Self-adaptive adjusting mechanical arm for drilling angle of mining drilling machine

Abstract

The invention relates to the technical field of mining mechanical equipment, in particular to a drilling angle self-adaptive adjusting mechanical arm of a mining drilling machine. The technical problems that in the working process of daily use of a traditional mining drilling machine, a traditional mechanical arm is poor in adaptability and low in track control precision under complex geological conditions are solved. According to the technical scheme, the drilling angle self-adaption adjusting mechanical arm of the mining drilling machine comprises a connecting arm, a self-adaption assembly, an adjusting assembly, a drilling assembly, a displacement assembly, a framework assembly and a dust falling assembly, the self-adaption assembly is arranged on the inner side of the connecting arm, the adjusting assembly is arranged on one side of the mechanical arm, the drilling assembly is arranged at one end of the self-adaption assembly, and the dust falling assembly is arranged at the other end of the self-adaption assembly. A displacement assembly is arranged above the connecting arm; under the soft rock condition, the cross coupling ensures the track control precision; when the rock stratum hardness changes suddenly, the locking mechanism is triggered to control the angle fluctuation; the problems that a traditional mechanical arm is poor in adaptability and low in track control precision under complex geological conditions are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mining machinery and equipment, and particularly to a robotic arm for adaptively adjusting the drilling angle of a mining drill rig. Background Art

[0002] The existing robotic arms of mining drill rigs mainly adopt fixed or manually adjustable structural designs. Their drilling angle adjustment systems are usually realized by hydraulic drive or electric push rods in cooperation with mechanical limit devices. During the drilling process of such equipment, the drilling angle needs to be preset manually. The pitching joint and rotating joint of the robotic arm are controlled through an operation console for rough adjustment. The drilling assembly is connected to the transmission system through a universal joint or a rigid coupling. When operating in homogeneous rock formations, this structure can complete the drilling operation by presetting parameters, but it has significant limitations under complex geological conditions.

[0003] Geological exploration shows that the rock formations in mines generally have complex structures with alternating hard and soft layers. When the drilling trajectory crosses rock layers of different hardnesses, the axial reaction force on the drill bit will undergo sudden changes. The drilling angle adjustment system of the traditional robotic arm lacks a real-time feedback mechanism. Its rigid coupling is prone to angular deviation due to reduced resistance in soft rock layers, resulting in the drilling trajectory deviating from the designed axis. In hard rock layers, due to the sudden increase in the reaction force, the coupling without an adaptive locking function will cause excessive deflection of the drill bit, accelerating the fatigue damage of the drill pipe. This design defect leads to poor drilling forming quality and an increase in equipment failure rate. Especially during the construction of gas drainage holes in inclined coal seams, when the drilling enters a sandy gravel layer with a higher hardness coefficient from a sandstone layer with a lower hardness coefficient, the drilling angle deviation of the traditional robotic arm is relatively large, causing the extraction hole trajectory to deviate from the target coal seam. In the prospecting operation of metal mines, the angular sudden change at the interface between hard and soft rock layers will lead to a decrease in the core recovery rate.

[0004] Therefore, in view of the above problems, a robotic arm for adaptively adjusting the drilling angle of a mining drill rig is proposed. Under soft rock conditions, the floating angle range of the cross coupling is limited within a certain range to ensure the trajectory control accuracy. When the rock hardness suddenly changes, the contact sensing structure triggers the locking mechanism to control the angular fluctuation, solving the problems of poor adaptability and low trajectory control accuracy of the traditional robotic arm under complex geological conditions. Summary of the Invention

[0005] In order to overcome the problems of poor adaptability and low trajectory control accuracy of the traditional robotic arm under complex geological conditions during the daily operation of traditional mining drill rigs.

