Manipulator with swinging function

Abstract

The utility model relates to the field of coal mine drilling machines, in particular to a mechanical arm with a swing function, which comprises a rotary speed reducer, a rotary arm, a turnover mechanism, a clamping mechanism and a swing mechanism which are sequentially connected, and the clamping mechanism is connected with the turnover mechanism through the swing mechanism. The swing mechanism can drive the drill rod to swing in and out of the clamp holder in the state of being parallel to or approximately parallel to the rack. After the technical scheme is adopted, the distance between the driving drill rod and the tail part of the drill rod to be clamped can be reduced, so that the width of the drilling machine body is reduced, and the drilling machine can better adapt to the working environment of a narrow roadway of an underground coal mine.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of coal mine drilling machine, concretely relates to a manipulator with swing function. BACKGROUND

[0002] The manipulator for coal mine drilling machine is a device for transferring the to-be-clamped drill rod to the drilling machine rack for clamping and transferring the in-hole drill rod detached from the drilling machine rack, wherein the to-be-clamped drill rod and the in-hole drill rod are collectively referred to as drill rod.

[0003] The patent with the publication number CN111042752A discloses a manipulator for clamping and unclamping drill rod, which comprises a rotator, a rotary arm, a rotary motor and a gripper. The rotary motor is connected with the rotator and drives the rotary arm to drive the gripper to overturn. The rotator controls the increase and decrease of the inclination angle of the gripper. That is, the general sequence of the manipulator for transferring the to-be-clamped drill rod to the drilling machine rack for clamping is as follows: after the gripper clamps the to-be-clamped drill rod, the rotator controls the increase of the inclination angle of the gripper, then the rotary motor drives the rotary arm to drive the gripper to overturn, and then the rotator controls the decrease of the inclination angle of the gripper until the to-be-clamped drill rod is placed into the clamp of the drilling machine. The to-be-clamped drill rod placed into the clamp of the drilling machine is in place. At this time, the gripper contacts the sensor arranged on the rack to stop the rotation of the rotator. After the clamp clamps the to-be-clamped drill rod, the gripper releases the manipulator to reset.

[0004] After the to-be-clamped drill rod is placed in place, the rotary arm is parallel to the rack, that is, the to-be-clamped drill rod is parallel to the rack after the to-be-clamped drill rod is placed in place, that is, the to-be-clamped drill rod is coaxial with the driving drill rod of the drilling machine. Then the driving drill rod moves and rotates to be threadedly connected with the tail end of the to-be-clamped drill rod. This is the prior art, which will not be described here. However, it should be noted that, as shown in the figure, during the process of the rotator controlling the decrease of the inclination angle of the gripper, since the running track of the tail of the to-be-clamped drill rod is an arc, in order to avoid the interference between the tail of the to-be-clamped drill rod and the driving drill rod and to ensure the smooth placement of the to-be-clamped drill rod in place, only the distance between the to-be-clamped drill rod and the driving drill rod can be increased, that is, after the to-be-clamped drill rod is placed into the clamp of the drilling machine, there is a large distance k between the driving drill rod and the tail of the to-be-clamped drill rod. This distance directly increases the width of the body of the drilling machine, which cannot well adapt to the working environment of the narrow roadway in the coal mine. Figure 1 SUMMARY The utility model intends to provide the manipulator with swing function, so as to solve the problem that the large distance between the driving drill rod and the to-be-clamped drill rod leads to the increase of the width of the body of the drilling machine and the poor adaptation to the working environment of the narrow roadway in the coal mine.

[0005]

[0006] ​In order to achieve the above object, the utility model discloses the following technical scheme: the mechanical hand with swing function, including the swing reducer, rotating arm, turnover mechanism, clamping mechanism and swing mechanism that are connected in proper order, clamping mechanism is connected with turnover mechanism through swing mechanism, swing mechanism can drive the drill rod to be placed in or out the holder with the state of parallel or close to parallel to the rack.

