base 81, a second support mechanism 20 is disposed on the second base 82, and the first base 81 or the second base 82 is disposed on the moving mechanism 90, which is used to drive the base thereon to move.

[0133] Compared with the previous embodiment, in this embodiment, one of the first base 81 and the second base 82 can be moved by the moving mechanism 90, while the other can remain fixed. This allows one of the first support mechanism 10 and the second support mechanism 20 to move relative to the other, further improving the flexibility of the working mechanism 30 provided on the first support mechanism 10 and the second support mechanism 20 and increasing the adaptability of the working mechanism 30.

[0134] Preferably, the moving mechanism 90 is connected to the first base 81 and is used to drive the first base 81 to move, while the second base 82 can be fixed. This arrangement increases the stroke of the working mechanism 30 in the moving direction of the first base 81, thus expanding its operating range.

[0135] Please continue to refer to Figures 1 to 8. This application embodiment also provides a powder scooping device 1000, including a working mechanism 30 and a robotic arm 100 in any of the foregoing embodiments. The working mechanism 30 is connected to the first support mechanism 10 and the second support mechanism 20 of the robotic arm 100 and is used to perform powder scooping operations.

[0136] The specific structure of the working mechanism 30 is not limited, nor is the specific method of its powder-scooping operation limited. According to the aforementioned embodiment, the working mechanism 30 is connected to the first support mechanism 10 and the second support mechanism 20 respectively. Specifically, it is connected to the two support mechanisms at different positions on the working mechanism 30. The movement of at least one support mechanism can drive the working mechanism 30 to move.

[0137] Because the robotic arm 100 of this application embodiment can be freely adjusted according to the required operation and has strong adaptability compared to a general-purpose robotic arm, the powder scooping device 1000 of this application embodiment also has the characteristics of being freely adjustable and having strong adaptability.

[0138] In one embodiment, the working mechanism 30 may consist only of a powder-scooping rod 33 with a scoop 331. The powder-scooping and discharging functions of the powder-scooping rod 33 are achieved through the cooperation of the first support mechanism 10 and the second support mechanism 20 of the robotic arm 100.

[0139] In one embodiment, referring to Figures 1 to 3, the working mechanism 30 includes a first powder-scooping drive 31 and a powder-scooping component (not labeled in the figures). The first powder-scooping drive 31 is connected to one end of the powder-scooping component and is used to drive the powder-scooping component to move (e.g., move and / or rotate). A first support mechanism 10 is connected to the first powder-scooping drive 31, and a second support mechanism 20 is connected to the powder-scooping component. The end of the powder-scooping component away from the first powder-scooping drive 31 has a scoop 331.

[0140] The first powder-scooping drive unit 31 can be a rotary motor or other drive structure, without limitation. The powder-scooping component is generally in the shape of a straight-extending rod, with its length direction being the direction of straight extension. One end of the powder-scooping component along its length direction is connected to the first powder-scooping drive unit 31, and the other end has a scooping spoon 331. The scooping spoon 331 is spoon-shaped and is used to scoop out powder (scooping powder) and pour out powder (pouring powder).

[0141] When the powder scooping device 1000 is working, on the one hand, the mechanical arm 100 can move to drive the working mechanism 30 to reach the designated position; on the other hand, the first powder scooping drive 31 drives the powder scooping component to scoop or pour powder, so that the scoop 331 can move in space and realize the powder scooping operation or the powder pouring operation.

[0142] By setting the first powder-scooping drive component 31 to drive the powder-scooping component to move, the scooping spoon 331 of the powder-scooping component can perform powder-scooping or powder-pouring operations. The structure is simple and easy to implement.

[0143] Optionally, referring to Figures 1 to 3, the powder scooping component includes a sliding sleeve 32 and a powder scooping rod 33. The sliding sleeve 32 includes a bushing 321 and a guide shaft 322. The bushing 321 is fitted around the outer periphery of the guide shaft 322, and the guide shaft 322 is rotatable relative to the bushing 321. One end of the guide shaft 322 is connected to a first powder scooping drive 31, and the other end is connected to one end of the powder scooping rod 33. The first powder scooping drive 31 is used to drive the guide shaft 322 to rotate, thereby driving the powder scooping rod 33 to rotate. The end of the powder scooping rod 33 away from the guide shaft 322 has a scoop 331. The second support mechanism 20 is connected to the bushing 321.

