Hole aligning mechanical arm

Abstract

The utility model provides a hole aligning mechanical arm which comprises a fixed seat, a bending arm, a mounting seat and a linear driving mechanism, a first end of the bending arm is hinged to the fixed seat, a second end of the bending arm is hinged to the mounting seat, the bending arm comprises a plurality of joint sections and a plurality of diagonal draw bars, the joint sections are sequentially hinged end to end, and the diagonal draw bars are hinged to the mounting seat. The first ends of the diagonal draw bars located on the periphery of the current joint section are hinged to the lower portion of the hinge axis of the previous joint section, and the second ends of the diagonal draw bars located on the periphery of the current joint section are hinged to the upper portion of the hinge axis of the next joint section. The linear driving mechanism drives the joint sections spaced from the fixed seat to rotate relative to the joint sections adjacent to the fixed seat, and under the constraint action of the diagonal draw bar, the joint sections generate composite motion, so that the bent arm is bent. The whole hole aligning mechanical arm can be driven to be bent only through a single linear driving mechanism, coordinated work of a plurality of driving mechanisms is not needed, and control is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of explosive charging and conveying equipment, and particularly relates to a hole-aligning robotic arm. Background Art

[0002] In the existing blasting construction links such as underground mine exploitation, roadway driving, and tunnel construction, a bulk emulsion explosive charging vehicle or an ammonium nitrate fuel oil explosive charging vehicle is needed to carry out on-site charging construction. The explosive is conveyed to the blast holes to be loaded through the conveying pipeline on the charging vehicle. Before loading, the charging vehicle needs to be moved near the blast holes, and the conveying pipe for conveying the explosive is accurately inserted into the blast holes through a positioning device, and then the explosive is conveyed into the blast holes to load the blast holes.

[0003] In the process of positioning the blast holes by using the existing mechanical structure, the structure of the existing hole-aligning mechanism is too complex. Multiple oil cylinders and multiple sets of connecting rods are needed to combine to realize the constant-speed bending action to realize the automatic hole-aligning function of the charging vehicle. And multiple oil cylinders need to be linked and controlled, the control structure is complex, and faults are likely to occur. Not only the production cost is high, but also it is not conducive to the later maintenance work.

[0004] In summary, there is an urgent need for a hole-aligning robotic arm to solve or at least partially solve the problems existing in the prior art. Content of the Utility Model

[0005] The purpose of the utility model is to provide a hole-aligning robotic arm, aiming at solving the problem that the existing equipment needs to adopt multiple hydraulic cylinders for linked control, and precise control of the oil cylinders of each arm is required, the structure is too complex and not easy to control. The specific technical solution is as follows:

[0006] A hole-aligning robotic arm includes a fixed seat, a bending arm, a mounting seat, and a linear driving mechanism. The first end of the bending arm is hinged to the fixed seat, the second end of the bending arm is hinged to the mounting seat. The bending arm includes multiple joint segments and multiple diagonal tie rods. The multiple joint segments are sequentially hinged end to end. The first end of the diagonal tie rod outside the current joint segment is hinged below the hinge axis of the previous joint segment, and the second end of the diagonal tie rod outside the current joint segment is hinged above the hinge axis of the next joint segment. By driving the joint segment spaced from the fixed seat to rotate relative to the joint segment adjacent to the fixed seat through the linear driving mechanism, under the constraint of the diagonal tie rod, each joint segment generates a composite movement, so that the bending arm bends.

[0007] Furthermore, a plurality of joint segments and diagonal tie rods are provided. The fixed seat, the plurality of joint segments and the mounting seat are sequentially hinged end to end. The joint segments arranged alternately are connected by diagonal tie rods. The linear drive mechanism is arranged between the joint segments that are alternately arranged with the fixed seat, and the linear drive mechanism is used to drive the joint segment that is alternately arranged with the fixed seat to rotate relative to the joint segment that is adjacent to the fixed seat. The diagonal tie rod is used to drive the joint segment to rotate relative to another alternately arranged joint segment.

