Mechanical arm

Abstract

The invention discloses a mechanical arm, and relates to the technical field of mechanical arms, the mechanical arm comprises an air injection device, a brake assembly and a plurality of arm bodies, one arm body is an action arm part, the air injection device is rotatably connected with the tail end of the action arm part, and the air injection device can inject air to the outside to provide moving power for the tail end of the action arm part; every two adjacent arm bodies are movably connected, and the braking assemblies are used for braking the relative movement between every two adjacent arm bodies. According to the multi-section mechanical arm, the whole arm body is moved through the air injection device at the tail end, movement of the multi-section mechanical arm can be achieved only through the air injection device with the small driving efficiency, energy consumption is low, the multi-section mechanical arm can quickly reach the designated position, and the movement efficiency of the mechanical arm is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to a mechanical arm. BACKGROUND

[0002] As a common mechanical device in the field of modern automation, the mechanical arm has played an important role in many fields such as fire rescue, industrial manufacturing, national defense security, aerospace engineering and medical health. However, with the increasing complexity of application scenarios, the limitations of traditional industrial mechanical arms in structure size, energy consumption level, motion flexibility and environmental adaptability are increasingly prominent, and it is difficult to meet the operation requirements in unstructured environment.

[0003] Most of the existing mechanical arms still use motors as the main driving source, and the movement of the end of the mechanical arm depends on the kinematics calculation and execution cooperation of each joint. The motor inside the multi-joint is mainly used for separate driving in sequence, which requires a large number of driving motors, increases the energy consumption, and also makes the operation effect of the mechanical arm poor, causing the problem of low overall motion efficiency of the mechanical arm. Therefore, there is an urgent need for a mechanical arm to solve the above problems. SUMMARY

[0004] The purpose of the present application is to provide a mechanical arm to solve the problems existing in the prior art, reduce energy consumption and improve the driving efficiency of the mechanical arm.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] The present application provides a mechanical arm, comprising: a jet device, a brake assembly and a plurality of arm bodies, one of which is a moving arm part, the jet device is rotatably connected to the end of the moving arm part, and the jet device can jet air to the outside to provide moving power for the end of the moving arm part; the adjacent two arm bodies are movably connected, and the brake assembly is used to brake the relative movement between the adjacent two arm bodies.

[0007] In one embodiment, the arm body comprises a first support, a second support and an arm rod, the arm rod is rotatably connected with the first support around a first axis, the brake assembly comprises a pitch brake assembly arranged in the first support, the arm rod is rotatably connected with the second support around a second axis, the first axis is parallel to the second axis, and the pitch brake assembly is used to brake the rotation of the arm rod and the first support around the first axis to limit the pitch angle of the arm rod relative to the first support.

[0008] In an embodiment, a rotation connection around a third axis is formed between two adjacent arm bodies, the third axis is perpendicular to the first axis, and the brake assembly comprises a steering brake assembly for braking the relative rotation around the third axis between two adjacent arm bodies.

[0009] In an embodiment, the pitch brake assembly comprises a pitch brake, brake gears, a driving arm rod and a brake fixing seat, the driving arm rod is fixedly connected with the arm rod, the brake fixing seat is fixedly connected on the first support, the pitch brake is fixedly connected on the brake fixing seat, two brake gears are rotatably arranged at two ends of the brake fixing seat, the driving arm rod is fixedly provided with engagement teeth, the brake gears are engaged with the engagement teeth, and the pitch brake can brake the brake gears to brake the rotation of the arm rod and the first support around the first axis.

[0010] In an embodiment, a power assembly is arranged in the second support of the action arm part, an output of the power assembly is fixedly connected with the air jet device, the power assembly is used for driving the air jet device to rotate around a fourth axis, the fourth axis is perpendicular to the first axis, and a steering brake assembly is arranged in the second support of each of the remaining arm bodies.

[0011] In an embodiment, the steering brake assembly comprises a steering brake, a first gear and a second gear, the steering brake is fixedly connected on the second support, the first gear is rotatably arranged on an output shaft of the steering brake, the first gear is engaged with the second gear, the second gear is fixedly connected with the first support, and the steering brake can brake the first gear to brake the rotation around the third axis between two adjacent arm bodies.

