A robotic arm and drilling robot

Abstract

The utility model relates to rock drilling machinery technical field, concretely relates to a kind of mechanical arm and drilling robot, the mechanical arm includes arm joint, rotating mechanism, hydraulic power mechanism and detection mechanism;Arm joint is installed in rotating mechanism, rotating mechanism can autorotate to drive arm joint synchronous rotation;Hydraulic power mechanism and detection mechanism are all installed in arm joint, and hydraulic power mechanism is used to drive arm joint to prop open or retract, and detection mechanism is used to detect the moving distance of arm joint and the rotation angle of arm joint end portion.The utility model provides the mechanical arm and drilling robot can realize the accurate closed-loop control to the moving distance of arm joint and the rotation angle of arm joint end portion, to reach the effect of accurate control mechanical arm, significantly improve the intelligent degree of mechanical arm whole.

Description

Technical Field

[0001] This utility model relates to the field of rock drilling machinery technology, specifically to a robotic arm and a drilling robot. Background Technology

[0002] Robotic arms are a common structure in rock drilling engineering. They can assist or replace technicians in performing heavy and repetitive tasks.

[0003] Currently, most existing robotic arms are composed of multiple independent articulated arms connected in series, and each articulated arm is opened or closed independently by a motor. However, they cannot provide feedback on the displacement and rotation angle of the articulated arms, thus making it impossible to achieve closed-loop feedback and control of the displacement and rotation angle of the robotic arm. Utility Model Content

[0004] (a) The technical problem solved by this utility model is: the existing robotic arm cannot achieve closed-loop feedback and control of displacement and rotation angle.

[0005] (II) Technical Solution To solve the above-mentioned technical problems, embodiments of this utility model provide a robotic arm, including an arm joint, a rotating mechanism, a hydraulic power mechanism, and a detection mechanism; The arm joint is mounted on the rotating mechanism, and the rotating mechanism is capable of rotating to drive the arm joint to rotate synchronously. Both the hydraulic power mechanism and the detection mechanism are installed on the arm joint. The hydraulic power mechanism is used to drive the arm joint to open or retract, and the detection mechanism is used to detect the moving distance of the arm joint and the rotation angle of the end of the arm joint.

[0006] Furthermore, the arm joint includes a first joint, a second joint, a third joint, and a fourth joint connected in sequence; The hydraulic power mechanism includes a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, and a fourth hydraulic cylinder; The end of the first joint opposite to the second joint is mounted on the rotating mechanism. The first hydraulic cylinder is located on the rotating mechanism and its output end is connected to the first joint. The second hydraulic cylinder is located on the first joint and its output end is connected to the second joint. The third hydraulic cylinder is located on the second joint and its output end is connected to the third joint. The fourth hydraulic cylinder is located on the third joint and its output end is connected to the fourth joint.

[0007] Furthermore, the rotating mechanism includes a base, a rotating seat, and a power assembly; The base is mounted on the positioning surface, and the rotating seat is mounted on top of the base. The rotating seat can rotate radially, and the power component is connected to the rotating seat in a transmission connection. The first joint is located on the side of the rotating seat opposite to the base.

[0008] Furthermore, the power assembly includes a first hydraulic motor and a first rotary reducer. The output shaft of the first hydraulic motor is driven to engage with the input port of the first rotary reducer. The first rotary reducer is driven to connect with the rotating base and is used to drive the rotating base to rotate.

[0009] Furthermore, the end of the fourth joint opposite to the third joint is connected to the actuator, and the fourth joint is also provided with a drive assembly, which is connected to the actuator for driving the actuator to rotate.

[0010] Furthermore, the drive assembly includes a second hydraulic motor and a second rotary reducer, the output shaft of the second hydraulic motor is driven to engage with the input port of the second rotary reducer, and the second rotary reducer is driven to be connected to the actuator.