[0144] The sliding sleeve 32 can be a standard or general-purpose part. The bushing 321 is roughly sleeve-shaped, and its outer circumferential surface can be cylindrical or cylindrical with annular protrusions, without limitation. The guide shaft 322 is a cylindrical straight rod, and both ends of the guide shaft 322 can extend out of the bushing 321, or one end can extend out while the other end does not, without limitation. The bushing 321 is connected and fixed to the second support mechanism 20, while the guide shaft 322 can rotate relative to the bushing 321, thereby causing the first powder scooping drive 31 to drive the guide shaft 322 to rotate, which in turn drives the powder scooping rod 33 to rotate, and then drives the scooping spoon 331 to rotate, realizing the powder scooping or pouring operation.

[0145] The powder scooping component includes a sliding sleeve 32 and a powder scooping rod 33. The structure is simple and facilitates connection with the robotic arm 100.

[0146] Optionally, referring to Figures 1 to 3, the guide shaft 322 is also movable relative to the bushing 321, allowing the first support mechanism 10 and the second support mechanism 20 to move relatively closer or further apart. The direction of movement of the guide shaft 322 relative to the bushing 321 is the axial direction of the guide shaft 322. This allows the first support mechanism 10 and the second support mechanism 20 to move relatively closer or further apart through the movement of the guide shaft 322 relative to the bushing 321, thereby further enhancing the flexibility of the powder scooping device 1000, making it easier to adjust freely, and increasing its adaptability.

[0147] Optionally, referring to Figures 1 to 3, the powder scooping component also includes an adapter 34, one end of which is detachably connected to the guide shaft 322, and the other end of which is detachably connected to the powder scooping rod 33.

[0148] The specific structure of the adapter 34 is not limited. The detachable connection between the adapter 34 and the guide shaft 322 and the powder scooping rod 33 can be screwed, snap-fitted, or interference-fitted, etc., without limitation. By setting the adapter 34, the connection between the powder scooping rod 33 and the guide shaft 322 can be easily made, and the powder scooping rod 33 can be easily replaced to switch between different specifications of scoops 331.

[0149] In one specific embodiment, referring to Figures 1 to 3, both the first support mechanism 10 and the second support mechanism 20 include a support structure 40 and a connector 50. The connector 50 includes a first rotating member 51 and a second rotating member 52. The first rotating member 51 is rotatably connected to the support structure 40, and the second rotating member 52 is rotatably connected to the first rotating member 51. The second rotating member 52 of the first support mechanism 10 is connected to the first powder-scooping drive member 31, and the second rotating member 52 of the second support mechanism 20 is connected to the powder-scooping member.

[0150] In this design, the first powder-scooping drive component 31 is a rotary motor. The second rotating component 52 of the first support mechanism 10 is connected and fixed to the housing of the rotary motor of the first powder-scooping drive component 31. The output shaft of the rotary motor of the first powder-scooping drive component 31 is connected to the guide shaft 322. The second rotating component 52 of the second support mechanism 20 is connected and fixed to the bushing 321. Thus, the first powder-scooping drive component 31 can drive the guide shaft 322 to rotate via the output shaft of the rotary motor, thereby driving the powder-scooping rod 33 to rotate, realizing the powder-scooping and powder-pouring operations. The structure is simple and easy to implement.

[0151] Optionally, the output shaft of the rotary motor of the first powder-scooping drive unit 31 can be connected to the guide shaft 322 via a connector 35. The connector 35 can be a coupling or any other feasible structure, without limitation. The connection between the connector 35 and the output shaft of the rotary motor and the guide shaft 322 can be a detachable connection, such as a screw connection or a snap-fit ​​connection, without limitation. The connector 35 facilitates the connection between the first powder-scooping drive unit 31 and the guide shaft 322.

