Mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm which comprises a rotating disc, a first mounting plate and a second mounting plate are symmetrically arranged at the top of the rotating disc, a main arm is hinged to the first mounting plate, an auxiliary arm is hinged to the tail end of the main arm, a connecting arm is hinged to the tail end of the auxiliary arm, and an industrial camera and a pneumatic suction cup are installed on the connecting arm. A first adjusting mechanism is arranged on the second mounting plate, a second adjusting mechanism is further arranged on the first mounting plate, a dust blowing mechanism used for removing dust on a lens of the industrial camera is further arranged on the connecting arm, and whether the soybeans are infected with diseases or not can be accurately judged through cooperation of the rotary disc, the first adjusting mechanism, the second adjusting mechanism, the industrial camera and the pneumatic suction cup; the infected soybeans are accurately adsorbed and carried to a designated area, and the problem that a lens of the industrial camera is prone to being contaminated with dust is effectively solved through the arrangement of the dust blowing mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely relates to a mechanical arm. BACKGROUND

[0002] In the soybean production, trade and other links, the detection and screening of diseased soybeans are crucial. At present, soybean disease detection mainly relies on manual or traditional mechanical devices. Manual detection method is extremely low in efficiency, and is limited by human subjective judgment and fatigue, so the detection accuracy is difficult to guarantee, which cannot meet the detection demand of large scale and high efficiency. Although the traditional mechanical device improves the detection speed to a certain extent, it still has many defects.

[0003] The traditional mechanical arm system applied to soybean disease detection has poor stability in complex environment. It lacks the cooperative control ability of high-precision image acquisition and rapid response, and it is difficult to accurately obtain the disease information of soybeans and make timely treatment. The existing hardware system adopts a single sensor or a fixed structure, which cannot dynamically adjust the screening action according to the actual detection scene, resulting in high missed detection rate and low classification efficiency.

[0004] In terms of image acquisition, the traditional equipment cannot obtain clear and comprehensive soybean images, and cannot provide accurate data support for disease identification. In terms of screening action execution, the traditional mechanical device cannot accurately position the diseased soybeans, and is easy to cause damage to the soybeans in the process of grabbing and classifying. In addition, there is also a lack of effective maintenance measures for key components such as camera lens in the existing technology, and the lens is easy to be contaminated with dust, affecting the imaging quality and reducing the detection accuracy. These problems seriously restrict the efficient development of soybean disease detection work, and an urgent need for a new type of diseased soybean identification and screening detection mechanical arm to solve the above problems. CONTENT OF THE UTILITY MODEL

[0005] In view of the above problems, a mechanical arm is provided, which can accurately judge whether the soybeans are diseased or not through the cooperation of the turntable, the first adjusting mechanism, the second adjusting mechanism, the industrial camera and the pneumatic suction cup, accurately adsorb the diseased soybeans and transport them to the designated area, and effectively solve the problem that the industrial camera lens is easy to be contaminated with dust through the setting of the dust blowing mechanism.

[0006] To solve the problems in the prior art, the utility model provides a kind of mechanical arm, including turntable, the top of turntable is symmetrically provided with first mounting plate and second mounting plate, first mounting plate is hinged with main arm, the end of main arm is hinged with auxiliary arm, the end of auxiliary arm is hinged with connecting arm, industrial camera and pneumatic suction cup are installed on connecting arm, first adjusting mechanism for adjusting the height of industrial camera and pneumatic suction cup is equipped on second mounting plate, second adjusting mechanism for adjusting the angle of industrial camera and pneumatic suction cup is also equipped on first mounting plate, dust blowing mechanism for cleaning the lens of industrial camera is also provided on connecting arm.

[0007] Preferably, the first adjusting mechanism comprises a first servo motor, a first connecting rod and a second connecting rod, the first servo motor is horizontally installed on the second mounting plate, one end of the first connecting rod is fixedly arranged on the output shaft of the first servo motor, one end of the second connecting rod is hingedly arranged on the end of the first connecting rod away from the first servo motor, and the other end of the second connecting rod is hingedly arranged on the end of the auxiliary arm close to the main arm; when the first connecting rod rotates upward through the first servo motor, the second connecting rod is flipped upward at this time, and the second connecting rod drives the auxiliary arm to move downward.