[0007] The technical effect of the scheme is:

[0008] After the swing reducer drives the rotating arm to drive the turnover mechanism to increase the inclination angle, the turnover mechanism drives the clamping mechanism to turn over, then the swing mechanism drives the drill rod to be clamped to be placed in the holder with the state of parallel or close to parallel to the rack, and after the swing mechanism drives the drill rod in the hole to be placed out the holder with the state of parallel to the rack, the turnover mechanism and the swing reducer cooperate to drive the clamping mechanism to reset to continue the process to realize the loading and unloading of the drill rod.

[0009] Compared with the existing mechanical hand for loading and unloading the drill rod, the scheme changes the mode of placing the drill rod to be clamped in place and then parallel to the rack, and through the setting of the swing mechanism, the swing mechanism places the drill rod to be clamped in the holder in advance with the state of parallel or close to parallel to the rack, and the running track of the tail of the drill rod to be clamped is no longer an arc in the process of entering the holder, and the drill rod to be clamped can be placed in place with a very small distance from the active drill rod in the axial direction of the rack, thereby solving the problem that the tail of the drill rod to be clamped interferes with the active drill rod in the process of placing the drill rod to be clamped in the holder in the prior art, and further solving the problem that there is a large distance between the active drill rod and the tail of the drill rod to be clamped after the drill rod to be clamped is placed in place.

[0010] Compared with the prior art, the distance between the active drill rod and the tail of the drill rod to be clamped is reduced by 80mm after the drill rod to be clamped is placed in place, the reduced 80mm shortens the stroke of the active drill rod, reduces the design difficulty, and reduces the length of 80mm in the axial direction of the rack, i.e. reduces the width of the drilling machine body by 80mm, so that the structure of the drilling machine is more compact, can better adapt to the working environment of narrow roadway in coal mine, and the rack is less limited when adjusting the inclination angle.

[0011] Preferably, as an improvement, the swing mechanism includes a swing oil cylinder and a rotary frame, the rotary frame is connected with the turnover mechanism, the clamping mechanism is hinged with the rotary frame through the swing oil cylinder, and the clamping mechanism can rotate around the rotary frame, and when the rotary frame contacts the sensor arranged on the rack, the drill rod is parallel or close to parallel to the rack.

[0012] The technical effect of the scheme is that the swing oil cylinder drives the clamping mechanism to rotate around the rotary frame when extending and retracting, so as to swing the drill rod clamped by the clamping mechanism into and out of the holder; and after the rotary frame contacts the sensor arranged on the frame, the drill rod is parallel or close to parallel to the frame, at which time the rotary reducer stops working, and the swing mechanism drives the drill rod to swing into and out of the holder.

[0013] Preferably, as an improvement, the scheme further comprises a telescopic mechanism, the clamping mechanism is connected with the turnover mechanism through the telescopic mechanism, the telescopic mechanism is hinged with the rotary frame through the swing oil cylinder, and the telescopic mechanism can rotate around the rotary frame to drive the clamping mechanism to rotate.

[0014] The technical effect of the scheme is that by arranging the telescopic mechanism, after the clamping mechanism clamps the drill rod to be clamped, the clamping mechanism is retracted under the drive of the telescopic mechanism before the turnover mechanism drives the clamping mechanism to turn over, so that the space occupied by the turnover of the clamping mechanism is smaller, which is beneficial to improve the compactness of the drilling machine and facilitate the operation in narrow tunnels.

[0015] Preferably, as an improvement, the turnover mechanism comprises a hydraulic motor connected with the rotating arm and a main shaft connected with the hydraulic motor, and the rotary frame is fixedly connected with the main shaft.

[0016] Preferably, as an improvement, the hydraulic motor drives the main shaft to rotate within a range of 0-240°.