[0011] Furthermore, the detection mechanism includes a first angular displacement sensor and a second angular displacement sensor; The first angular displacement sensor is disposed on the rotary base. The stator of the first angular displacement sensor is connected to the stator of the first rotary reducer, and the rotor of the first angular displacement sensor is connected to the rotor of the first rotary reducer, so as to obtain the rotation angle data of the rotary base. The second angular displacement sensor is located at the fourth joint. The stator of the second angular displacement sensor is connected to the stator of the second rotary reducer, and the rotor of the second angular displacement sensor is connected to the rotor of the second rotary reducer, so as to obtain the rotation angle data of the actuator.

[0012] Furthermore, the detection mechanism also includes a first linear displacement sensor, a second linear displacement sensor, a third linear displacement sensor, and a fourth linear displacement sensor; The first linear displacement sensor is installed on the first hydraulic cylinder, and the moving part of the first linear displacement sensor is connected to the piston rod of the first hydraulic cylinder; the second linear displacement sensor is installed on the second hydraulic cylinder, and the moving part of the second linear displacement sensor is connected to the piston rod of the second hydraulic cylinder; the third linear displacement sensor is installed on the third hydraulic cylinder, and the moving part of the third linear displacement sensor is connected to the piston rod of the third hydraulic cylinder; the fourth linear displacement sensor is installed on the fourth hydraulic cylinder, and the moving part of the fourth linear displacement sensor is connected to the piston rod of the fourth hydraulic cylinder, so as to obtain the moving distance of the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, and the fourth hydraulic cylinder.

[0013] Furthermore, the robotic arm also includes a multi-way valve, which is connected to a hydraulic power source and is also connected to the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, the first hydraulic motor, and the second hydraulic motor respectively via hydraulic pipelines.

[0014] An embodiment of this utility model also provides a drilling robot, including the aforementioned robotic arm.

[0015] The beneficial effects of this utility model are: This utility model provides a robotic arm, including an arm joint, a rotating mechanism, a hydraulic power mechanism, and a detection mechanism. The rotating mechanism rotates itself to drive the arm joint to rotate synchronously. At the same time, the arm joint can also be opened or retracted under the drive of the hydraulic power mechanism, so that the arm joint can move and rotate in various directions. Furthermore, a detection mechanism is provided on the arm joint, which can detect the movement distance of the arm joint and the rotation angle of the arm joint end, and then generate data transmission in real time, thereby realizing precise closed-loop control of the robotic arm, achieving the effect of precise control of the robotic arm, and significantly improving the overall intelligence level of the robotic arm.

[0016] This utility model provides a drilling robot, including the aforementioned robotic arm. By using the aforementioned robotic arm, the drilling robot can connect to different actuators installed at the end of the arm joint and carry out construction during drilling operations. It can also obtain the rotation angle of the arm joint and the actuator, as well as the displacement distance of the arm joint in real time. This achieves precise closed-loop control of the robotic arm to realize precise operation of the actuator, enabling it to accurately reach the working surface, thereby improving the drilling accuracy and intelligence of the drilling robot. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of the robotic arm provided in an embodiment of this utility model.

[0019] icon: 100 - First joint; 101 - Second joint; 102 - Third joint; 103 - Fourth joint; 104 - Second hydraulic motor; 105 - Second rotary reducer; 200 - First hydraulic cylinder; 201 - Second hydraulic cylinder; 202 - Third hydraulic cylinder; 203 - Fourth hydraulic cylinder; 300 - Base; 301 - Rotary seat; 302 - First hydraulic motor; 303 - First rotary reducer; 400 - Second angular displacement sensor; 401 - First linear displacement sensor; 402 - Second linear displacement sensor; 403 - Third linear displacement sensor; 404 - Fourth linear displacement sensor; 500-Multi-way valve. Detailed Implementation

[0020] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] In the description of this utility model, it should be noted that the terms "upper" and "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0023] Example 1 like Figure 1 As shown, this utility model provides a robotic arm, including an arm joint, a rotating mechanism, a hydraulic power mechanism, and a detection mechanism; The arm joint is mounted on a rotating mechanism, which can rotate to drive the arm joint to rotate synchronously. Both the hydraulic power mechanism and the detection mechanism are installed on the arm joint. The hydraulic power mechanism is used to drive the arm joint to open or retract, and the detection mechanism is used to detect the movement distance of the arm joint and the rotation angle of the arm joint end.