[0006] The technical solution of the present invention is as follows: a mining drill hole angle self-adaptive adjustment robotic arm, including a connecting arm, a self-adaptive component, an adjustment component, a drilling component, a displacement component, a framework component and a dust reduction component. The self-adaptive component is arranged inside the connecting arm, the adjustment component is arranged on one side of the robotic arm, one end of the self-adaptive component is provided with the drilling component, the displacement component is arranged above the connecting arm, the framework component is arranged above the displacement component, and the dust reduction component is arranged above the displacement component. The self-adaptive component includes a drilling motor, a rotating shaft, a cross coupling, a connecting rod, a fixing plate, a telescopic rod, a first connecting block, a first ball, a contact rod, a contact button, a return spring, a second connecting block and a second ball. A drilling motor is arranged at one end of the connecting arm, a rotating shaft is arranged at the output end of the drilling motor, a cross coupling is arranged at one end of the rotating shaft, the other end of the cross connector is provided with a connecting rod, a fixing plate is arranged at one end of the connecting arm, there are two groups of fixing plates, a telescopic rod is arranged on one side of the fixing plate, a first connecting block is arranged at one end of the telescopic rod, a first ball is arranged inside the first connecting block, a contact rod is arranged inside the telescopic rod, a contact button is arranged inside the telescopic rod, a return spring is arranged outside the telescopic rod, a second connecting block is arranged outside the connecting rod, there are two groups of second connecting blocks, and a second ball is arranged inside the second connecting block.

[0007] Preferably, by starting the drilling motor to drive the rotation of the rotating shaft, the rotation of the rotating shaft drives the rotation of the cross coupling, the rotation of the cross coupling drives the rotation of the connecting rod, and the rotation of the connecting rod drives the rotation of the drilling structure to drill. When the drilling end encounters soft rock, the resistance received by the drilling end is small. The cross coupling can make the connecting rod adjust the angle within a certain range, so as to adaptively fine-tune the angle of the drilling end. When the drilling end encounters hard rock, the reaction force of the drilling end increases, causing the angle change of the connecting rod to increase and the angle deviation of the connecting rod to become larger. When the deviation angle of the connecting rod becomes larger, it will press the first connecting block and the ball outside it. The first connecting block generates linear movement to drive the telescopic rod to expand and contract. When the telescopic rod expands and contracts, it drives the contact rod to move linearly. When the contact rod moves linearly to a certain extent, one end of the contact rod presses the contact button. After the contact rod presses the contact button, the two groups of second connecting blocks perform relative linear movement, and the connecting rod is clamped by the two groups of second balls, so as to lock the angle change of the connecting rod and prevent the angle change of the drilling structure from being too large to affect normal drilling. The return spring is used to reset the first connecting block, so as to adaptively adjust the angle change of the drilling structure when encountering hard rock and soft rock, match different rock layer characteristics, and improve the environmental adaptability and trajectory control accuracy of the drilling equipment.

[0008] Preferably, the adjustment component includes a connecting frame, a connecting seat and a fixed seat. A connecting frame is arranged at one end of the connecting arm, a connecting seat is arranged at one end of the connecting frame, and a fixed seat is arranged on one side of the connecting seat.

[0009] Preferably, the adjusting assembly further includes a driving motor, a worm and a worm gear. A driving motor is arranged on one side of the fixed seat, a worm is arranged at the output end of the driving motor, a worm gear is arranged outside the worm, and the worm and the worm gear are meshed and connected.

[0010] Preferably, the adjusting assembly further includes a connecting disc, a sliding groove, a sliding block, a round rod and a moving block. A connecting disc is fixedly connected to one side of the worm gear. A sliding groove is formed on one side of the connecting disc. Two groups of sliding grooves are symmetrically arranged. Sliding blocks are arranged inside the sliding grooves, and the sliding blocks are slidably connected to the sliding grooves. A round rod is arranged on one side of the sliding block, a moving block is arranged outside the round rod, the moving block is slidably connected to the connecting seat, and the moving block is rotatably connected to the round rod.

[0011] Preferably, the drilling assembly includes a connecting shaft and a drill rod. A connecting shaft is arranged at one end of the connecting rod, and a drill rod is arranged at one end of the connecting shaft.

[0012] Preferably, the displacement assembly includes a fixed frame and a displacement motor. A fixed frame is arranged above the connecting arm, and a displacement motor is arranged on one side of the fixed frame.

[0013] Preferably, the displacement assembly further includes a threaded rod. The threaded rod is arranged at the output end of the displacement motor, and the threaded rod is threadedly connected to the connecting arm.

[0014] Preferably, the framework assembly includes a robotic arm frame and a base. A robotic arm frame is arranged above the fixed frame, and a base is arranged below the robotic arm frame.