[0008] Furthermore, connection points A, B, C, and D are arranged on each joint segment, and the connection points A, B, C, and D form the four corner points of the quadrilateral joint segment. The connection point A on each joint segment is hinged to the connection point B on the adjacent joint segment so that the plurality of joint segments are connected end to end. The adjacent joint segments are connected by being sequentially hinged end to end. The connection points B and D are arranged on the fixed seat, and the connection points A and C are arranged on the mounting seat. The connection point B on the fixed seat is hinged to the connection point A on the adjacent joint segment, and the connection point A on the mounting seat is hinged to the connection point B on the adjacent joint segment; one end of the diagonal tie rod is hinged to the connection point C on the joint segment, and the other end of the diagonal tie rod is hinged to the connection point D on another alternately arranged joint segment. One end of the linear drive mechanism is hinged to the connection point D on the fixed seat, and the other end of the linear drive mechanism is hinged to the connection point C on the adjacent joint segment. The connection point C on the mounting seat is hinged to the adjacent diagonal tie rod.

[0009] Furthermore, diagonal tie rods are arranged on both sides of the joint segment, and the diagonal tie rods on both sides are symmetrically arranged.

[0010] Furthermore, a guiding port is provided in the fixed seat. The guiding port is arranged in a flared shape, and the large diameter of the guiding port faces the end of the fixed seat away from the joint segment.

[0011] Furthermore, a guiding roller group is arranged on the joint segment. The guiding roller group is arranged in two rows, and a guiding channel is enclosed between the two rows of guiding roller groups. The guiding channels on adjacent two joint segments are arranged in butt joint.

[0012] Furthermore, the guiding roller group includes a plurality of guiding rollers. The guiding roller includes a wheel body, a spacer sleeve, and a fitting shaft. The fitting shaft is fixedly connected to the joint segment, and the fitting shaft is arranged perpendicular to the guiding channel in space. The spacer sleeve is sleeved on the fitting shaft and is rotatably connected to the fitting shaft. The wheel body is coaxially sleeved on the spacer sleeve.

[0013] Furthermore, a scraping mechanism is provided at the downstream end of the mounting seat. The scraping mechanism includes a scraping bracket and a scraper. A through hole is provided in the scraping bracket, and the scraper is arranged in the through hole.

[0014] Further, a return material collection assembly is arranged at the downstream end of the mounting seat. The return material collection assembly includes a collection hopper and a collection pipe. The collection pipe is arranged on the collection hopper and extends from the side of the collection hopper. The open end of the collection hopper faces the downstream end of the joint segment.

[0015] Further, the return material collection assembly further includes a flexible sleeve, which is detachably connected to the open end of the collection hopper.

[0016] Applying the technical solution of the present utility model has the following beneficial effects:

[0017] During the working process, through the extension or contraction of the linear drive mechanism, the joint segment spaced from the fixed seat is driven to rotate relative to the joint segment adjacent to the fixed seat. The joint segment spaced from the fixed seat and the joint segment adjacent to the fixed seat are hinged. When a joint segment rotates relative to another adjacent joint segment, the diagonal tie rod will drive the spaced joint segment to rotate in the same direction. Multiple diagonal tie rods are linked with multiple joint segments at the same time, so that the entire hole-aligning robotic arm bends. It realizes that a single linear drive mechanism drives the entire hole-aligning robotic arm to bend. The linear drive mechanism can be a hydraulic cylinder or an electric push rod. This structural method reduces the number of linear drive mechanisms used. Only a single linear drive mechanism is needed to drive the entire robotic arm to rotate. The production and manufacturing cost is lower, the maintenance is more convenient and efficient. At the same time, after reducing the number of linear drive mechanisms used, it is beneficial to operation and can reduce the failure rate to a certain extent.