[0012] In an embodiment, the power assembly comprises a first motor, a third gear and a fourth gear, the first motor is fixedly connected in the second support, an output shaft of the first motor is drivingly connected with the third gear, the third gear is engaged with the fourth gear, the fourth gear is fixedly connected with the air jet device, and the first motor is used for controlling the rotation of the air jet device around the fourth axis.

[0013] In an embodiment, a synchronous rotation assembly is arranged on the arm body, and the synchronous rotation assembly is used for controlling the synchronous rotation of the first support and the second support.

[0014] In an implementation form, the synchronous rotating assembly comprises a driving grooved wheel, a driven grooved wheel, a connecting rope, a first pressing block, a second pressing block and a plurality of tensioning wheels, the driving grooved wheel is fixedly connected to the first support, the driven grooved wheel is fixedly connected to the second support, the connecting rope is sleeved on the driving grooved wheel, the driven grooved wheel and the tensioning wheels, the first pressing block is fixedly connected to the first support and used for pressing the connecting rope, the second pressing block is fixedly connected to the second support and used for pressing the connecting rope, and the plurality of tensioning wheels are fixedly connected to the arm rod and used for tightening the connecting rope.

[0015] In an implementation form, the jet device further comprises a jet, a jet fixing plate, a pitch joint plate, a pitch joint base, a second motor and a third motor, the pitch joint base is coaxially fixedly connected with the fourth gear, the second motor is fixedly connected to the pitch joint base, an output shaft of the second motor is drivingly connected with the pitch joint plate, an axis of the output shaft of the second motor is perpendicular to the fourth axis, the third motor is fixedly connected to the pitch joint plate, an output shaft of the third motor is drivingly connected with the jet fixing plate, an axis of the output shaft of the third motor is perpendicular to the axis of the output shaft of the second motor, and the jet fixing plate is fixedly connected with the jet.

[0016] The present application has the following technical effects relative to the prior art:

[0017] The mechanical arm of the present application can provide movement power for the end of the action arm through the jet device arranged on the arm body at the end, the jet device can realize rapid directional movement of the end of the action arm to the specified position by using the reverse thrust generated by the jet device, and drive other arm bodies to change the position, the relative movement between the two adjacent arm bodies can be braked by the brake assembly when the end of the action arm reaches the specified position, so that the mechanical arm remains in a stationary state to maintain the current state and the position of the end of the action arm, and the stability of the mechanical arm is maintained, when the jet device works, the brake assembly is in a released state, so that the arm body can change the position at will, the present application can realize movement of the multi-joint mechanical arm by using the jet device at the end to drive the whole arm body to move, only a small driving efficiency jet device is needed, the energy consumption is low, the specified position can be quickly reached, and the movement efficiency of the mechanical arm is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0019] Figure 1 Structure diagram of a mechanical arm in some embodiments of the present application;

[0020] Figure 2 Structure diagram of a moving arm part and a jet device in some embodiments of the present application;

[0021] Figure 3 Structure diagram of a steering brake assembly in some embodiments of the present application;

[0022] Figure 4 Structure diagram of a power assembly in some embodiments of the present application;

[0023] Figure 5 Structure diagram of a pitch brake assembly in some embodiments of the present application;

[0024] Figure 6 Structure diagram of a pitch brake assembly in some embodiments of the present application;

[0025] Figure 7 Structure diagram of a jet device in some embodiments of the present application;

[0026] In the drawings: 1, jet device; 2, jet; 21, jet fixing plate; 22, pitch joint plate; 23, pitch joint base; 24, second motor; 25, third motor; 3, arm body; 31, first support; 32, second support; 33, arm rod; 4, pitch brake assembly; 41, pitch brake; 42, gear; 43, driving arm rod; 44, brake fixing base; 5, steering brake assembly; 51, steering brake; 52, first gear; 53, second gear; 6, power assembly; 61, first motor; 62, third gear; 63, fourth gear; 7, synchronous rotating assembly; 71, driving grooved wheel; 72, driven grooved wheel; 73, connecting rope; 74, tension pulley; 75, first pressing block; 76, second pressing block. DETAILED DESCRIPTION

[0027] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0028] The present application aims to provide a mechanical arm to solve the problems in the prior art, reduce energy consumption and improve the driving efficiency of the mechanical arm.