[0015] Preferably, the dust reduction assembly includes a water pump and a spray pipe. A water pump is arranged above the fixed frame, and a spray pipe is arranged at the output end of the water pump.

[0016] Preferably, the dust reduction assembly further includes a conduit and a water storage tank. A conduit is arranged at the input end of the water pump, and a water storage tank is arranged at one end of the conduit.

[0017] Advantages of the present invention: By starting the drilling motor to drive the rotating shaft to rotate, the rotating shaft drives the cross coupling to rotate, the cross coupling drives the connecting rod to rotate, and the connecting rod drives the drilling structure to rotate for drilling. When the drilling end encounters soft rock, the resistance received by the drilling end is small, and the cross coupling enables the connecting rod to adjust the angle within a certain range, thereby adaptively fine-tuning the angle of the drilling end. When the drilling end encounters hard rock, the reaction force of the drilling end increases, causing the angle change of the connecting rod to increase and the angle offset of the connecting rod to become larger. When the offset angle of the connecting rod becomes larger, it will press the first connecting block and the ball outside it. The first connecting block generates a linear movement to drive the telescopic rod to expand and contract. When the telescopic rod expands and contracts, it drives the contact rod to move linearly. When the contact rod moves linearly to a certain extent, one end of the contact rod presses the contact button. After the contact rod presses the contact button, the two second connecting blocks perform a relative linear movement, and the connecting rod is clamped through the two second balls, thereby locking the angle change of the connecting rod and preventing the angle change of the drilling structure from being too large to affect normal drilling. The return spring is used to reset the first connecting block, and thus, by adaptively adjusting the angle change of the drilling structure when encountering hard rock and soft rock, it can match different rock layer characteristics and improve the environmental adaptability and trajectory control accuracy of the drilling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is the first three-dimensional structural schematic diagram of the drilling angle adaptive adjustment robotic arm of the mine drilling rig of the present invention; Figure 2 Shown is the second three-dimensional structural schematic diagram of the drilling angle adaptive adjustment robotic arm of the mine drilling rig of the present invention; Figure 3 Shown is the sectional three-dimensional structural schematic diagram of the drilling angle adaptive adjustment robotic arm of the mine drilling rig of the present invention; Figure 4 Shown is the partial sectional structural schematic diagram of the drilling angle adaptive adjustment robotic arm of the mine drilling rig of the present invention; Figure 5 Shown is the first partial structural schematic diagram of the drilling angle adaptive adjustment robotic arm of the mine drilling rig of the present invention; Figure 6 Shown is the second partial structural schematic diagram of the drilling angle adaptive adjustment robotic arm of the mine drilling rig of the present invention; Description of reference numerals: 1, connecting arm; 101, drilling motor; 102, rotating shaft; 103, cross coupling; 104, connecting rod; 105, fixing plate; 106, telescopic rod; 107, first connecting block; 108, first ball; 109, contact rod; 110, contact button; 111, reset spring; 112, second connecting block; 113, second ball; 201, connecting frame; 202, connecting seat; 203, fixing Fixed seat; 204, driving motor; 205, worm; 206, worm wheel; 207, connecting plate; 208, slide groove; 209, slider; 210, round rod; 211, moving block; 301, connecting shaft; 302, drill rod; 401, fixing frame; 402, displacement motor; 403, threaded rod; 501, mechanical arm frame; 502, base; 601, water pump; 602, nozzle; 603, conduit; 604, water tank. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] See also Figure 1 and Figure 2 The present invention provides an embodiment: a mechanical arm for self-adapting the drilling angle of a mining drill, comprising a connecting arm 1, an adaptive component, an adjustment component, a drilling component, a displacement component, a framework component and a dust reduction component, an adaptive component is arranged on the inner side of the connecting arm 1, an adjustment component is arranged on one side of the mechanical arm, a drilling component is arranged on one end of the adaptive component, a displacement component is arranged above the connecting arm 1, a framework component is arranged above the displacement component, a dust reduction component is arranged above the displacement component, the adaptive component comprises a drilling motor 101, a rotating shaft 102, a cross coupling 103, a connecting rod, a fixing plate 105, a telescopic rod 106, a first connecting block 107, a first ball 108, a contact rod 109, a contact button 110, a reset spring 111, a second connecting block 112 and a second ball 113, one end of the connecting arm 1 is arranged A drilling motor 101 is provided, a rotating shaft 102 is provided at the output end of the drilling motor 101, a cross coupling is provided at one end of the rotating shaft 102, a connecting rod 104 is provided at the other end of the cross connector, a fixing plate 105 is provided at one end of the connecting arm 1, two groups of fixing plates 105 are provided, a telescopic rod 106 is provided on one side of the fixing plate 105, a first connecting block 107 is provided at one end of the telescopic rod 106, a first ball 108 is provided on the inner side of the first connecting block 107, a contact rod 109 is provided on the inner side of the telescopic rod 106, a contact button 110 is provided on the inner side of the telescopic rod 106, a reset spring 111 is provided on the outer side of the telescopic rod 106, a second connecting block 112 is provided on the outer side of the connecting rod 104, two groups of the second connecting block 112 are provided, and a second ball 113 is provided on the inner side of the second connecting block 112.