[0018] In addition to the purposes, features and advantages described above, the present utility model has other purposes, features and advantages. The following will refer to Figures 1 - 10 , and make a further detailed description of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0020] Figure 1 is one of the overall structural schematic diagrams of a hole-aligning robotic arm of the present utility model;

[0021] Figure 2 is the other overall structural schematic diagram of a hole-aligning robotic arm of the present utility model;

[0022] Figure 3 is the overall structural schematic diagram of a joint segment in a hole-aligning robotic arm of the present utility model;

[0023] Figure 4 is the structural schematic diagram of a hole-aligning robotic arm of the present utility model;

[0024] Figure 5 It is a schematic internal structure diagram of a joint segment in a hole-aligning robotic arm of the present utility model;

[0025] Figure 6 It is a schematic overall structure diagram of a fixed seat in a hole-aligning robotic arm of the present utility model;

[0026] Figure 7 It is a schematic internal structure diagram of a fixed seat in a hole-aligning robotic arm of the present utility model;

[0027] Figure 8 It is one of the schematic overall structure diagrams of a mounting seat in a hole-aligning robotic arm of the present utility model;

[0028] Figure 9 It is a schematic internal structure diagram of a mounting seat in a hole-aligning robotic arm of the present utility model;

[0029] Figure 10 It is the second schematic overall structure diagram of a mounting seat in a hole-aligning robotic arm of the present utility model.

[0030] Among them, 1, fixed seat; 11, guiding port; 2, bending arm; 21, joint segment; 211, connection point A; 212, connection point B; 213, connection point C; 214, connection point D; 22, guiding roller set; 221, guiding channel; 222, guiding roller; 2221, wheel body; 2222, spacer sleeve; 2223, assembly shaft; 23, diagonal tension rod; 3, mounting seat; 31, scraping mechanism; 311, scraping bracket; 312, scraper; 313, through hole; 32, material return collecting assembly; 321, collecting hopper; 322, collecting pipe; 323, flexible sleeve; 4, linear driving mechanism; 5, rotating mechanism. Detailed implementation manners

[0031] For the convenience of understanding the present utility model, the present utility model will be described more comprehensively below, and preferred embodiments of the present utility model are given. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure content of the present utility model more thorough and comprehensive.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the description of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model.

[0033] Embodiment:

[0034] See Figures 1 - 10, this embodiment provides a hole-aligning robotic arm, which includes a fixed base 1, a bending arm 2, a mounting base 3, and a linear driving mechanism 4. The first end of the bending arm 2 is hinged to the fixed base 1, and the second end of the bending arm 2 is hinged with the mounting base 3. The bending arm 2 includes a plurality of joint segments 21 and diagonal tie rods 23. The plurality of joint segments 21 are sequentially hinged end to end. The first end of the diagonal tie rod 23 surrounding the current joint segment 21 is hinged below the hinge axis of the previous joint segment 21, and the second end of the diagonal tie rod 23 surrounding the current joint segment 21 is hinged above the hinge axis of the next joint segment 21. By driving the joint segment 21 spaced from the fixed base 1 to rotate relative to the joint segment 21 adjacent to the fixed base 1 through the linear driving mechanism 4, under the constraint of the diagonal tie rod 23, each joint segment 21 generates a composite motion, thereby causing the bending arm 2 to bend.

[0035] Specifically, this device is installed on an emulsion explosive truck mixer, mainly installed on the telescopic arm of the emulsion explosive mixer truck. The telescopic arm is connected to the emulsion explosive mixer truck through a turntable. The hole-aligning robotic arm is extended or retracted through the telescopic arm to adjust the front and rear positions, and the telescopic arm is controlled by the turntable to rotate left and right to adjust the left and right positions, so as to move the hole-aligning robotic arm to the blast hole. The bending arm 2 is driven to bend through the linear driving mechanism 4, and the end of the hole-aligning robotic arm far from the telescopic arm is aligned with the blast hole. A hose for transporting emulsion explosive is extended from the emulsion explosive mixer truck, and the hose passes through the inside of the hole-aligning robotic arm and penetrates into the blast hole from the end of the hole-aligning robotic arm far from the telescopic arm for operation.

[0036] The linear driving mechanism 4 is any one of a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. In this embodiment, a hydraulic cylinder is selected. On the one hand, the hydraulic cylinder can stop at any position and can provide a large thrust. On the other hand, due to the incompressibility of the oil, the hydraulic cylinder can stay at any position within the stroke range, and it is not easy to change the position when the load changes, which is beneficial to the stability of the overall structure.