[0017] The technical effect of the scheme is that compared with the prior art, the limit angle of the rotation of the main shaft driven by the hydraulic motor is smaller, that is, after the main shaft turns over the drill rod to the upper side of the frame through the telescopic mechanism and the clamping mechanism, the main shaft no longer continues to rotate, the rotary frame contacts the sensor arranged on the frame after the inclination angle of the rotary reducer is reduced, and the rotary reducer stops working, at which time the drill rod to be clamped is parallel to the active drill rod and located obliquely above the active drill rod, and the swing oil cylinder can drive the telescopic mechanism and the clamping mechanism to swing the drill rod to be clamped into the holder.

[0018] Preferably, as an improvement, a positioning sleeve is fixed in the rotating arm, an inner boss is fixed on the inner wall of the positioning sleeve, an outer boss is fixed on the outer arm of the main shaft, and the outer boss abuts against the inner boss after the outer boss rotates to the limit position with the main shaft.

[0019] The technical effect of the scheme is that the limit rotation angle is limited by the mechanical structure, and the setting of the sensing element can be reduced.

[0020] Preferably, as an improvement, the telescopic mechanism comprises a telescopic oil cylinder, the telescopic oil cylinder comprises a telescopic outer cylinder and a telescopic inner cylinder in sliding connection with the telescopic outer cylinder; the clamping mechanism is connected with the telescopic inner cylinder, the telescopic outer cylinder is hinged with the rotary frame through the swing oil cylinder, and the telescopic outer cylinder is rotatably connected with the rotary frame, and the swing oil cylinder can drive the telescopic outer cylinder to rotate around the main shaft as the axis.

[0021] Preferably, as an improvement, the telescopic mechanism further comprises a telescopic positioning assembly, the positioning assembly being used for detecting the limit positions of the telescopic inner cylinder in the extension and retraction.

[0022] The technical effect of the present scheme is that whether the extension and retraction of the telescopic inner cylinder is completed is determined by the pressure of the telescopic oil cylinder, and the flow of hydraulic oil must be increased to improve the extension and retraction speed, and in actual use, the starting pressure exceeds the determination pressure due to inertia, blockage and hydraulic oil pressure pulsation when the manipulator starts to extend or retract, so that the next action will cause the clamping mechanism to interfere with other components and cause danger; therefore, the telescopic positioning assembly is added to determine the extension and retraction action twice, which can effectively improve the extension and retraction speed and improve the operation efficiency on the basis of avoiding the misoperation of the manipulator.

[0023] Preferably, as an improvement, the telescopic positioning assembly comprises a protective cover, a signal rod, a connecting frame and a proximity switch, the protective cover is fixedly connected with the telescopic outer cylinder, the proximity switch is installed on the protective cover, the signal rod is slidably connected with the protective cover, one end of the signal rod is connected with the clamping mechanism through the connecting frame, and both ends of the signal rod are provided with notches, and the signal changes when the notches are close to the proximity switch.

[0024] The technical effect of the present scheme is that the signal rod is provided with notches at both ends and no notch in the middle, and the notches cooperate with the proximity switch, and the proximity switch no longer contacts the signal rod when the notches are close to the proximity switch, so that the signal changes, thereby determining whether the signal rod is completely extended and retracted, and since the signal rod extends and retracts with the telescopic inner cylinder, it is determined whether the telescopic inner cylinder is completely extended and retracted.

[0025] Preferably, as an improvement, the telescopic positioning assembly further comprises a supporting block, the supporting block is fixedly connected with the protective cover, the proximity switch is fixedly connected with the supporting block, and the signal rod is slidably connected with the supporting block.

[0026] The technical effect of the present scheme is that the supporting block limits the freedom of the signal rod, and ensures that the guide rod can only extend and retract in the axial direction.

[0027] Preferably, as an improvement, the clamping mechanism comprises a clamping oil cylinder, a fixed seat and a movable jaw, the fixed seat is fixedly connected with the telescopic inner cylinder, the connecting frame is connected with the fixed seat, the movable jaw is hinged through the clamping oil cylinder and the fixed seat, and the movable jaw can rotate around the fixed seat.