[0008] Preferably, the second adjusting mechanism comprises a second servo motor, a third connecting rod, a fourth connecting rod and a fifth connecting rod, the second servo motor is installed on the first mounting plate, the second servo motor is mirror arranged with the first servo motor, the end of the main arm away from the auxiliary arm is fixedly arranged on the output shaft of the second servo motor, one end of the third connecting rod is hingedly arranged on the first mounting plate, the fourth connecting rod is a triangular structure, each corner of the fourth connecting rod is respectively provided with a first hinged hole, a second hinged hole and a third hinged hole, the first hinged hole of the fourth connecting rod is hingedly arranged on the side of the auxiliary arm close to the main arm, the second hinged hole of the fourth connecting rod is hingedly arranged on the end of the third connecting rod away from the first mounting plate, one end of the fifth connecting rod is hingedly arranged on the third hinged hole of the fourth connecting rod, and the end of the fifth connecting rod is hingedly arranged on the side of the connecting arm away from the auxiliary arm.

[0009] Preferably, the blowing mechanism comprises a ring-shaped cover arranged around the lens of the industrial camera, the ring-shaped cover is provided with a ring-shaped blowing port at the lens of the industrial camera, and the inside of the ring-shaped cover is provided with a blowing head capable of blowing air to the ring-shaped blowing port of the ring-shaped cover.

[0010] Preferably, the ring-shaped blowing port of the ring-shaped cover is provided with a ring-shaped frame capable of rotating, a plurality of blades are arranged on the ring-shaped frame and are distributed at equal intervals along the circumferential direction of the ring-shaped frame, and the blades are arranged in an inclined manner; when the blowing head blows air, the blowing head and the blades arranged in an inclined manner are matched to drive all the blades on the ring-shaped frame to rotate and form a centrifugal air flow.

[0011] Preferably, the blowing mechanism further comprises a ring-shaped cover plate capable of closing the ring-shaped blowing port of the ring-shaped cover, and an electric push rod arranged on the side wall of the ring-shaped cover and used for driving the ring-shaped cover plate to open and close the ring-shaped blowing port.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] 1、Through the rotation of the turntable, the mechanical arm can cover different areas of soybeans. The first adjusting mechanism and the second adjusting mechanism can flexibly adjust the height and angle of the industrial camera and the pneumatic suction cup. The industrial camera can collect images, and the rear-end image processing system can accurately determine whether the soybeans are diseased by using image recognition algorithms. The pneumatic suction cup can accurately adsorb the diseased soybeans and transport them to the designated area under the instruction of the control unit, improving the efficiency and accuracy of detection and screening.

[0014] 2、The first adjusting mechanism adopts the combination of the first servo motor, the first connecting rod and the second connecting rod to realize the height precise adjustment of the industrial camera and the pneumatic suction cup through a simple and reliable mechanical structure. The second adjusting mechanism uses the second servo motor, the third connecting rod, the fourth connecting rod and the fifth connecting rod to make the industrial camera and the pneumatic suction cup reach the appropriate angle, which is convenient for accurate positioning and identification of the soybean position. The whole mechanical arm structure is compact, the motion control is accurate, and the stability and reliability of the mechanical arm in the working process are ensured.

[0015] 3、The setting of the blowing mechanism effectively solves the problem that the lens of the industrial camera is easy to be contaminated with dust. The cooperation of the ring cover, the blowing head and the fan makes the airflow evenly cover the lens surface to clean the dust. The design of the ring frame and the fan blade further forms a centrifugal airflow, enhancing the comprehensiveness and thoroughness of dust cleaning. When dust cleaning is not needed, the ring cover can close the ring blowing port to block the external dust from entering, ensuring the clarity of the camera imaging and maintaining the accuracy of the detection. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic view of a mechanical arm Figure 1 .

[0017] Figure 2 is a schematic view of a mechanical arm Figure 2 .

[0018] Figure 3 is a schematic view of a mechanical arm Figure 3 .