[0021] See alsoFigure 3 and Figure 4 , in this embodiment, the adjusting assembly includes a connecting frame 201, a connecting seat 202 and a fixing seat 203. One end of the connecting arm 1 is provided with the connecting frame 201. One end of the connecting frame 201 is provided with the connecting seat 202. One side of the connecting seat 202 is provided with the fixing seat 203. The adjusting assembly further includes a driving motor 204, a worm 205 and a worm gear 206. One side of the fixing seat 203 is provided with the driving motor 204. The output end of the driving motor 204 is provided with the worm 205. The outside of the worm 205 is provided with the worm gear 206. The worm 205 and the worm gear 206 are meshed and connected. The adjusting assembly further includes a connecting disc 207, a sliding groove 208, a sliding block 209, a round rod 210 and a moving block 211. One side of the worm gear 206 is fixedly connected with the connecting disc 207. One side of the connecting disc 207 is provided with the sliding groove 208. Two groups of sliding grooves 208 are symmetrically arranged. The inside of the sliding groove 208 is provided with the sliding block 209. The sliding block 209 and the sliding groove 208 are slidably connected. One side of the sliding block 209 is provided with the round rod 210. The outside of the round rod 210 is provided with the moving block 211. The moving block 211 and the connecting seat 202 are slidably connected. The moving block 211 and the round rod 210 are rotatably connected. When in use, when the contact rod 109 presses the contact button 110, the driving motor 204 is started to drive the worm 205 to rotate. By the rotation of the worm 205, the worm gear 206 is driven to rotate. By the rotation of the worm gear 206, the connecting disc 207 is driven to rotate. By the rotation of the connecting disc 207, the sliding block 209 is driven to slide along the inside of the sliding groove 208, so as to drive the two moving blocks 211 to move relatively. By the linear movement of the moving block 211, the two second connecting blocks 112 are driven to perform relative linear movement.

[0022] Please refer to Figure 5 and Figure 6, in this embodiment, the drilling assembly includes a connecting shaft 301 and a drill pipe 302. One end of the connecting rod 104 is provided with a connecting shaft 301, and one end of the connecting shaft 301 is provided with a drill pipe 302. During use, the connecting shaft 301 is driven to rotate by the rotation of the connecting rod 104, and the drill pipe 302 is driven to rotate by the rotation of the connecting shaft 301. The displacement assembly includes a fixed frame 401 and a displacement motor 402. The fixed frame 401 is arranged above the connecting arm 1, and the displacement motor 402 is arranged on one side of the fixed frame 401. The displacement assembly further includes a threaded rod 403. The output end of the displacement motor 402 is provided with the threaded rod 403, and the threaded rod 403 is threadedly connected to the connecting arm 1. During use, the displacement motor 402 is started to drive the threaded rod 403 to rotate, and the connecting arm 1 is driven to move linearly by the rotation of the threaded rod 403, so as to adjust the feed pressure during drilling at the drilling end. The frame assembly includes a robotic arm frame 501 and a base 502. The robotic arm frame 501 is arranged above the fixed frame 401, and the base 502 is arranged below the robotic arm frame 501. The dust reduction assembly includes a water pump 601 and a spray pipe 602. The water pump 601 is arranged above the fixed frame 401, and the output end of the water pump 601 is provided with the spray pipe 602. The dust reduction assembly further includes a conduit 603 and a water storage tank 604. The input end of the water pump 601 is provided with the conduit 603, and one end of the conduit 603 is provided with the water storage tank 604. During use, the water pump 601 is started to export the liquid in the water storage tank 604 along the conduit 603 and spray it out from the spray pipe 602 to perform dust reduction treatment on the dust generated during drilling at the drilling end.