[0152] In another embodiment, referring to Figures 4 and 5, the working mechanism 30 includes a second powder-scooping drive 361, a first powder-scooping transmission 362, a third powder-scooping drive 363, a second powder-scooping transmission 364, and a powder-scooping component. Both the first powder-scooping transmission 362 and the second powder-scooping transmission 364 are connected to the powder-scooping component. A first support mechanism 10 is connected to the second powder-scooping drive 361, and the second powder-scooping drive 361 is connected to the first powder-scooping transmission 362. A second support mechanism 20 is connected to the third powder-scooping drive 363, and the third powder-scooping drive 363 is connected to the second powder-scooping transmission 364. Both the first support mechanism 10 and the second support mechanism 20 are movably connected to the powder-scooping component (e.g., both the first support mechanism 10 and the second support mechanism 20 are slidably connected to the powder-scooping component, and / or, both the first support mechanism 10 and the second support mechanism 20 are rotatably connected to the powder-scooping component), and the end of the powder-scooping component away from the second powder-scooping drive 361 has a scooping spoon. The second powder-scooping drive unit 361 and the third powder-scooping drive unit 363 are used to drive the powder-scooping component to perform any one of the following movements: moving, rotating, or a combination of moving and rotating, through the corresponding powder-scooping transmission component.

[0153] Optionally, both the first support mechanism 10 and the second support mechanism 20 include a support structure 40 and a connector 50. The connector 50 of both support mechanisms includes the aforementioned first rotating member 51 and second rotating member 52. The first rotating member 51 is connected to the corresponding support structure 40, and the second rotating member 52 is rotatably connected to the corresponding first rotating member 51. The second rotating member 52 of the first support mechanism 10 is fixedly connected to the second powder-scooping drive member 361 and is also movably connected to the powder-scooping member. The second rotating member 52 of the second support mechanism 20 is fixedly connected to the third powder-scooping drive member 363 and is also movably connected to the powder-scooping member. The second powder-scooping drive member 361 and the third powder-scooping drive member 363 can be structures such as a rotary motor, a linear motor, or a hydraulic pump, and there are no limitations.

[0154] The specific structures of the first powder-scooping transmission component 362, the second powder-scooping transmission component 364, and the powder-scooping component are not limited, as long as they can enable the powder-scooping component 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 361 and the third powder-scooping drive component 363.

[0155] When the powder-scooping component moves, it moves along its own axis, enabling it to move forward or backward. When the powder-scooping component rotates, it rotates around its own axis, enabling it to scoop and pour powder. When the powder-scooping component undergoes a combined movement of movement and rotation, it can achieve any combination of forward, backward, powder-scooping, and powder-pouring movements. In this way, the flexibility of the working mechanism 30 itself can be significantly improved.

[0156] In one embodiment, referring to Figures 4 and 5, the powder-scooping component includes a lead screw shaft 371, a first nut 372, a second nut 373, and a powder-scooping rod 33. A first support mechanism 10 is rotatably connected to the first nut 372, and a first powder-scooping transmission component 362 is connected to the first nut 372. A second support mechanism 20 is rotatably connected to the second nut 373, and a second powder-scooping transmission component 364 is connected to the second nut 373. The lead screw shaft 371 passes through the first nut 372 and the second nut 373, and both the first nut 372 and the second nut 373 are movably connected to the lead screw shaft 371. One end of the lead screw shaft 371 away from the second powder-scooping drive component 361 is connected to one end of the powder-scooping rod 33, and the end of the powder-scooping rod 33 away from the lead screw shaft 371 has a scooping spoon 331.

[0157] In this design, one of the first nut 372 and the second nut 373 is a lead screw nut, and the other is a spline nut. The lead screw shaft 371 has a helical groove 3711 extending helically along its own axis and a straight groove 3712 extending linearly along its own axis. The lead screw nut engages with the helical groove 3711, and the spline nut engages with the straight groove 3712. The first nut 372 and / or the second nut 373 rotate relative to the lead screw shaft 371 to drive the lead screw shaft 371 to perform any of the following movements: movement, rotation, or a combination of movement and rotation.