[0028] Preferably, as an improvement, the rotary frame comprises a connecting plate and two L-shaped side plates, the two side plates are connected through the connecting plate, the connecting plate contacts the sensor arranged on the rack when the drill rod is parallel to the rack, the side plate close to the turnover mechanism is connected with the turnover mechanism, the clamping mechanism is hinged with the connecting plate through the swing oil cylinder, and the clamping mechanism can rotate around the side plate.

[0029] Preferably, as an improvement, the opening formed by the fixed seat and the movable claw is located on one side of the connecting plate.

[0030] The technical effect of the present application is that the fixed seat and the movable claw can be quickly reset without being blocked by the drill rod to be clamped after the drill rod to be clamped is transferred into the clamp by the cooperation of the fixed seat and the movable claw.

[0031] Preferably, as an improvement, the connecting plate is provided with a weight-reducing hole.

[0032] Preferably, as an improvement, the swing mechanism further comprises a pin shaft fixedly connected with the telescopic outer cylinder, the pin shaft is coaxial with the main shaft, and the pin shaft is rotatably connected with the side plate.

[0033] Preferably, as an improvement, the connecting frame comprises an avoiding portion and two connecting portions, the avoiding portion is in a roof type and connected with one end of the signal rod, the two connecting portions are respectively fixed to one end of the avoiding portion and fixedly connected with the fixed seat, and one end of the clamping oil cylinder hinged with the fixed seat is located at the avoiding portion.

[0034] Preferably, as an improvement, the protection cover is fixedly connected with a mounting seat perpendicular to the protection cover at one end away from the fixed seat, and the protection cover is fixedly connected with the end of the telescopic outer cylinder through the mounting seat.

[0035] Preferably, as an improvement, the approaching parallel inclination angle is 0-1°. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A schematic view of the prior art drill rod placement process in the background technology of the present application;

[0037] Figure 2 A structural schematic view of the mechanical hand installed on the drilling machine in the embodiment of the present application;

[0038] Figure 3 A structural schematic view of the mechanical hand in the embodiment of the present application;

[0039] Figure 4 A partial structural schematic view of the mechanical hand in the embodiment of the present application;

[0040] Figure 5 A structural schematic view of the telescopic positioning assembly in the embodiment of the present application;

[0041] Figure 6 A schematic view of the drill rod placement process in the embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be further described in detail through specific embodiments:

[0043] The reference signs in the drawings of the specification include: rotary reducer 1, rotating arm 2, hydraulic motor 3, main shaft 4, positioning sleeve 5, inner boss 6, outer boss 7, telescopic outer cylinder 8, telescopic inner cylinder 9, protective cover 10, signal rod 11, proximity switch 12, support block 13, notch 14, avoiding part 15, connecting part 16, clamping oil cylinder 17, fixed seat 18, movable jaw 19, swing oil cylinder 20, connecting plate 21, side plate 22, sensor 23, clamp 24, drill rod to be clamped 25, driving drill rod 26, rack 27.

[0044] The embodiment is basically as shown in the accompanying Figures 1-6 drawings:

[0045] As shown in the accompanying Figure 2 , 3 drawings, the mechanical arm with swing function includes rotary reducer 1, rotating arm 2, overturning mechanism, telescopic mechanism, clamping mechanism and swing mechanism, the lower end of the rotating arm 2 is fixedly connected with the rotary reducer 1 through bolts, the inner wall of the lower end of the rotating arm 2 is fixed with an arc steel plate, a detection module is installed inside the lower end of the rotating arm 2, the detection module penetrates through the rotating arm 2 and the rotary reducer 1 and is installed on the rack 27 of the drilling machine, the inclination angle of the detection module is 8° larger than the inclination angle of the rack, and changes with the inclination angle of the rack 27, and the signal changes when the arc steel plate contacts the detection module.