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0030] As shown in Figures 1-7 The present application discloses a mechanical arm, comprising: a jet device 1, a brake assembly and a plurality of arm bodies 3, one of which is a moving arm part, the jet device 1 is rotatably connected to the end of the moving arm part, and the jet device can jet air to the outside to provide moving power for the end of the moving arm part; the adjacent two arm bodies 3 are movably connected, and the brake assembly is used to brake the relative movement between the adjacent two arm bodies 3.

[0031] The mechanical arm of the present application sets a jet device 1 on the end arm body 3, which can provide moving power for the end of the moving arm part, and uses the reverse thrust generated by the jet device 1 to realize the rapid directional movement of the end moving arm part to the designated position and drive other arm bodies 3 to change position; by setting the brake assembly, when the end of the moving arm part reaches the designated position, the relative movement between the adjacent two arm bodies 3 can be braked, so that the mechanical arm remains in a stationary state to maintain the current state and the position of the end of the moving arm part, and the stability of the mechanical arm is maintained. When the jet device 1 works, the brake assembly is in a released state, so that the arm body 3 can change position at will.

[0032] In one embodiment, the arm body 3 comprises a first support 31, a second support 32 and an arm rod 33, the arm rod 33 is rotatably connected with the first support 31 around a first axis, the brake assembly comprises a pitch brake assembly 4 arranged in the first support 31, the arm rod 33 is rotatably connected with the second support 32 around a second axis, the first axis is parallel to the second axis, and the pitch brake assembly 4 is used to brake the rotation of the arm rod 33 and the first support 31 around the first axis to limit the pitch angle of the arm rod 33 relative to the first support 31.

[0033] By setting the pitch brake assembly 4, when the arm body 3 is moved by the jet device 1, the whole pitch brake assembly 4 is in a released state, and the arm rod 33 can rotate relative to the first support 31; when the end of the action arm reaches the specified position, the jet device 1 stops working, and in the static state, the whole pitch brake assembly 4 is in a braking state, which can fix the pitch angle of the arm rod 33 relative to the first support 31, and ensure that the arm rod 33 remains static relative to the first support 31.

[0034] In one embodiment, a rotation connection around a third axis is formed between the two adjacent arm bodies 3, the third axis is perpendicular to the first axis, and the brake assembly includes a steering brake assembly 5 for braking the relative rotation around the third axis between the two adjacent arm bodies 3.

[0035] The steering brake assembly 5 is used to brake the two adjacent arm bodies 3, by setting the steering brake assembly 5, when the arm body 3 is moved by the jet device 1, the whole steering brake assembly 5 is in a released state, and the two adjacent arm bodies 3 can rotate; when the end of the action arm reaches the specified position, the jet device 1 stops working, and in the static state, the whole steering brake assembly 5 is in a braking state, which can limit the rotation of the two adjacent arm bodies 3, and the two adjacent arm bodies 3 can remain static.

[0036] In one embodiment, the pitch brake assembly 4 includes a pitch brake 41, a brake gear 42, a driving arm rod 43, and a brake fixed seat 44, the driving arm rod 43 is fixedly connected with the arm rod 33, the brake fixed seat 44 is fixedly connected on the first support 31, the pitch brake 41 is fixedly connected on the brake fixed seat 44, and the two brake gears 42 are rotatably arranged at the two ends of the brake fixed seat 44, the driving arm rod 43 is fixedly provided with engagement teeth, the brake gear 42 is engaged with the engagement teeth, and the pitch brake 41 can brake the brake gear 42 to brake the rotation of the arm rod 33 and the first support 31 around the first axis.

[0037] The pitch brake 41 can adopt an electric brake, a hydraulic brake, and a pneumatic brake, specifically, a power-off brake can be adopted, when powered on, the power-off brake can release the brake gear, so that the brake gear 42 is in a rotatable state, and the engagement teeth engaged therewith can normally rotate; when powered off, the power-off brake can brake the brake gear, so that the brake gear 42 is in a braking state, and the engagement teeth engaged therewith cannot rotate.