[0158] In this embodiment, the connection between the lead screw shaft 371 and the powder scooping rod 33 can be welding, gluing, snap-fitting, screwing, etc. Optionally, the powder scooping component may also include an adapter 34, one end of which is fixedly or detachably connected to the lead screw shaft 371, and the other end of which is detachably connected to the powder scooping rod 33 to facilitate replacement of the powder scooping rod 33. The connection between the powder scooping transmission component and the nut can be screwing, gluing, snap-fitting, etc.

[0159] In this embodiment, the first nut 372, the second nut 373, and the lead screw shaft 371 collectively constitute a lead screw spline mating pair. The second powder-scooping drive component 361 can drive the first nut 372 to rotate, and the third powder-scooping drive component 363 can drive the second nut 373 to rotate. Since one of the first nut 372 and the second nut 373 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 3711, and the rotation of the spline nut also generates a transmission effect with the straight groove 3712, thereby enabling the lead screw shaft 371 to perform any of the following movements: translation, rotation, or a combination of translation and rotation.

[0160] 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 371 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 371 moves linearly; when both the lead screw nut and the spline nut rotate, the lead screw shaft 371 performs approximately a stationary rotational motion.

[0161] For example, as shown in Figures 4 and 5, the first nut 372 is a lead screw nut and the second nut 373 is a spline nut.

[0162] Optionally, the powder scooping device 1000 may also be equipped with a bearing 375, which is located inside the second rotating member 52 of the connector 50. The outer ring of the bearing 375 is connected to the inner wall of the second rotating member 52, and the inner ring is connected to the first nut 372 or the second nut 373, so as to realize the rotational connection between the first nut 372 or the second nut 373 and the corresponding support mechanism.

[0163] Optionally, due to the size limitations of the first nut 372 and the second nut 373, direct connection with the bearing 375 is not possible. The powder scooping device can also be equipped with an adapter sleeve 374 and a locking nut 376. The adapter sleeve 374 is at least partially located inside the bearing 375 and connected to the inner ring of the bearing 375. The adapter sleeve 374 is fitted onto the lead screw shaft 371 but has no transmission relationship with it. There is a gap between the adapter sleeve 374 and the lead screw shaft 371. The locking nut 376 is connected to and locked to one end of the adapter sleeve 374. The first nut 372 and the second nut 373 can each be equipped with an adapter sleeve 374, a bearing 375, and a locking nut 376. The first nut 372 and the second nut 373 are respectively connected and fixed to the end of the corresponding adapter sleeve 374 furthest from the locking nut 376. Since the lengths of the first nut 372 and the second nut 373 are limited, an adapter sleeve 374 is provided to allow the first nut 372 and the second nut 373 to connect with the corresponding bearing 375. By locking the end of the adapter sleeve 374 that protrudes from the second rotating member 52 and is away from the first nut 372 or the second nut 373 with a locking nut 376, the axial movement of the first nut 372 and the second nut 373 can be restricted, ensuring structural stability. When the second powder scooping drive member 361 and the third powder scooping drive member 363 drive the first nut 372 and the second nut 373 to rotate respectively, the first nut 372 and the second nut 373 drive the adapter sleeve 374 connected to them to rotate, thereby causing the inner ring of the bearing 375 connected to the adapter sleeve 374 to rotate, while the outer ring of the bearing 375 and the second rotating member 52 do not rotate accordingly. This allows the first nut 372 to rotate relative to the first support mechanism 10, and the second nut 373 to rotate relative to the second support mechanism 20.

[0164] The connection method between the adapter sleeve 374 and the first nut 372 and the second nut 373 can be screwed, glued, snap-fit, etc., and is not limited here. The connection method between the adapter sleeve 374 and the bearing 375 can be interference fit, transition fit, etc., and is not limited here.

[0165] By setting up a lead screw spline mating pair, the lead screw shaft 371 can achieve arbitrary movement of movement, rotation, and combined movement and rotation with a simple structure, which can improve the flexibility of the powder scooping part and facilitate more complex operations.