[0019] Figure 4 is a schematic view of a dust cleaning mechanism of a mechanical arm.

[0020] Figure 5 is Figure 4 a schematic view of a mechanical arm along A-A.

[0021] Figure 6 is Figure 5 an enlarged view of B in .

[0022] Figure 7 is a state of a dust cleaning mechanism of a mechanical armFigure 1 .

[0023] Figure 8 A state of a dust cleaning mechanism of a mechanical arm Figure 2 .

[0024] In the figure, the labels are: 1, turntable; 11, first mounting plate; 111, main arm; 112, auxiliary arm; 113, connecting arm; 12, second mounting plate; 2, first adjusting mechanism; 21, first servo motor; 22, first connecting rod; 23, second connecting rod; 3, second adjusting mechanism; 31, second servo motor; 32, third connecting rod; 33, fourth connecting rod; 34, fifth connecting rod; 4, industrial camera; 5, pneumatic suction cup; 6, dust blowing mechanism; 61, annular cover; 62, annular blowing port; 63, blowing head; 64, annular frame; 641, fan blade; 65, annular cover plate; 66, electric push rod. DETAILED DESCRIPTION

[0025] In order to further understand the characteristics, technical means and specific purposes and functions achieved by the utility model, the utility model will be described in further detail below in combination with the drawings and specific embodiments.

[0026] Referring to Figures 1 to 4 The figure shows: a mechanical arm, including a turntable 1, the top of the turntable 1 is symmetrically provided with a first mounting plate 11 and a second mounting plate 12, the first mounting plate 11 is hinged with a main arm 111, the end of the main arm 111 is hinged with an auxiliary arm 112, the end of the auxiliary arm 112 is hinged with a connecting arm 113, the connecting arm 113 is installed with an industrial camera 4 and a pneumatic suction cup 5, the second mounting plate 12 is provided with a first adjusting mechanism 2 for adjusting the height of the industrial camera 4 and the pneumatic suction cup 5, the first mounting plate 11 is further provided with a second adjusting mechanism 3 for adjusting the angle of the industrial camera 4 and the pneumatic suction cup 5, the connecting arm 113 is further provided with a dust blowing mechanism 6 for cleaning the lens of the industrial camera 4.

[0027] The turntable 1 can rotate according to the work requirements, so that the mechanical arm can cover different areas of soybeans;

[0028] When the height of the industrial camera 4 and the pneumatic suction cup 5 needs to be adjusted, the first adjusting mechanism 2 starts to work, the rotation of the main arm 111 will drive the auxiliary arm 112 and the connecting arm 113 to move synchronously, thereby realizing the height adjustment of the industrial camera 4 and the pneumatic suction cup 5 in the vertical direction, so as to adapt to the detection of soybeans with different stacking heights;

[0029] If the angle of the industrial camera 4 and the pneumatic suction cup 5 needs to be changed, the second adjusting mechanism 3 works, so that the main arm 111, the auxiliary arm 112 and the connecting arm 113 as a whole change the angle, thereby flexibly adjusting the angle of the industrial camera 4 and the pneumatic suction cup 5, so as to detect and sort soybeans from different angles;

[0030] The industrial camera 4 is controlled by a rear-end control unit, which is not shown in the figure, and the control unit includes an image processing system. After the industrial camera 4 is adjusted to a suitable height and angle, it starts to collect image information of soybeans in real time. The collected image data is transmitted to the rear-end image processing system. The image processing system determines whether the soybeans are diseased through image recognition algorithm. If the diseased soybeans are identified, the control unit will issue a command to drive the pneumatic suction cup 5 to act, adsorb the diseased soybeans, and then the mechanical arm will carry the diseased soybeans to the designated classification area according to the preset path for separation.

[0031] During the operation of the mechanical arm, the blowing mechanism 6 is started according to the image quality feedback of the camera. The airflow blown out of the blowing port directly acts on the lens surface to blow away the accumulated dust, keep the lens clean, and ensure that the industrial camera 4 can always collect clear images to maintain the accuracy of detection.