[0037] It can be understood that when the hydraulic cylinder drives the joint segment 21 arranged at intervals from the fixed base 1 to rotate relative to the joint segment 21 arranged adjacent to the fixed base 1, under the constraint of the plurality of diagonal tie rods 23, each joint segment 21 generates a composite motion, thereby causing the bending arm 2 to bend. Specifically, when the hydraulic cylinder extends, the bending arm 2 bends downward; when the hydraulic cylinder contracts, the bending arm 2 bends upward. That is, the entire hole-aligning robotic arm can be controlled to be straightened or bent by a single hydraulic cylinder, which reduces the control difficulty, is easier and more convenient to adjust, and has high adjustment accuracy. In addition, the number of hydraulic cylinders is reduced, the structural complexity is reduced, the equipment use stability is improved, and the production manufacturing and maintenance costs are saved.

[0038] Further, a plurality of joint segments 21 and diagonal tension rods 23 are provided. The fixed seat 1, the plurality of joint segments 21, and the mounting seat 3 are sequentially hinged end to end. The joint segments 21 arranged alternately are connected by the diagonal tension rods 23. The linear drive mechanism 4 is arranged between the fixed seat 1 and the joint segment 21 spaced from the fixed seat 1, and the linear drive mechanism 4 is used to drive the joint segment 21 arranged alternately with the fixed seat 1 to rotate relative to the joint segment 21 arranged adjacent to the fixed seat 1. The diagonal tension rod 23 is used to drive the joint segment 21 to rotate relative to another joint segment 21 arranged alternately. It can be understood that when the linear drive mechanism 4 drives the joint segment 21 arranged alternately with it to rotate relative to the joint segment 21 arranged adjacent to it, the other joint segments 21 are driven to rotate relatively through the diagonal tension rod 23, so that the bending arm 2 bends to one side.

[0039] Specifically, connection points A211, B212, C213, and D214 are arranged on each joint segment 21, and the connection points A211, B212, C213, and D214 form the four corner points of the quadrilateral joint segment 21. The connection point A211 on each joint segment 21 is hinged to the connection point B212 on the adjacent joint segment 21 so that the plurality of joint segments 21 are connected end to end. The adjacent joint segments 21 are sequentially hinged end to end. The connection points B212 and D214 are arranged on the fixed seat 1, and the connection points A211 and C213 are arranged on the mounting seat 3. The connection point B212 on the fixed seat 1 is hinged to the connection point A211 on the adjacent joint segment 21, and the connection point A211 on the mounting seat 3 is hinged to the connection point B212 on the adjacent joint segment 21; one end of the diagonal tension rod 23 is hinged to the connection point C213 on the joint segment 21, and the other end of the diagonal tension rod 23 is hinged to the connection point D214 on another joint segment 21 arranged alternately. One end of the linear drive mechanism 4 is hinged to the connection point D214 on the fixed seat 1, and the other end of the linear drive mechanism 4 is hinged to the connection point C213 on the adjacent joint segment 21. The connection point C213 on the mounting seat 3 is hinged to the adjacent diagonal tension rod 23.

[0040] See Figure 4, define the middle joint segment 21 as the current joint segment 21, the left side as the previous joint segment 21, and the right side as the next joint segment 21; Understandably, when the linear drive mechanism 4 drives the connection point C213 of the current joint segment 21 to move to the left, the current joint segment 21 will rotate counterclockwise around the connection point B212 of the previous joint segment 21. At this time, the next joint segment 21 will also rotate counterclockwise with the current joint segment 21. And during the rotation of the next joint segment 21, it is pulled by the diagonal tie rod 23 connected to the previous joint segment 21 to rotate counterclockwise around the connection point B212 of the current joint segment 21. And so on, the next joint segment 21 after the next joint segment 21 will rotate relative to the connection point B212 of the next joint segment 21 under the action of the diagonal tie rod 23 connected to the current joint segment 21. Thus, the entire bending arm 2 is driven to bend by a single linear drive mechanism 4.