[0046] The overturning mechanism includes hydraulic motor 3 and main shaft 4, the housing of the hydraulic motor 3 is fixedly connected with the rotating arm 2 through bolts, the output shaft of the hydraulic motor 3 is rotatably connected with the rotating arm 2 and is fixedly connected with the flange of the main shaft 4, and the hydraulic motor 3 drives the main shaft 4 to rotate within the range of 0-240°. Specifically, as shown in the accompanying Figure 4 drawings, the positioning sleeve 5 is fixedly connected with the rotating arm 2 through bolts, the inner boss 6 is integrally formed on the inner wall of the positioning sleeve 5, the outer boss 7 is fixedly connected with the outer arm of the main shaft 4 through bolts, and the outer boss 7 abuts against the inner boss 6 after being rotated to the limit position with the main shaft 4.

[0047] As shown in the accompanying Figures 2-4 drawings, the telescopic mechanism includes telescopic oil cylinder and telescopic positioning assembly, the telescopic oil cylinder includes telescopic outer cylinder 8 and telescopic inner cylinder 9 which is slidably connected with the telescopic outer cylinder 8, and the positioning assembly is used for detecting the limit position of the telescopic inner cylinder 9 extending and retracting.

[0048] As shown in the accompanying Figure 5 drawings, the telescopic positioning assembly includes protective cover 10, signal rod 11, connecting frame, proximity switch 12 and support block 13, the left end of the protective cover 10 is welded with a mounting seat which is perpendicular to the protective cover 10, the mounting seat is connected with the connecting frame, and the connecting frame is connected with the proximity switch 12 and the support block 13. Figure 4The telescopic outer cylinder 8 shown is bolted to the end. The support block 13 is bolted to the protective cover 10. The proximity switch 12 is mounted on the support block 13. The signal rod 11 is slidably connected to the support block 13. The left end of the signal rod 11 is located inside the protective cover 10. Both ends of the signal rod 11 have notches 14. When the signal rod 11 moves to the notch 14 and approaches the proximity switch 12, the signal changes. The detection module fixed at the lower end of the rotating arm 2 also uses a proximity switch 12. The connecting frame includes a clearance part 15 and two connecting parts 16. The clearance part 15 is U-shaped and connected to the right end of the signal rod 11 by a pin. Each of the two connecting parts 16 is welded to one end of the clearance part 15.

[0049] like Figure 3 , 4 As shown, the clamping mechanism includes a clamping cylinder 17, a fixed base 18, and a movable claw 19. The fixed base 18 is fixedly connected to the telescopic inner cylinder 9. Two connecting parts 16 are clamped on the fixed base 18 and bolted to the fixed base 18. The movable claw 19 is hinged to the fixed base 18 via a pin. One end of the housing of the clamping cylinder 17 is hinged to the fixed base 18 at the clearance part 15. One end of the telescopic shaft of the clamping cylinder 17 is hinged to the movable claw 19.

[0050] The swing mechanism includes a swing cylinder 20 and a rotating frame. The rotating frame includes a connecting plate 21 and two L-shaped side plates 22, which are integrally formed with the connecting plate 21. The side plate 22 closest to the main shaft 4 is fixedly connected to the flange of the main shaft 4. The connecting plate 21 is located on the side of the opening formed by the fixed seat 18 and the movable claw 19. The connecting plate 21 has a weight-reducing hole. One end of the housing of the swing cylinder 20 is hinged to the connecting plate 21 at the weight-reducing hole end. One end of the telescopic shaft of the swing cylinder 20 is hinged to the telescopic outer cylinder 8. A pin is also welded to the outer wall of the telescopic outer cylinder 8. The pin is coaxial with the main shaft 4 and rotatably connected to the side plate 22. The connecting plate 21 at the other end of the weight-reducing hole can be connected to... Figure 6 When the sensor 23 on the frame 27 is in contact with the connecting plate 21, the drill rod 25 to be clamped is located above the frame 27 and is parallel or nearly parallel to the frame 27 and the active drill rod 26. The sensor 23 is also a proximity switch 12. Then, the swing cylinder 20 drives the telescopic mechanism and the clamping mechanism to swing downward, so that the drill rod 25 to be clamped is placed into the clamp 24 in a state parallel or nearly parallel to the frame 27 and is engaged with the active drill rod 26. Nearly parallel means that the tilt angle is in the range of 0-1°. Of course, after uncoupling, the swing cylinder 20 can also drive the telescopic mechanism and the clamping mechanism to swing upward, so that the drill rod in the hole is placed out of the clamp 24 in a state parallel to the frame 27.