[0024] In this embodiment, the robotic arm includes an arm joint, a rotating mechanism, a hydraulic power mechanism, and a detection mechanism. The rotating mechanism rotates itself to drive the arm joint to rotate synchronously. At the same time, the arm joint can also be opened or retracted under the drive of the hydraulic power mechanism, so that the arm joint can move and rotate in various directions. Furthermore, a detection mechanism is provided on the arm joint, which can detect the movement distance of the arm joint and the rotation angle of the arm joint end, and then generate data transmission in real time, thereby realizing precise closed-loop control of the robotic arm, achieving the effect of precise control of the robotic arm, and significantly improving the overall intelligence level of the robotic arm.

[0025] According to one embodiment provided by this utility model, such as Figure 1 As shown, the arm joint includes a first joint 100, a second joint 101, a third joint 102 and a fourth joint 103 connected in sequence; The hydraulic power mechanism includes a first hydraulic cylinder 200, a second hydraulic cylinder 201, a third hydraulic cylinder 202, and a fourth hydraulic cylinder 203; The end of the first joint 100 facing away from the second joint 101 is mounted on the rotating mechanism. The first hydraulic cylinder 200 is located on the rotating mechanism and its output end is connected to the first joint 100. The second hydraulic cylinder 201 is located on the first joint 100 and its output end is connected to the second joint 101. The third hydraulic cylinder 202 is located on the second joint 101 and its output end is connected to the third joint 102. The fourth hydraulic cylinder 203 is located on the third joint 102 and its output end is connected to the fourth joint 103.

[0026] In this embodiment, the first joint 100, the second joint 101, the third joint 102, and the fourth joint 103 are sequentially connected and fixed using pins, allowing each joint to open or retract relative to the others. The second hydraulic cylinder 201 is mounted on the first joint 100 via a pin, and its output end is also connected to the second joint 101 via a pin. The third hydraulic cylinder 202 is mounted on the second joint 101 via a pin, and its output end is also connected to the third joint 102 via a pin. The fourth hydraulic cylinder 203 is mounted on the third joint 102 via a pin, and its output end is also connected to the fourth joint 103 via a pin. Simultaneously, the end of the first joint 100 facing away from the second joint 101 is mounted on a rotating mechanism. The first hydraulic cylinder 200 is mounted on the rotating mechanism via a pin, and the output end of the first hydraulic cylinder 200 is also connected to the first joint 100 via a pin. The rotating mechanism drives the first joint 100 to rotate, thereby driving the entire arm joint to rotate. At the same time, the first hydraulic cylinder 200 can drive the first joint 100 to open or retract relative to the rotating mechanism. The second hydraulic cylinder 201 can drive the second joint 101 to open or retract relative to the first joint 100. The third hydraulic cylinder 202 can drive the third joint 102 to open or retract relative to the second joint 101. The fourth hydraulic cylinder 203 can drive the fourth joint 103 to open or retract relative to the third joint 102. An actuator is installed at the end of the fourth joint 103 that is away from the third joint 102. That is, through the above process, the actuator is driven to accurately reach the working surface.

[0027] Hydraulic cylinders are existing technology, and their connection principle and working process between the joints are also existing technology. In addition, the above-mentioned opening or retraction are relative, so they will not be described in detail.

[0028] According to one embodiment provided by this utility model, such as Figure 1 As shown, the rotating mechanism includes a base 300, a rotating seat 301, and a power assembly; The base 300 is mounted on the positioning surface, and a rotating seat 301 is mounted on the base 300. The rotating seat 301 can rotate along its own radial direction, and the power component is connected to the rotating seat 301 in a transmission connection. The first joint 100 is located on the side of the rotating seat 301 opposite to the base 300.