[0023] During operation, first start the drilling motor 101, and its output end drives the rotating shaft 102 to rotate. The torque is transmitted to the connecting rod 104 through the cross coupling, and finally drives the drill pipe 302 to perform drilling operations. In homogeneous rock formations or soft rock formations, the floating angle characteristic of the cross coupling is activated, allowing the connecting rod 104 to perform adaptive fine-tuning within a certain range to compensate for the bit offset caused by changes in rock formation resistance. At this time, the first connecting block 107 maintains its initial position under the action of the return spring 111, and the second connecting block 112 and the second ball 113 inside it are in a relaxed state to ensure the smoothness of the drilling trajectory. The displacement assembly drives the threaded rod 403 to rotate through the displacement motor 402, and can adjust the feed pressure of the connecting arm 1 in real time to control the drilling depth and rate; When the drilling trajectory crosses the hard and soft alternating rock formation, the device realizes angle control through dual-mode sensing, specifically: Soft rock formation state: The resistance of the drill bit suddenly decreases. When the axial load of the cross coupling decreases, the floating angle range automatically increases. Flexible angle compensation is achieved through the clearance fit between the first ball 108 and the connecting rod 104 to avoid trajectory deviation.

[0024] Hard rock layer state: When the reaction force of the drill bit exceeds the preset threshold, the connecting rod 104 generates a radial displacement to press the first connecting block 107, triggering the contact rod 109 to move inward along the telescopic rod 106 and press the contact button 110. This signal activates the drive motor 204 in the adjustment assembly, driving the connection disk 207 to rotate through the worm 205 - worm gear 206 reduction mechanism, and driving the slider 209 to move along the chute 208. The two groups of second connecting blocks 112 move towards each other under the guidance of the round rod 210, causing the second balls 113 to clamp the connecting rod 104 and restricting its angular fluctuation; During the entire drilling process, the dust reduction structure uses a water pump 601 to direct the water mist in the water storage tank 604 through the spray pipe 602 to the drilling area, reducing the dust concentration.

[0025] Through the above steps, the drilling motor 101 is started to drive the rotating shaft 102 to rotate. The rotation of the rotating shaft 102 drives the cross coupling to rotate. The rotation of the cross coupling drives the connecting rod 104 to rotate. The rotation of the connecting rod 104 drives the drilling structure to rotate for drilling. When the drilling end encounters soft rock, the resistance received by the drilling end is small. The cross coupling enables the connecting rod 104 to adjust its angle within a certain range, thereby adaptively fine-tuning the angle of the drilling end. When the drilling end encounters hard rock, the reaction force of the drilling end increases, causing a greater change in the angle of the connecting rod 104 and a larger angular deviation of the connecting rod 104. When the angular deviation of the connecting rod 104 becomes larger, it presses the first connecting block 107 and the balls outside it. The first connecting block 107 generates a linear movement to drive the telescopic rod 106 to expand and contract. When the telescopic rod 106 expands and contracts, it drives the contact rod 109 to move linearly. When the contact rod 109 moves linearly to a certain extent, one end of the contact rod 109 presses the contact button 110. After the contact rod 109 presses the contact button 110, the two groups of second connecting blocks 112 perform a relative linear movement, using the two groups of second balls 113 to clamp the connecting rod 104, thereby locking the angular change of the connecting rod 104 and preventing the large angular change of the drilling structure from affecting normal drilling. The return spring 111 is used to reset the first connecting block 107, and thus can also adaptively adjust the angular change of the drilling structure when encountering hard rock and soft rock, matching different rock layer characteristics, improving the environmental adaptability and trajectory control accuracy of the drilling equipment.

[0026] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the gist of the present invention.