[0032] Referring to Figures 1 to 3 The first adjusting mechanism 2 includes a first servo motor 21, a first connecting rod 22 and a second connecting rod 23. The first servo motor 21 is horizontally installed on the second mounting plate 12. One end of the first connecting rod 22 is fixedly arranged on the output shaft of the first servo motor 21. One end of the second connecting rod 23 is hingedly arranged on the end of the first connecting rod 22 away from the first servo motor 21. The other end of the second connecting rod 23 is hingedly arranged with the end of the auxiliary arm 112 close to the main arm 111. When the first connecting rod 22 rotates upward through the first servo motor 21, the second connecting rod 23 turns upward at this time, and the second connecting rod 23 drives the auxiliary arm 112 to move downward.

[0033] Referring to Figures 1 to 3 The second adjusting mechanism 3 includes a second servo motor 31, a third connecting rod 32, a fourth connecting rod 33 and a fifth connecting rod 34. The second servo motor 31 is installed on the first mounting plate 11. The second servo motor 31 is mirror-symmetrically arranged with the first servo motor 21. The end of the main arm 111 away from the auxiliary arm 112 is fixedly arranged on the output shaft of the second servo motor 31. One end of the third connecting rod 32 is hingedly arranged on the first mounting plate 11. The fourth connecting rod 33 has a triangular structure. Each corner of the fourth connecting rod 33 is respectively provided with a first hinged hole, a second hinged hole and a third hinged hole. The first hinged hole of the fourth connecting rod 33 is hingedly arranged with the side of the auxiliary arm 112 close to the main arm 111. The second hinged hole of the fourth connecting rod 33 is hingedly arranged with the end of the third connecting rod 32 away from the first mounting plate 11. One end of the fifth connecting rod 34 is hingedly arranged with the third hinged hole of the fourth connecting rod 33. The end of the fifth connecting rod 34 is hingedly arranged with the side of the connecting arm 113 away from the auxiliary arm 112.

[0034] When the first servo motor 21 drives the first connecting rod 22 to rotate upward, the movement of the first connecting rod 22 is transmitted to the second connecting rod 23 through the hinge point, so that the second connecting rod 23 is flipped upward, and since the second connecting rod 23 is hinged with the auxiliary arm 112, the upward flipping of the second connecting rod 23 drives the auxiliary arm 112 to move downward, and the movement of the auxiliary arm 112 in turn drives the connecting arm 113 and the industrial camera 4 and the pneumatic suction cup 5 mounted on the connecting arm 113 to move downward, so as to realize the height reduction, and vice versa, when the first servo motor 21 drives the first connecting rod 22 to rotate downward, the second connecting rod 23 is flipped downward, and the auxiliary arm 112 is driven to move upward, and the height of the industrial camera 4 and the pneumatic suction cup 5 is increased.

[0035] When the main arm 111 is driven by the second servo motor 31 to rotate upward, the third connecting rod 32 keeps parallel with the main arm 111 to move. The movement of the third connecting rod 32 is transmitted to the fourth connecting rod 33 through the second hinge hole, so that the fourth connecting rod 33 rotates to the direction of the connecting arm 113, and the rotation of the fourth connecting rod 33 is transmitted to the fifth connecting rod 34 through the third hinge hole, and the fifth connecting rod 34 drives the connecting arm 113 to move, so that the industrial camera 4 and the pneumatic suction cup 5 are in a horizontal state, and the industrial camera 4 forms a planar rectangular coordinate system for the position of the soybeans, so as to facilitate the identification of the industrial camera 4.

[0036] Specifically, when the industrial camera 4 identifies the diseased soybeans, for example, in the first quadrant 45 degrees of the planar rectangular coordinate system of the industrial camera 4, the position of the diseased soybeans, at this time, the first servo motor 21 controls the first connecting rod 22 to move upward, and the first connecting rod 22 drives the second connecting rod 23 to move upward, and the second connecting rod 23 drives the auxiliary arm 112 to move downward to the position where the soybeans can be sucked, and at the same time, the second servo motor 31 controls the third connecting rod 32 to move forward At the same time, the turntable 1 controls the mechanical arm to move right by 45 degrees.