[0029] In this embodiment, the robotic arm is mounted on the walking mechanism via the base 300. This means that the robotic arm can be used with various walking mechanisms and can be fixed with bolts through the bolt holes reserved on the base 300, thus enabling the robotic arm to have strong applicability.

[0030] A connecting column is provided on the top of the base 300, and a rotating seat 301 is installed on the top of the base 300. A robotic arm is installed on the top of the rotating seat 301. The rotating seat 301 drives the robotic arm to rotate. Therefore, the bottom wall of the rotating seat 301 is provided with an integrally formed rotating shaft. The connecting column is provided with a connecting hole along its own height direction. The rotating shaft can be rotatably connected to the connecting hole. Then, the power component directly drives the rotating seat 301 to rotate relative to the base 300, that is, the rotating seat 301 rotates on its own axis, so as to drive the robotic arm installed on the top of the rotating seat 301 to rotate synchronously.

[0031] In order to install the first joint 100 and the first hydraulic cylinder 200, a connecting plate is also provided on the upper top wall of the rotary seat 301. By using the connecting plate, the first joint 100 and the first hydraulic cylinder 200 can be easily installed on the top of the rotary seat 301 by means of pins.

[0032] According to one embodiment provided by this utility model, such as Figure 1 As shown, the power assembly includes a first hydraulic motor 302 and a first rotary reducer 303. The output shaft of the first hydraulic motor 302 is driven to the input hole of the first rotary reducer 303. The first rotary reducer 303 is driven to the rotating seat 301 and is used to drive the rotating seat 301 to rotate.

[0033] In this embodiment, the first hydraulic motor 302 is used as the power source. The output shaft of the first hydraulic motor 302 is driven by the input hole of the first rotary reducer 303. The first rotary reducer 303 reduces the speed and increases the torque, thereby driving the rotating seat 301 to rotate. At the same time, the two work together to achieve better efficiency and lower overall mass, which can effectively reduce the overall mass of the robotic arm and achieve the effect of lightweighting.

[0034] According to one embodiment provided by this utility model, such as Figure 1 As shown, the end of the fourth joint 103 that is away from the third joint 102 is connected to the actuator, and the fourth joint 103 is also provided with a drive assembly, which is connected to the actuator for driving the actuator to rotate.

[0035] In this embodiment, the end of the fourth joint 103, which is away from the third joint 102, is equipped with an actuator. The fourth joint 103 is also equipped with a drive assembly for rotating the actuator. The drive assembly can directly drive the actuator to rotate, so as to cooperate with the rotating seat 301 and each hydraulic cylinder to accurately move the actuator to the work surface. It can realize the actuator to rotate up and down, left and right, forward and backward and circumferentially, so that the walking mechanism installed on the robotic arm can be moved to the approximate position. The height can be increased by driving the actuator to accurately reach the corresponding position through the above process.

[0036] According to one embodiment provided by this utility model, such as Figure 1 As shown, the drive assembly includes a second hydraulic motor 104 and a second rotary reducer 105. The output shaft of the second hydraulic motor 104 is engaged with the input hole of the second rotary reducer 105, and the second rotary reducer 105 is connected to the actuator.

[0037] In this embodiment, a second hydraulic motor 104 is used as the power source. The output shaft of the second hydraulic motor 104 is driven by the input hole of the second rotary reducer 105. The second rotary reducer 105 reduces the speed and increases the torque, thereby driving the actuator to rotate. At the same time, the two work together to improve efficiency and reduce the overall mass, effectively reducing the overall mass of the robotic arm and achieving a lightweight effect. In other words, the robotic arm provided in this embodiment can be used with various actuators, and can drive the actuator to rotate to adjust its position through the cooperation of the second hydraulic motor 104 and the second rotary reducer 105.