[0166] Optionally, referring to Figures 4 and 5, at least one of the first powder scooping drive component 362 and the second powder scooping drive component 364 includes a first synchronous pulley 381, a second synchronous pulley 382, ​​and a synchronous belt 383 connecting the first synchronous pulley 381 and the second synchronous pulley 382. The first synchronous pulley 381 is connected to the corresponding powder scooping drive component, and the second synchronous pulley 382 is connected to the corresponding nut.

[0167] For example, as shown in Figure 5, the first synchronous pulley 381 is connected to the second powder-scooping drive 361 (or the third powder-scooping drive 363). The second synchronous pulley 382 is sleeved on the outer periphery of the corresponding nut or adapter sleeve 374 and fixed thereto (e.g., by screwing, gluing, snapping, etc.). The synchronous belt 383 is wound around the first synchronous pulley 381 and the second synchronous pulley 382. When the corresponding powder-scooping drive works, it drives the first synchronous pulley 381 to rotate, which in turn drives the second synchronous pulley 382 to rotate via the synchronous belt 383, thereby driving the corresponding nut to rotate, so as to realize the required movement of the lead screw shaft 371.

[0168] Alternatively, at least one of the first powder-scooping drive component 362 and the second powder-scooping drive component 364 includes a meshing first gear and a second gear, the first gear being connected to a corresponding powder-scooping drive component, and the second gear being connected to a corresponding nut.

[0169] Similarly, the power of the powder-scooping drive can be transmitted to the corresponding nut via gear transmission.

[0170] In one embodiment, the powder scooping device 1000 further includes a holding container (not shown) and a target container (not shown). The holding container contains powder, and the robotic arm 100 drives the working mechanism 30 to move so that the working mechanism 30 scoops out the powder from the holding container and transfers it to the target container.

[0171] The container and target container can be test tubes, reagent bottles, wide-mouth bottles, etc., without limitation. The container and target container can be placed on a corresponding support frame (not shown), and the powder scooping and pouring operations are realized by the movement of the working mechanism 30. The container and target container can also be moved by another mechanism, that is, during the movement of the working mechanism 30, at least one of the container and target container can also move, specifically in a relatively closer direction, thereby speeding up the powder scooping and pouring operation.

[0172] During the powder scooping operation, the robotic arm 100 drives the working mechanism 30 to move, causing the scoop 331 of the working mechanism 30 to extend into the container. The powder scooping drive drives the powder scooping component to rotate, causing the scoop 331 to rotate and scoop powder. Afterwards, the robotic arm 100 drives the working mechanism 30 to exit from the container and moves the scoop 331 to the top or inside of the target container. The powder scooping drive drives the powder scooping component to rotate, causing the scoop 331 to rotate and pour powder, thus realizing the operation of transferring powder from the container to the target container.

[0173] The size and shape of the ladle 331 can be set as needed, so that the amount of powder transferred by the ladle 331 in a single operation is fixed. One or more operations can be performed as needed to ultimately achieve complete transfer of the required amount of powder.

[0174] 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.

[0175] Please refer to Figure 9. This application embodiment also provides an experimental device 2000, including the robotic arm 100 of any of the foregoing embodiments. The experimental device 2000 can be used to perform a variety of experiments, not limited to the aforementioned powder transfer.

[0176] Please refer to Figure 10. This application embodiment also provides an experimental device 2000, including the powder scooping device 1000 of any of the foregoing embodiments. The experimental device 2000 can transfer powder through the powder scooping device 1000 to achieve the required experimental operation.

[0177] The aforementioned experimental equipment 2000 is characterized by its adjustable nature and strong adaptability.

[0178] 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.

[0179] 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 robotic arm, characterized in that, It includes a first support mechanism and a second support mechanism, both of which are used to connect to the working mechanism, and at least one of the first support mechanism and the second support mechanism is used to drive the working mechanism to move; Wherein, at least one of the first support mechanism and the second support mechanism includes a support structure and a joint, the joint being rotatably connected to one end of the support structure, and the joint being used to connect to the working mechanism.