[0038] When the arm 33 needs to change direction, the pitch brake assembly 4 is in the power-on release state to ensure that the arm 33 can rotate; when the arm 33 needs to remain stationary, the pitch brake assembly 4 is in the power-off braking state to ensure that the arm 33 can remain in a stable state; because the first support 31 of the initial arm body 3 is in a vertical state, in order to ensure the stationary state of the arm 33, the synchronous rotation assembly 7 can always keep the arm 33 in a stable state.

[0039] In an embodiment, the second support 32 of the action arm part is provided with a power assembly 6, the output of the power assembly 6 is fixedly connected with the air jet device 1, and the power assembly 6 is used to drive the air jet device to rotate around the fourth axis which is perpendicular to the first axis; the second support 32 of the remaining arm body 3 is provided with a steering brake assembly 5.

[0040] By setting the steering brake assembly 5, when the air jet device 1 sprays air to drive the arm body 3 to move, the entire steering brake assembly 5 is in a release state, and the adjacent two arm bodies 3 can rotate; when the air jet device 1 does not spray air, the entire steering brake assembly 5 is in a braking state, which can limit the rotation of the adjacent two arm bodies 3, and the adjacent two arm bodies 3 can remain stationary. When the air jet device 1 needs to rotate, the power assembly 6 is used to drive the air jet device 1 to rotate, and the rotation of the air jet device 1 can quickly adjust the jet direction and quickly complete the movement of the arm body 3.

[0041] In an embodiment, the steering brake assembly 5 includes a steering brake 51, a first gear 52, and a second gear 53, the steering brake 51 is fixedly connected to the second support 32, the first gear 52 is rotatably arranged on the output shaft of the steering brake 51, the steering brake 51 is used to brake the first gear 52, the first gear 52 is engaged with the second gear 53, and the second gear 53 is fixedly connected to the first support 31. The steering brake 51 can brake the first gear 52 to brake the rotation of the adjacent two arm bodies 3 around the third axis.

[0042] The steering brake 51 is arranged in the second support 32 of the arm body 3, the first gear 52 is rotatably arranged on the output shaft of the steering brake 51, the first gear 52 is engaged with the second gear 53, the output shaft of the second gear 53 extends out of the second support 32 and is drivingly connected with the first support 31, and the brake of the steering brake 51 can brake or release the first gear.

[0043] In one embodiment, the power assembly 6 comprises a first motor 61, a third gear 62 and a fourth gear 63, the first motor 61 is fixedly connected in the second support 32, the output shaft of the first motor 61 is drivingly connected with the third gear 62, the third gear 62 is meshingly connected with the fourth gear 63, the fourth gear 63 is fixedly connected with the air jet device 1, and the first motor 61 is used to control the air jet device 1 to rotate around the fourth axis.

[0044] When the air jet device 1 needs to rotate, the first motor 61 drives the third gear 62 and the fourth gear 63 to rotate, and the connecting shaft fixedly connected in the fourth gear 63 drives the air jet device 1 to rotate. The air jet device 1 is driven by the first motor 61 to rotate, which can quickly adjust the direction of the air jet and quickly complete the movement of the arm body 3.

[0045] In one embodiment, the arm body 3 is provided with a synchronous rotation assembly 7, and the synchronous rotation assembly 7 is used to control the first support 31 and the second support 32 to synchronously rotate.

[0046] The synchronous rotation assembly 7 can limit the turning of the second support 32 and prevent the second support 32 from rotating. If the second support 32 rotates, the whole mechanical arm may not be positioned in time during movement, causing the mechanical arm to be unstable.

[0047] The connecting rope 73 is fixedly connected on the first support 31 and the second support 32 at the same time, and the length of the connecting rope 73 is constant. Therefore, once the first support 31 rotates, the second support 32 will also rotate by a corresponding angle, and the two synchronously rotate.