[0038] According to one embodiment provided by this utility model, such as Figure 1 As shown, the detection mechanism includes a first angular displacement sensor and a second angular displacement sensor 400; The first angular displacement sensor is installed on the rotary seat 301. The stator of the first angular displacement sensor is connected to the stator of the first rotary reducer 303, and the rotor of the first angular displacement sensor is connected to the rotor of the first rotary reducer 303, so as to obtain the rotation angle data of the rotary seat 301. The second angular displacement sensor 400 is located at the fourth joint 103. The stator of the second angular displacement sensor 400 is connected to the stator of the second rotary reducer 105, and the rotor of the second angular displacement sensor 400 is connected to the rotor of the second rotary reducer 105 to obtain the angular data of the actuator rotation.

[0039] In this embodiment, taking the first angular displacement sensor as an example, the stator of the first angular displacement sensor is connected to the stator of the first rotary reducer 303, and the rotor of the first angular displacement sensor is connected to the rotor of the first rotary reducer 303. Thus, the rotation angle data of the rotating seat 301 is obtained by synchronous rotation angle, and transmitted to the control terminal corresponding to the whole robot arm in real time. Then, the control terminal analyzes and judges the data and generates a command signal to control the rotation angle. Correspondingly, the working principle of the second angular displacement sensor 400 is the same as that of the first angular displacement sensor, so it will not be described again.

[0040] According to one embodiment provided by this utility model, such as Figure 1 As shown, the detection mechanism also includes a first linear displacement sensor 401, a second linear displacement sensor 402, a third linear displacement sensor 403, and a fourth linear displacement sensor 404; A first linear displacement sensor 401 is installed on a first hydraulic cylinder 200, and the moving part of the first linear displacement sensor 401 is connected to the piston rod of the first hydraulic cylinder 200; a second linear displacement sensor 402 is installed on a second hydraulic cylinder 201, and the moving part of the second linear displacement sensor 402 is connected to the piston rod of the second hydraulic cylinder 201; a third linear displacement sensor 403 is installed on a third hydraulic cylinder 202, and the moving part of the third linear displacement sensor 403 is connected to the piston rod of the third hydraulic cylinder 202; a fourth linear displacement sensor 404 is installed on a fourth hydraulic cylinder 203, and the moving part of the fourth linear displacement sensor 404 is connected to the piston rod of the fourth hydraulic cylinder 203, so as to obtain the moving distance of the first hydraulic cylinder 200, the second hydraulic cylinder 201, the third hydraulic cylinder 202 and the fourth hydraulic cylinder 203.

[0041] In this embodiment, taking the first linear displacement sensor 401 as an example, the first linear displacement sensor 401 is installed in the cylinder body of the first hydraulic cylinder 200. The moving part of the first linear displacement sensor 401 is connected to the piston rod of the first hydraulic cylinder 200. The movement of the piston rod drives the moving part of the first linear displacement sensor 401 to move, thereby acquiring the moving distance data of the first hydraulic cylinder 200 and transmitting it in real time to the control terminal corresponding to the entire robotic arm. Then, the control terminal analyzes and judges the data and generates a command signal to control the robotic arm to continue to extend or retract. Correspondingly, the working principle of the second linear displacement sensor 402, the third linear displacement sensor 403, and the fourth linear displacement sensor 404 is consistent with that of the first linear displacement sensor 401, so it will not be described again.

[0042] The first angular displacement sensor, the second angular displacement sensor 400, the first linear displacement sensor 401, the second linear displacement sensor 402, the third linear displacement sensor 403, and the fourth linear displacement sensor 404 are used to obtain real-time data on the movement distance of the arm joint and the rotation angle of the arm joint end, thereby realizing precise closed-loop control of the robotic arm.