Claims

1. The robotic arm for adaptively adjusting the drilling angle of a mine drill includes a connecting arm (1), and is characterized in that: It also includes an adaptive component, an adjustment component, a drilling component, a displacement component, a framework component, and a dust suppression component. An adaptive component is provided on the inner side of the connecting arm (1), an adjustment component is provided on one side of the robotic arm, a drilling component is provided at one end of the adaptive component, a displacement component is provided above the connecting arm (1), a framework component is provided above the displacement component, and a dust suppression component is provided above the displacement component. The adaptive component includes a drilling motor (101), a rotating shaft (102), a cross coupling (103), a connecting rod, a fixing plate (105), a telescopic rod (106), a first connecting block (107), a first ball (108), a contact rod (109), a contact button (110), a return spring (111), a second connecting block (112), and a second ball (113). A drilling motor (101) is provided at one end of the connecting arm (1), a rotating shaft (102) is provided at the output end of the drilling motor (101), a cross coupling is provided at one end of the rotating shaft (102), and a connecting rod (104) is provided at the other end of the cross connector. A fixing plate (105) is provided at one end of the connecting arm (1), two groups of fixing plates (105) are provided, a telescopic rod (106) is provided on one side of the fixing plate (105), a first connecting block (107) is provided at one end of the telescopic rod (106), a first ball (108) is provided inside the first connecting block (107), a contact rod (109) is provided inside the telescopic rod (106), a contact button (110) is provided inside the telescopic rod (106), a return spring (111) is provided outside the telescopic rod (106), a second connecting block (112) is provided outside the connecting rod (104), two groups of second connecting blocks (112) are provided, and a second ball (113) is provided inside the second connecting block (112).

2. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim 1, characterized in that: The adjustment component includes a connecting frame (201), a connecting seat (202), and a fixing seat (203). A connecting frame (201) is provided at one end of the connecting arm (1), a connecting seat (202) is provided at one end of the connecting frame (201), and a fixing seat (203) is provided on one side of the connecting seat (202).

3. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim 2, characterized in that: The adjustment component further includes a driving motor (204), a worm (205), and a worm gear (206). A driving motor (204) is provided on one side of the fixing seat (203), a worm (205) is provided at the output end of the driving motor (204), a worm gear (206) is provided outside the worm (205), and the worm (205) and the worm gear (206) are meshed and connected.

4. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim 3, characterized in that: The adjustment assembly further includes a connection disk (207), a sliding groove (208), a sliding block (209), a round rod (210) and a moving block (211). One side of the worm gear (206) is fixedly connected to the connection disk (207). A sliding groove (208) is formed on one side of the connection disk (207). Two groups of sliding grooves (208) are symmetrically arranged. A sliding block (209) is arranged inside the sliding groove (208). The sliding block (209) is slidably connected to the sliding groove (208). A round rod (210) is arranged on one side of the sliding block (209). A moving block (211) is arranged on the outer side of the round rod (210). The moving block (211) is slidably connected to the connection seat (202). The moving block (211) is rotatably connected to the round rod (210).

5. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim 1, characterized in that: The drilling assembly includes a connecting shaft (301) and a drill rod (302). One end of the connecting rod (104) is provided with the connecting shaft (301). One end of the connecting shaft (301) is provided with the drill rod (302).

6. The robotic arm for adaptively adjusting the drilling angle of the mine drill according to claim 1, characterized in that: The displacement assembly includes a fixed frame (401) and a displacement motor (402). The fixed frame (401) is arranged above the connecting arm (1). The displacement motor (402) is arranged on one side of the fixed frame (401).

7. The manipulator for adaptively adjusting the drilling angle of a mine drill according to claim 6, wherein: The displacement assembly further includes a threaded rod (403). The output end of the displacement motor (402) is provided with the threaded rod (403). The threaded rod (403) is threadedly connected to the connecting arm (1).

8. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim 6, characterized in that: The framework assembly includes a robotic arm frame (501) and a base (502). The robotic arm frame (501) is arranged above the fixed frame (401). The base (502) is arranged below the robotic arm frame (501).

9. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim 6, wherein: The dust reduction assembly includes a water pump (601) and a spray pipe (602). The water pump (601) is arranged above the fixed frame (401). The output end of the water pump (601) is provided with the spray pipe (602).

10. The robotic arm for adaptively adjusting the drilling angle of a mining drill according to claim (9), characterized in that: The dust reduction assembly further includes a conduit (603) and a water storage tank (604). The input end of the water pump (601) is provided with the conduit (603). One end of the conduit (603) is provided with the water storage tank (604).

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