[0048] In one embodiment, the synchronous rotation assembly 7 comprises a driving groove wheel 71, a driven groove wheel 72, a connecting rope, a first pressing block 75, a second pressing block 76 and a plurality of tensioning wheels 74, the driving groove wheel 71 is fixedly connected on the first support 31, the driven groove wheel 72 is fixedly connected on the second support 32, the connecting rope 73 is sleeved on the driving groove wheel 71, the driven groove wheel 72 and the tensioning wheels 74, the first pressing block 75 is fixedly connected on the first support 31 and used to press the connecting rope 73, the second pressing block 76 is fixedly connected on the second support 32 and used to press the connecting rope 73, and the plurality of tensioning wheels 74 are fixedly connected on the arm rod 33 and used to tighten the connecting rope 73.

[0049] The synchronous rotating assembly 7 can constrain the first support 31 and the second support 32 to be consistent in angle, keep a state of being vertically downward, the main groove wheel 71 is fixed on the first support 31, the passive groove wheel 72 is fixed on the second support 32, mainly responsible for providing a rope guide groove for the connecting rope 73, so as to facilitate the realization of synchronous rotation; the tensioning wheel is mainly used for tightening the connecting rope 73, improving the effect of synchronous rotation, the first pressing block 75 and the second pressing block 76 are fixed on the respective groove wheels, used for pressing the connecting rope 73, avoiding the sliding of the connecting rope 73 to affect the effect of synchronous rotation.

[0050] The connecting rope 73 can be selected from a steel wire rope, the steel wire rope has extremely high strength and carrying capacity, extremely small tensile deformation (anti-tensile), excellent wear resistance, and good flexibility and bending fatigue performance, and can improve the stability of the device.

[0051] In an embodiment, the air jet device 1 further comprises an air jet 2, an air jet fixing plate 21, a pitch joint plate 22, a pitch joint base 23, a second motor 24 and a third motor 25, the pitch joint base 23 is coaxially fixedly connected with the fourth gear 63, the second motor 24 is fixedly connected on the pitch joint base 23, the output shaft of the second motor 24 is drivingly connected with the pitch joint plate 22, the axis of the output shaft of the second motor 24 is perpendicular to the fourth axis, the third motor 25 is fixedly connected on the pitch joint plate 22, the output shaft of the third motor 25 is drivingly connected with the air jet fixing plate 21, the axis of the output shaft of the third motor 25 is perpendicular to the axis of the output shaft of the second motor 24, and the air jet fixing plate 21 is fixedly connected with the air jet 2.

[0052] When it is needed to use the air jet 2 to jet, it is needed to adjust the direction of the air jet 2, so that the mechanical arm can be quickly driven to a specified position, first, the first motor 61 is opened to drive the third gear 62 to rotate, the fourth gear 63 engaged with the third gear 62 rotates to drive the pitch joint base 23 fixedly connected therewith to rotate around the fourth axis; the second motor 24 is fixedly connected on the pitch joint base 23, the output shaft of the second motor 24 is drivingly connected with the pitch joint plate 22, the second motor 24 is opened to drive the pitch joint plate 22 to perform a pitch operation, so that the pitch joint plate 22 rotates, the third motor 25 is fixedly connected on the pitch joint plate 22, the output shaft of the third motor 25 is drivingly connected with the air jet fixing plate 21, the third motor 25 is opened to drive the air jet fixing plate 21 to rotate, according to the adjustment of the directions of the pitch joint base 23, the pitch joint plate 22 and the air jet fixing plate 21, the air jet 2 can be directed to any position, the air jet 2 is driven to change the posture, so as to change the jet direction of the air jet 2.

[0053] Further, the jet 2 required to produce a certain thrust at a lighter mass, the jet 2 can be selected as the power of the jet engine, the jet gas is air (limited thrust); Can also be selected as the power of the small turbojet engine used in general model, the jet gas is air and the gas product after the corresponding fuel combustion (the specific type and content of the product is determined by the fuel composition), for example, the SW80B model of Xuanyun, which can produce nearly 8 kg of thrust (and can be remotely electronically started and stopped) under its own mass of less than 2 kg.