[0043] The first angular displacement sensor, the second angular displacement sensor 400, the first linear displacement sensor 401, the second linear displacement sensor 402, the third linear displacement sensor 403, and the fourth linear displacement sensor 404 are all existing technologies. Therefore, their internal structure, working process, and working principle should also be considered existing technologies, and will not be described in detail here.

[0044] According to one embodiment provided by this utility model, such as Figure 1As shown, the robotic arm also includes a multi-way valve 500, which is connected to a hydraulic power source. The multi-way valve 500 is also connected to a first hydraulic cylinder 200, a second hydraulic cylinder 201, a third hydraulic cylinder 202, a fourth hydraulic cylinder 203, a first hydraulic motor 302, and a second hydraulic motor 104 via hydraulic pipelines.

[0045] In this embodiment, the multi-way valve 500 is installed on the top wall of the rotating base 301. The multi-way valve 500 is connected to the hydraulic station or hydraulic oil tank equipped with the walking mechanism of the robotic arm, and is connected to the first hydraulic cylinder 200, the second hydraulic cylinder 201, the third hydraulic cylinder 202, the fourth hydraulic cylinder 203, the first hydraulic motor 302, and the second hydraulic motor 104 through different hydraulic pipelines. High-pressure hydraulic oil is supplied to the multi-way valve 500 through the hydraulic source, and after passing through the multi-way valve 500, it flows to the first hydraulic cylinder 200, the second hydraulic cylinder 201, the third hydraulic cylinder 202, the fourth hydraulic cylinder 203, the first hydraulic motor 302, and the second hydraulic motor 104, so as to control the hydraulic drive of each component.

[0046] Example 2 This invention also provides a drilling robot, including the aforementioned robotic arm.

[0047] In this embodiment, the drilling robot includes the aforementioned robotic arm. By using the robotic arm, the drilling robot can connect to different actuators installed at the end of the arm joint and perform construction during drilling operations. It can also obtain the rotation angle of the arm joint and the actuator, as well as the displacement distance of the arm joint in real time. This allows for precise closed-loop control of the robotic arm to achieve precise operation of the actuator, enabling it to accurately reach the working surface. This improves the drilling accuracy and intelligence of the drilling robot.

[0048] Of course, the drilling robot also includes a traveling mechanism. Preferably, the traveling mechanism is a tracked vehicle. The robotic arm is directly mounted on the tracked vehicle via a base 300. An actuator is installed at the end of the fourth joint 103 of the robotic arm away from the third joint 102. Preferably, the actuator should have a rock drilling and propulsion function so that the drilling robot can perform drilling operations. A power supply and a control terminal are installed inside the body of the tracked vehicle. The power supply provides power to all components of the drilling robot to perform operations. At the same time, the control terminal can obtain the rotation angle of the robotic arm joint and the actuator and the displacement distance of the robotic arm joint in real time, analyze and judge, and then issue signals to control the drilling robot to perform operations.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that, This includes the arm joint, rotating mechanism, hydraulic power mechanism, and testing mechanism; The arm joint is mounted on the rotating mechanism, and the rotating mechanism is capable of rotating to drive the arm joint to rotate synchronously. Both the hydraulic power mechanism and the detection mechanism are installed on the arm joint. The hydraulic power mechanism is used to drive the arm joint to open or retract, and the detection mechanism is used to detect the moving distance of the arm joint and the rotation angle of the end of the arm joint.

2. The robotic arm according to claim 1, characterized in that, The arm joint includes a first joint (100), a second joint (101), a third joint (102), and a fourth joint (103) connected in sequence. The hydraulic power mechanism includes a first hydraulic cylinder (200), a second hydraulic cylinder (201), a third hydraulic cylinder (202), and a fourth hydraulic cylinder (203). The end of the first joint (100) facing away from the second joint (101) is mounted on the rotating mechanism. The first hydraulic cylinder (200) is located on the rotating mechanism and its output end is connected to the first joint (100). The second hydraulic cylinder (201) is located on the first joint (100) and its output end is connected to the second joint (101). The third hydraulic cylinder (202) is located on the second joint (101) and its output end is connected to the third joint (102). The fourth hydraulic cylinder (203) is located on the third joint (102) and its output end is connected to the fourth joint (103).