[0041] It should be noted that the connection point C213 is not required for the joint segment 21 adjacent to the fixed seat 1. Therefore, in some embodiments, the joint segment 21 arranged adjacent to the fixed seat 1 does not have the connection point C213.

[0042] Furthermore, diagonal tie rods 23 are arranged on both sides of the joint segment 21, and the diagonal tie rods 23 on both sides are symmetrically arranged. Understandably, through the symmetrical arrangement on both sides, the torques generated by the diagonal tie rods 23 on both sides are balanced, preventing the bending arm 2 from deflecting to both sides during the bending process, which is beneficial to improving the stability of the bending arm 2 and making the bending arm 2 work more stably.

[0043] Furthermore, a guiding port 11 is provided in the fixed seat 1. The guiding port 11 is arranged in a flared shape, and the large diameter of the guiding port 11 faces the end of the fixed seat 1 away from the joint segment 21. Specifically, the hose for transporting emulsion explosive needs to pass through the fixed seat 1. By providing the guiding port 11, the hose passes through the guiding port 11, and the flared guiding port 11 facilitates guiding when the hose is inserted, which is beneficial to the insertion of the hose into the guiding port 11.

[0044] Furthermore, a rotating mechanism is arranged at the upstream end of the fixed seat 1 to drive the fixed seat 1 and other mechanisms connected to the fixed seat 1 to rotate along the axis direction of the guiding port 11. Specifically, when the device is applied in a tunnel or a mine, the upward blast hole may be an inclined drill hole. The bending arm 2 can control the adjustment of the front-back direction angle, while the left-right direction angle is not convenient to adjust. By arranging a rotating mechanism separately at the upstream end of the fixed seat 1 to control the rotation of the fixed seat 1 along the axis direction of the guiding port 11, the bending arm 2 can adjust its left-right direction angle, so as to improve the flexibility of the hole-aligning robotic arm and broaden the working adaptation range of the hole-aligning robotic arm.

[0045] Furthermore, a guiding roller set 22 is arranged on the joint segment 21. The guiding roller set 22 is arranged in two rows, and a guiding channel 221 is defined between the two rows of guiding roller sets 22. The guiding channels 221 on adjacent two joint segments 21 are arranged in butt joint.

[0046] Preferably, the two rows of guiding roller sets 22 are arranged in a concentric circular arc shape. Specifically, when the roller sets are arranged in a concentric circle, the guiding channel 221 is in an arc shape. After the bending arm 2 is bent upward under the drive of the linear drive mechanism 4, the guiding channels 221 of the roller sets on multiple joint segments 21 form a large arc. When the hose moves in the large arc, the state of the hose does not need to change, and the resistance of the guiding channel 221 to the movement of the hose is small, which is beneficial to the movement of the hose in the guiding channel 221 and convenient for the hose to be inserted into the blast hole and retracted from the blast hole.

[0047] Furthermore, the guiding roller set 22 includes a plurality of guiding rollers 222. The guiding roller 222 includes a wheel body 2221, a spacer sleeve 2222 and an assembly shaft 2223. The assembly shaft 2223 is fixedly connected to the joint segment 21, and the assembly shaft 2223 is arranged perpendicular to the guiding channel 221 in space. The spacer sleeve 2222 is sleeved on the assembly shaft 2223 and is rotatably connected to the assembly shaft 2223. The wheel body 2221 is coaxially sleeved on the spacer sleeve 2222. Specifically, the wheel body 2221 is a flexible wheel body 2221 and is made of a flexible material, such as rubber, silica gel, polyurethane and other materials. The flexible material can undergo elastic deformation. On the one hand, it is beneficial to reduce the damage to the hose. On the other hand, the size of the guiding channel 221 can be set to be slightly smaller than the size of the hose, so that the guiding roller clamps the hose to prevent the hose from shaking in the guiding channel 221. The spacer sleeve 2222 is made of a wear-resistant material, such as tin bronze and other materials. Through the arrangement of the spacer sleeve 2222, the resistance of the wheel body 2221 to rotate is reduced, and in addition, the service life of the guiding roller 222 is improved by making the spacer sleeve 2222 of a wear-resistant material.