[0051] The specific implementation process is as follows:

[0052] like Figure 3When the telescopic inner cylinder 9 inside the telescopic outer cylinder 8 extends, it drives the fixed seat 18 and the movable claw 19 to extend. The clamping cylinder 17 drives the movable claw 19 to rotate and cooperate with the fixed seat 18 to clamp the drill rod 25 to be clamped, and then retracts. Figure 3 The state shown is as follows—in the case of Figure 3 Based on the state shown, hydraulic motor 3 drives spindle 4, swing mechanism, telescopic mechanism, clamping mechanism, and drill rod 25 to be clamped to rotate 150° to the vertical plane. Rotary reducer 1 drives the rotation mechanism, swing mechanism, telescopic mechanism, clamping mechanism, and drill rod 25 to increase their tilt angle until the tilt angle of spindle 4 is 7°–10° greater than the tilt angle of frame 27. Hydraulic motor 3 continues to drive spindle 4, swing mechanism, telescopic mechanism, clamping mechanism, and drill rod 25 to rotate 90° until... Figure 2 As shown in the diagram—the rotary reducer 1 drives the tilting mechanism, swing mechanism, telescopic mechanism, clamping mechanism, and the drill rod 25 to be clamped to reduce their inclination angle until the connecting plate 21 is aligned with the drill rod 25. Figure 6 The sensor 23 installed on the frame 27 is in contact with the drill rod 25 to be clamped. At this time, the drill rod 25 to be clamped is parallel or nearly parallel to the frame 27 and the active drill rod 26. The telescopic inner cylinder 9 extends, causing the fixed seat 18, the movable claw 19 and the drill rod 25 to be clamped to extend to the top of the frame 27. The swing cylinder 20 extends, causing the telescopic mechanism and the clamping mechanism to swing downward, thereby causing the drill rod 25 to be clamped. Figure 6 The path shown is inserted into the clamp 24. After it is in place, the drill rod 25 to be clamped, the active drill rod 26, and the drill rod in the hole are on the same axis. The clamping cylinder 17 drives the movable claw 19 to release and execute the reset procedure.

[0053] During the downward swing of the drill rod 25 to be clamped, the distance between its tail and the active drill rod 26 is relatively small, overcoming the limitations of... Figure 1 The problem is that after the drill rod 25 to be clamped is placed in place, there is a large distance k between the active drill rod 26 and the tail of the drill rod 25 to be clamped.

[0054] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A robotic arm with a swinging function, comprising a rotary reducer, a rotating arm, a tilting mechanism, and a gripping mechanism connected in sequence; characterized in that: It also includes a swing mechanism. The clamping mechanism is connected to the tilting mechanism through the swing mechanism. The swing mechanism can drive the drill rod to swing into and out of the clamp in a state that is parallel or nearly parallel to the frame.

2. The robotic arm with swing function according to claim 1, characterized in that: The swing mechanism includes a swing cylinder and a rotary frame. The rotary frame is connected to the overturning mechanism. The clamping mechanism is hinged to the rotary frame through the swing cylinder and can rotate around the rotary frame. When the rotary frame contacts the sensor installed on the frame, the drill rod is parallel or nearly parallel to the frame.

3. The robotic arm with swing function according to claim 2, characterized in that: It also includes a telescopic mechanism, the clamping mechanism is connected to the flipping mechanism through the telescopic mechanism, the telescopic mechanism is hinged to the rotary frame through a swing cylinder, and the telescopic mechanism can rotate around the rotary frame to drive the clamping mechanism to rotate.

4. The robotic arm with swing function according to claim 3, characterized in that: The tilting mechanism includes a hydraulic motor connected to the rotating arm and a main shaft connected to the hydraulic motor, with the rotating frame fixedly connected to the main shaft.