3. The robotic arm according to claim 2, characterized in that, The rotating mechanism includes a base (300), a rotating seat (301), and a power assembly; The base (300) is mounted on the positioning surface, and the rotating seat (301) is mounted on the base (300). The rotating seat (301) can rotate along its own radial direction, and the power component is connected to the rotating seat (301) in a transmission connection. The first joint (100) is located on the side of the rotating seat (301) opposite to the base (300).

4. The robotic arm according to claim 3, characterized in that, The power assembly includes a first hydraulic motor (302) and a first rotary reducer (303). The output shaft of the first hydraulic motor (302) is driven to engage with the input hole of the first rotary reducer (303). The first rotary reducer (303) is driven to connect with the rotating seat (301) and is used to drive the rotating seat (301) to rotate.

5. The robotic arm according to claim 4, characterized in that, The end of the fourth joint (103) opposite to the third joint (102) is connected to the actuator, and the fourth joint (103) is also provided with a drive assembly, which is connected to the actuator for driving the actuator to rotate.

6. The robotic arm according to claim 5, characterized in that, The drive assembly includes a second hydraulic motor (104) and a second rotary reducer (105). The output shaft of the second hydraulic motor (104) is driven to engage with the input port of the second rotary reducer (105). The second rotary reducer (105) is driven to be connected to the actuator.

7. The robotic arm according to claim 6, characterized in that, The detection mechanism includes a first angular displacement sensor and a second angular displacement sensor (400). The first angular displacement sensor is disposed on the rotary seat (301), the stator of the first angular displacement sensor is connected to the stator of the first rotary reducer (303), and the rotor of the first angular displacement sensor is connected to the rotor of the first rotary reducer (303) to obtain the rotation angle data of the rotary seat (301). The second angular displacement sensor (400) is located at the fourth joint (103). The stator of the second angular displacement sensor (400) is connected to the stator of the second rotary reducer (105), and the rotor of the second angular displacement sensor (400) is connected to the rotor of the second rotary reducer (105) to obtain the rotation angle data of the actuator.

8. The robotic arm according to claim 7, characterized in that, The detection mechanism also includes a first linear displacement sensor (401), a second linear displacement sensor (402), a third linear displacement sensor (403), and a fourth linear displacement sensor (404). The first linear displacement sensor (401) is installed on the first hydraulic cylinder (200), and the moving part of the first linear displacement sensor (401) is connected to the piston rod of the first hydraulic cylinder (200); the second linear displacement sensor (402) is installed on the second hydraulic cylinder (201), and the moving part of the second linear displacement sensor (402) is connected to the piston rod of the second hydraulic cylinder (201); the third linear displacement sensor (403) is installed on the third hydraulic cylinder (202), and the moving part of the third linear displacement sensor (403) is connected to the piston rod of the third hydraulic cylinder (202); the fourth linear displacement sensor (404) is installed on the fourth hydraulic cylinder (203), and the moving part of the fourth linear displacement sensor (404) is connected to the piston rod of the fourth hydraulic cylinder (203), so as to obtain the moving distance of the first hydraulic cylinder (200), the second hydraulic cylinder (201), the third hydraulic cylinder (202) and the fourth hydraulic cylinder (203).

9. The robotic arm according to claim 6, characterized in that, The robotic arm also includes a multi-way valve (500), which is connected to a hydraulic power source. The multi-way valve (500) is also connected to the first hydraulic cylinder (200), the second hydraulic cylinder (201), the third hydraulic cylinder (202), the fourth hydraulic cylinder (203), the first hydraulic motor (302), and the second hydraulic motor (104) respectively through hydraulic pipelines.

10. A drilling robot, characterized in that, Includes the robotic arm described in any one of claims 1-9.

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