2. The robotic arm according to claim 1, characterized in that, The joint 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 working mechanism, and the rotation axis of the first rotating component and the rotation axis of the second rotating component intersect.

3. The robotic arm according to claim 1 or 2, characterized in that, The support structure includes a first support member and a second support member. The joint is rotatably connected to one end of the first support member, and the second support member is rotatably connected to the first support member. The first support member and / or the second support member move to drive the joint to move.

4. The robotic arm according to claim 3, characterized in that, The support structure further includes a first driving member, a first transmission member, a second driving member, and a second transmission member. The first transmission member is rotatably connected to the first support member, and the second transmission member is rotatably connected to the second support 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.

5. The robotic arm according to claim 4, characterized in that, Both the first driving component and the second driving component are rotary motors. 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.

6. The robotic arm according to claim 5, characterized in that, The rotation axis of the first driving member and the rotation axis of the second driving member are parallel to each other.

7. The robotic arm according to claim 5 or 6, characterized in that, The first transmission component, the first support component, the second transmission component, and the second support component are all connecting rods; The first transmission member is rotatably connected to the end of the first support member away from the joint, the second support member is rotatably connected to the end of the first support member near the joint, and the second transmission member is rotatably connected to the end of the second support member away from the joint. or The first transmission member is rotatably connected to the middle of the first support member, one end of the second support member is connected to the second transmission member, and the other end is rotatably connected to the end of the first support member away from the joint.

8. The robotic arm according to claim 7, characterized in that, The first transmission component and the second transmission component have the same length, and the first support component and the second support component have the same length.

9. The robotic arm according to claim 5 or 6, characterized in that, Both the first transmission component and the second transmission component are lead screw and nut mating pairs. The lead screw of the first transmission component is connected to the first driving component, and the lead screw of the second transmission component is connected to the second driving component. The end of the first support component away from the joint is rotatably connected to the nut of the first transmission component, and the end of the second support component away from the joint is rotatably connected to the nut of the second transmission component.

10. The robotic arm according to claim 9, characterized in that, The lead screws of the first transmission component and the second transmission component are arranged in parallel; both the first support component and the second support component are connecting rods, and the first support component and the second support component have the same length.

11. The robotic arm according to claim 3, characterized in that, The support structure further includes a third driving component, a third transmission component, and a fourth transmission component. The third transmission component is rotatably connected to the first support component, and the fourth transmission component is rotatably connected to the second support component. The third driving component is connected to the third transmission component and the fourth transmission component respectively, and is used to drive the third transmission component and the fourth transmission component to move independently.

12. The robotic arm according to claim 11, characterized in that, 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.

13. The robotic arm according to claim 12, characterized in that, Both the third and fourth transmission components include a slider, one side of which is connected to the corresponding mover, and the side of the slider facing away from the mover is rotatably connected to the corresponding support component. At least one of the third transmission component and the fourth transmission component further includes a connecting arm, one end of which is connected to the corresponding slider, and the other end of which is rotatably connected to the corresponding support component. Both the first support member and the second support member are connecting rods.

14. The robotic arm according to any one of claims 1 to 13, characterized in that, The robotic arm also includes a base and a moving mechanism. The first support mechanism and the second support mechanism are disposed on the base, and the base is disposed on the moving mechanism. The moving mechanism is used to drive the base to move.

15. The robotic arm according to any one of claims 1 to 13, characterized in that, The robotic arm also includes a first base, a second base, and a moving mechanism. The first support mechanism is disposed on the first base, the second support mechanism is disposed on the second base, and the first base or the second base is disposed on the moving mechanism. The moving mechanism is used to drive the base thereon to move.

16. A powder scooping device, characterized in that, It includes a working mechanism and a robotic arm as described in any one of claims 1 to 15, wherein the working mechanism is connected to a first support mechanism and a second support mechanism of the robotic arm and is used to perform a powder scooping operation.