[0048] Furthermore, a scraping mechanism 31 is provided at the downstream end of the mounting seat 3. The scraping mechanism 31 includes a scraping bracket 311 and a scraper 312. A through hole 313 is provided in the scraping bracket 311, and the scraper 312 is arranged in the through hole 313. Specifically, an annular groove is arranged in the through hole 313. The scraper 312 is an annular sheet, and a deformation groove is radially opened along the inner side of the annular sheet. The annular sheet is embedded in the annular groove for fixation, and the inner hole of the annular sheet is slightly smaller than the outer diameter of the hose. It can be understood that the hose passes through the inner hole of the annular sheet and then is inserted into the blast hole to fill the emulsion explosive. After the filling is completed, the hose needs to be retracted. When the hose is retracted, the emulsion explosive adheres to the outer peripheral wall of the hose. When the hose passes through the annular sheet, the emulsion explosive adhering to the outer peripheral wall of the hose is scraped off by the annular sheet, achieving the effect of cleaning the hose.

[0049] Furthermore, a return material collection assembly 32 is arranged at the downstream end of the mounting base 3. The return material collection assembly 32 includes a collection hopper 321 and a collection pipe 322. The collection hopper 321 is mounted on the mounting base 3 by bolts. The collection pipe 322 is arranged on the collection hopper 321. The collection pipe 322 is internally communicated with the collection hopper 321, and the collection pipe 322 extends out from the side of the collection hopper 321. The open end of the collection hopper 321 faces away from one end of the joint segment 21. Specifically, the through hole 313 is internally communicated with the collection hopper 321. The emulsified explosive scraped off by the scraper enters the collection hopper 321. When filling the blast hole with emulsified explosive, part of the emulsified explosive leaking from the blast hole drops into the collection hopper 321 for collection, and is transported to an external container through the collection pipe 322 for recycling and reuse. On the one hand, it reduces the waste of emulsified explosive, and on the other hand, it prevents the leaked emulsified explosive from polluting the construction site.

[0050] Furthermore, the return material collection assembly 32 further includes a flexible sleeve 323. The flexible sleeve 323 is detachably connected to the open end of the collection hopper 321. Specifically, the flexible sleeve 323 is made of silica gel material with elastic steel wires added, so that the flexible sleeve 323 can elastically deform along its axial direction. It can be understood that when filling the blast hole with emulsified explosive, the flexible sleeve 323 is abutted against the rock wall where the blast hole is located, and the gap between the rock wall and the collection hopper 321 is sealed through the flexible sleeve 323, and the emulsified explosive leaking from the blast hole enters the collection hopper 321 through the inside of the flexible sleeve 323 for collection, preventing the emulsified explosive from flying out from the gap between the collection hopper 321 and the rock wall during the leakage process.

[0051] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hole-aligning robotic arm, characterized in that: It includes a fixed base (1), a bending arm (2), a mounting base (3) and a linear drive mechanism (4). The first end of the bending arm (2) is hinged to the fixed base (1), and the second end of the bending arm (2) is hinged with the mounting base (3). The bending arm (2) includes a plurality of joint segments (21) and a plurality of diagonal tie rods (23). The plurality of joint segments (21) are sequentially hinged end to end. The first end of the diagonal tie rod (23) surrounding the current joint segment (21) is hinged below the hinge axis of the previous joint segment (21), and the second end of the diagonal tie rod (23) surrounding the current joint segment (21) is hinged above the hinge axis of the next joint segment (21). The linear drive mechanism (4) drives the joint segment (21) spaced from the fixed base (1) to rotate relative to the joint segment (21) adjacent to the fixed base (1). Under the restraint of the diagonal tie rod (23), each joint segment (21) generates a composite motion, so that the bending arm (2) bends.

2. The hole-aligning robotic arm according to claim 1, characterized in that: A plurality of the joint segments (21) and the diagonal tie rods (23) are provided. The fixed base (1), the plurality of joint segments (21) and the mounting base (3) are sequentially hinged end to end. The joint segments (21) arranged at intervals are connected by the diagonal tie rods (23). The linear drive mechanism (4) is arranged between the fixed base (1) and the joint segment (21) spaced from the fixed base (1), and the linear drive mechanism (4) is used to drive the joint segment (21) arranged at intervals from the fixed base (1) to rotate relative to the joint segment (21) arranged adjacent to the fixed base (1). The diagonal tie rod (23) is used to drive the joint segment (21) to rotate relative to another joint segment (21) arranged at intervals.