5. The robotic arm with a swinging function according to claim 4, characterized in that: The hydraulic motor drives the spindle to rotate within the range of 0-240°.

6. The robotic arm with a swinging function according to claim 5, characterized in that: A positioning sleeve is fixed inside the rotating arm, and an inner boss is fixed on the inner wall of the positioning sleeve. An outer boss is fixed on the outer arm of the main shaft. After the outer boss rotates to the limit position with the main shaft, it abuts against the inner boss.

7. The robotic arm with a swinging function according to any one of claims 4 or 6, characterized in that: The telescopic mechanism includes a telescopic cylinder, which includes a telescopic outer cylinder and a telescopic inner cylinder that is slidably connected to the telescopic outer cylinder; the clamping mechanism is connected to the telescopic inner cylinder, and the telescopic outer cylinder is hinged to the rotary frame through a swing cylinder, and the telescopic outer cylinder is rotatably connected to the rotary frame. The swing cylinder can drive the telescopic outer cylinder to rotate around the main shaft.

8. The robotic arm with a swinging function according to claim 7, characterized in that: The telescopic mechanism also includes a telescopic positioning component, which is used to detect the extreme positions of the telescopic inner cylinder when it extends or retracts.

9. The robotic arm with a swinging function according to claim 8, characterized in that: The telescopic positioning assembly includes a protective cover, a signal rod, a connecting frame, and a proximity switch. The protective cover is fixedly connected to the telescopic outer cylinder, the proximity switch is installed on the protective cover, the signal rod is slidably connected to the protective cover, one end of the signal rod is connected to the clamping mechanism through the connecting frame, and both ends of the signal rod are provided with notches. When the notches are close to the proximity switch, the signal changes.

10. The robotic arm with a swinging function according to claim 9, characterized in that: The telescopic positioning assembly also includes a support block, which is fixedly connected to the protective cover, a proximity switch is fixedly connected to the support block, and a signal rod is slidably connected to the support block.

11. The robotic arm with a swinging function according to claim 10, characterized in that: The clamping mechanism includes a clamping cylinder, a fixed base, and a movable claw. The fixed base is fixedly connected to the telescopic inner cylinder, and the connecting frame is connected to the fixed base. The movable claw is hinged to the clamping cylinder and the fixed base, and the movable claw can rotate around the fixed base.

12. The robotic arm with a swinging function according to claim 11, characterized in that: The rotary frame includes a connecting plate and two L-shaped side plates. The two side plates are connected by the connecting plate. When the connecting plate contacts the sensor installed on the frame, the drill rod is parallel to the frame. The side plate closer to the flipping mechanism is connected to the flipping mechanism. The clamping mechanism is hinged to the connecting plate through a swing cylinder, and the clamping mechanism can rotate around the side plate.

13. The robotic arm with a swinging function according to claim 12, characterized in that: The opening formed by the fixed seat and the movable claw is located on one side of the connecting plate.

14. The robotic arm with a swinging function according to claim 13, characterized in that: The connecting plate has weight reduction holes.

15. The robotic arm with a swinging function according to claim 14, characterized in that: The swing mechanism also includes a pin that is fixedly connected to the telescopic outer cylinder. The pin is coaxial with the main shaft and is rotatably connected to the side plate.

16. The robotic arm with a swinging function according to any one of claims 11 or 15, characterized in that: The connecting frame includes a clearance section and two connecting sections. The clearance section is U-shaped and connected to one end of the signal pole. The two connecting sections are each fixed to one end of the clearance section and fixedly connected to the fixed seat. The clamping cylinder is hinged to the fixed seat at one end located at the clearance section.

17. The robotic arm with a swinging function according to claim 16, characterized in that: The protective cover is fixed with a mounting base perpendicular to the protective cover at the end away from the fixed base, and the protective cover is fixedly connected to the end of the telescopic outer cylinder through the mounting base.

18. The robotic arm with a swinging function according to any one of claims 1 or 2, characterized in that: The near-parallel tilt angle is 0-1°.

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