17. The powder scooping device according to claim 16, characterized in that, The working mechanism includes a first powder-scooping drive and a powder-scooping component. The first powder-scooping drive is connected to one end of the powder-scooping component and is used to drive the powder-scooping component to move. The first support mechanism is connected to the first powder-scooping drive, and the second support mechanism is connected to the powder-scooping component. The end of the powder-scooping component away from the first powder-scooping drive has a scooping spoon.

18. The powder scooping device according to claim 17, characterized in that, The powder scooping component includes a sliding sleeve and a powder scooping rod. The sliding sleeve 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 one end of the powder scooping rod. The first powder scooping drive component is used to drive the guide shaft to rotate so as to drive the powder scooping rod to rotate. The end of the powder scooping rod away from the guide shaft has the scooping spoon. The second support mechanism is connected to the bushing.

19. The powder scooping device according to claim 18, characterized in that, 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.

20. The powder scooping device according to claim 18 or 19, characterized in that, The powder scooping component also includes an adapter, one end of which is detachably connected to the guide shaft, and the other end of which is detachably connected to the powder scooping rod.

21. The powder scooping device according to any one of claims 17-20, characterized in that, Both the first support mechanism and the second support mechanism include a support structure and a connector. 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 of the first support mechanism is connected to the first powder-scooping drive component, and the second rotating component of the second support mechanism is connected to the powder-scooping component.

22. The powder scooping device according to claim 16, characterized in that, The working mechanism includes a second powder-scooping drive component, a first powder-scooping transmission component, a third powder-scooping drive component, a second powder-scooping transmission component, and a powder-scooping component. The first powder-scooping transmission component and the second powder-scooping transmission component are both connected to the powder-scooping component. The first support mechanism is connected to the second powder-scooping drive component, the second powder-scooping drive component is connected to the first powder-scooping transmission component, the second support mechanism is connected to the third powder-scooping drive component, and the third powder-scooping drive component is connected to the second powder-scooping transmission component. The first support mechanism and the second support mechanism are both movably connected to the powder-scooping component. The end of the powder-scooping component away from the second powder-scooping drive component has a scooping spoon. The second powder-scooping drive component and the third powder-scooping drive component 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, through the corresponding powder-scooping transmission component.

23. The powder scooping device according to claim 22, characterized in that, The powder scooping component includes a lead screw shaft, a first nut, a second nut, and a powder scooping rod. The first support mechanism is rotatably connected to the first nut, the first powder scooping transmission component is connected to the first nut, the second support mechanism is rotatably connected to the second nut, the second 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, and the end of the powder scooping rod away from the lead screw shaft has the 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 helically along the axial direction and a straight groove extending linearly along the axial direction. The lead screw nut is engaged with the helical groove, and the spline nut is engaged 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, and a combination of movement and rotation.

24. The powder scooping device according to claim 23, characterized in that, At least one of the first and second powder-scooping transmission components includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt connecting the first and second synchronous pulleys. The first synchronous pulley is connected to a corresponding powder-scooping drive component, and the second synchronous pulley is connected to a corresponding nut; or... At least one of the first powder-scooping transmission component and the second powder-scooping transmission component includes a first gear and a second gear that mesh with each other. The first gear is connected to a corresponding powder-scooping drive component, and the second gear is connected to a corresponding nut.

25. The powder scooping device according to any one of claims 22-24, characterized in that, Both the first support mechanism and the second support mechanism include a support structure and a connector. 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 of the first support mechanism is connected to the second powder-scooping drive member, and is also movably connected to the powder-scooping member. The second rotating member of the second support mechanism is connected to the third powder-scooping drive member, and is also movably connected to the powder-scooping member.

26. The powder scooping device according to any one of claims 16-25, characterized in that, It also includes a container and a target container, wherein the container contains powder, and the robotic arm drives the working mechanism to move so that the working mechanism scoops out the powder from the container and transfers it to the target container.

27. An experimental apparatus, characterized in that, It includes the robotic arm as described in any one of claims 1 to 15, or the powder scooping device as described in any one of claims 16 to 26.

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