3. The hole-aligning robotic arm according to claim 2, characterized in that: Connection points A (211), B (212), C (213) and D (214) are arranged on each joint segment (21), and the connection points A (211), B (212), C (213) and D (214) form the four corner points of the quadrilateral joint segment (21). The connection point A (211) on each joint segment (21) is hinged to the connection point B (212) on the adjacent joint segment (21) so that the plurality of joint segments (21) are connected end to end, and the adjacent joint segments (21) are sequentially hinged end to end. On the fixed seat (1), connection point B (212) and connection point D (214) are arranged. On the mounting seat (3), connection point A (211) and connection point C (213) are arranged. The connection point B (212) on the fixed seat (1) is hinged to the connection point A (211) on the adjacent joint segment (21), and the connection point A (211) on the mounting seat (3) is hinged to the connection point B (212) on the adjacent joint segment (21); One end of the diagonal tension rod (23) is hinged to the connection point C (213) on the joint segment (21), and the other end of the diagonal tension rod (23) is hinged to the connection point D (214) on another joint segment (21) at an interval; One end of the linear drive mechanism (4) is hinged to the connection point D (214) on the fixed seat (1), and the other end of the linear drive mechanism (4) is hinged to the connection point C (213) on the adjacent joint segment (21); The connection point C (213) on the mounting seat (3) is hinged to the adjacent diagonal tension rod (23).

4. A hole-aligning robotic arm according to claim 1, wherein: The diagonal tension rods (23) are arranged on both sides of the joint segment (21), and the diagonal tension rods (23) on both sides are symmetrically arranged.

5. A hole-aligning robotic arm according to claim 1, wherein: A guiding opening (11) is provided in the fixed seat (1). The guiding opening (11) is arranged in a flared shape, and the large diameter of the guiding opening (11) faces the end of the fixed seat (1) away from the joint segment (21).

6. A hole-aligning robotic arm according to claim 1, wherein: Guiding roller groups (22) are arranged on the joint segment (21). The guiding roller groups (22) are arranged in two rows, and a guiding channel (221) is enclosed between the two rows of guiding roller groups (22). The guiding channels (221) on adjacent two joint segments (21) are arranged in butt joint.

7. A hole-aligning robotic arm according to claim 5, wherein: The guiding roller group (22) includes a plurality of guiding rollers (222). The guiding roller (222) includes a wheel body (2221), a spacer sleeve (2222), and an assembly shaft (2223). The assembly shaft (2223) is fixedly connected to the joint segment (21), and the assembly shaft (2223) is arranged perpendicular to the guiding channel (221) in space. The spacer sleeve (2222) is sleeved on the assembly shaft (2223) and is rotatably connected to the assembly shaft (2223). The wheel body (2221) is coaxially sleeved on the spacer sleeve (2222).

8. A hole-aligning robotic arm according to claim 1, wherein: A scraping mechanism (31) is provided at the downstream end of the mounting base (3). The scraping mechanism (31) includes a scraping support (311) and a scraper (312). A through hole (313) is provided in the scraping support (311), and the scraper (312) is arranged in the through hole (313).

9. The hole-aligning robotic arm according to claim 1, wherein: A return material collection assembly (32) is arranged at the downstream end of the mounting base (3). The return material collection assembly (32) includes a collection hopper (321) and a collection pipe (322). The collection pipe (322) is arranged on the collection hopper (321), and the collection pipe (322) extends out from the side of the collection hopper (321). The open end of the collection hopper (321) faces the downstream end of the joint segment (21).

10. The hole-aligning robotic arm according to claim 9, wherein: The return material collection assembly (32) further includes a flexible sleeve (323), and the flexible sleeve (323) is detachably connected to the open end of the collection hopper (321).

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