[0054] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A robot arm, characterized in that, The utility model relates to a kind of arm mechanism, including: jet device, brake assembly and several arm bodies, one arm body is action arm part, the jet device is rotatably connected with the end of the action arm part, the jet device can spray air to the outside to provide moving power for the end of the action arm part;Adjacent two arm bodies are movably connected, and the brake assembly is used to brake the relative movement between adjacent two arm bodies. The arm body includes a first support, a second support and an arm rod, the arm rod is rotatably connected with the first support around a first axis, the brake assembly includes a pitch brake assembly arranged in the first support, the arm rod is rotatably connected with the second support around a second axis, the first axis is parallel to the second axis, and the pitch brake assembly is used to brake the rotation of the arm rod and the first support around the first axis to limit the pitch angle of the arm rod relative to the first support.

2. The robotic arm of claim 1, wherein: Adjacent two arm bodies are rotatably connected around a third axis, and the third axis is perpendicular to the first axis, and the brake assembly includes a steering brake assembly used to brake the relative rotation between adjacent two arm bodies around the third axis.

3. The robotic arm of claim 2, wherein: The pitch brake assembly includes a pitch brake, brake gears, a driving arm rod and a brake fixing seat, the driving arm rod is fixedly connected with the arm rod, the brake fixing seat is fixedly connected on the first support, the pitch brake is fixedly connected on the brake fixing seat, two brake gears are rotatably arranged at both ends of the brake fixing seat, the driving arm rod is fixedly provided with engagement teeth, the brake gears are engaged with the engagement teeth, and the pitch brake can brake the brake gears to brake the rotation of the arm rod and the first support around the first axis.

4. The robotic arm of claim 2, wherein: A power assembly is arranged in the second support of the action arm part, an output member of the power assembly is fixedly connected with the jet device, the power assembly is used to drive the jet device to rotate around a fourth axis, and the fourth axis is perpendicular to the first axis.

5. The robotic arm of claim 3, wherein: The steering brake assembly includes a steering brake, a first gear and a second gear, the steering brake is fixedly connected on the second support, the first gear is rotatably arranged on the output shaft of the steering brake, the first gear is engaged with the second gear, the second gear is fixedly connected with the first support, and the steering brake can brake the first gear to brake the rotation between adjacent two arm bodies around the third axis.

6. The robotic arm of claim 3, wherein: The power assembly includes a first motor, a third gear and a fourth gear, the first motor is fixedly connected in the second support, an output shaft of the first motor is drivingly connected with the third gear, the third gear is engaged with the fourth gear, the fourth gear is fixedly connected with the jet device, and the first motor is used to control the jet device to rotate around the fourth axis.

7. The robotic arm of claim 5, wherein: ​ 8. The robotic arm of claim 2, wherein: The arm body is provided with a synchronous rotation assembly for controlling the first support and the second support to rotate synchronously.

9. The robotic arm of claim 2, wherein: The synchronous rotation assembly comprises a driving grooved wheel, a driven grooved wheel, a connecting rope, a first pressing block, a second pressing block and a plurality of tensioning wheels, the driving grooved wheel is fixedly connected to the first support, the driven grooved wheel is fixedly connected to the second support, the connecting rope is sleeved on the driving grooved wheel, the driven grooved wheel and the tensioning wheels, the first pressing block is fixedly connected to the first support and used for pressing the connecting rope, the second pressing block is fixedly connected to the second support and used for pressing the connecting rope, and the plurality of tensioning wheels are fixedly connected to the arm rod and used for tightening the connecting rope.

10. The robotic arm of claim 7, wherein: The air jet device further comprises an air jet, an air jet fixing plate, a pitch joint plate, a pitch joint base, a second motor and a third motor, the pitch joint base is coaxially fixedly connected to the fourth gear, the second motor is fixedly connected to the pitch joint base, the output shaft of the second motor is drivingly connected to the pitch joint plate, the axis of the output shaft of the second motor is perpendicular to the fourth axis, the third motor is fixedly connected to the pitch joint plate, the output shaft of the third motor is drivingly connected to the air jet fixing plate, the axis of the output shaft of the third motor is perpendicular to the axis of the output shaft of the second motor, and the air jet fixing plate is fixedly connected to the air jet.

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