[0037] After reaching the specified position, the pneumatic suction cup 5 starts to suck the diseased soybeans, and after successfully sucking, the turntable 1 controls the sucked diseased soybeans to move left by 45 degrees, and at the same time, the second servo motor 31 controls the third connecting rod 32 to move backward The first servo motor 21 controls the first connecting rod 22 to move downward, and the first connecting rod 22 drives the second connecting rod 23 to move downward, and the second connecting rod 23 drives the auxiliary arm 112 to move upward to the initial height, and returns to the initial state, at this time, the diseased soybeans are placed in the specified area in the same moving manner.

[0038] Similarly, to move until the completion of the task back to the initial state, the second servo motor 31 controls the main arm 111 to move backward, the main arm 111 pulls the third connecting rod 32, the third connecting rod 32 pulls the fourth connecting rod 33 and the fifth connecting rod 34 to move, and controls the industrial camera 4 and the pneumatic suction cup 5 to move upward from the horizontal position to the 3 o'clock direction and then remain unchanged. At this time, the mechanical arm does not need to move up and down, and the mechanical arm is retracted to the standby state.

[0039] Referring to Figures 4 to 8 As shown: the soot blowing mechanism 6 includes a ring-shaped cover 61 arranged around the lens of the industrial camera 4, and the ring-shaped cover 61 is provided with a ring-shaped blowing port 62 at the lens of the industrial camera 4. The inside of the ring-shaped cover 61 is provided with a blowing head 63 capable of blowing air to the blowing port of the ring-shaped cover 61.

[0040] When the soot blowing mechanism 6 is started, the blowing head 63 starts to work. The soot blowing mechanism 6 further includes a fan which can be arranged on the turntable 1. The fan is connected with the blowing head 63 through a blowing pipe. The fan and the blowing pipe are not shown in the figure. Air flow is generated by the fan, and the air flow is transmitted in the internal space of the ring-shaped cover 61. Due to the closed structure of the ring-shaped cover 61, the air flow is guided to the ring-shaped blowing port 62. The air flow blown out of the ring-shaped blowing port 62 uniformly covers the lens surface of the industrial camera 4 in a ring-shaped manner. The dust is blown away from the lens under the impact of the air flow, so as to clean the lens and ensure the imaging clarity of the industrial camera 4.

[0041] Referring to Figures 4 to 8 As shown: the ring-shaped blowing port 62 of the ring-shaped cover 61 is provided with a rotatable ring-shaped frame 64. The ring-shaped frame 64 is provided with a plurality of wind blades 641 which are distributed at equal intervals along the circumferential direction of the ring-shaped frame 64. The wind blades 641 are arranged in an inclined manner. When the blowing head 63 blows air, the wind blades 641 are rotated by the cooperation of the blowing head 63 and the inclined wind blades 641, and a centrifugal air flow is formed.

[0042] When the soot blowing mechanism 6 is started and the blowing head 63 blows air to the ring-shaped blowing port 62, the blown air flow directly acts on the inclined wind blades 641 of the ring-shaped frame 64. Since the wind blades 641 are inclined, when the air flow impacts the wind blades 641, a force generated on the surface of the wind blades 641 can be decomposed into a force along the plane of the wind blades 641 and a vertical force. The force along the plane of the wind blades 641 will generate a tangential driving torque on the wind blades 641. Under the action of the torque, the wind blades 641 begin to rotate around the central axis of the ring-shaped frame 64. Because a plurality of wind blades 641 are distributed at equal intervals along the circumferential direction of the ring-shaped frame 64, all the wind blades 641 will be rotated under the continuous action of the air flow.

[0043] With the rotation of the fan blades 641, a centrifugal fan-like working mode is formed inside the annular frame 64. During the rotation of the fan blades 641, the air in the central region of the annular frame 64 is continuously pushed outward. In this process, the air in the central region is continuously discharged, the pressure is reduced, and the surrounding air is continuously supplemented to form a continuous air flow. At the same time, the centrifugal force generated by the rotation of the fan blades 641 causes the air flow blown out of the annular blowing port 62 to have a centrifugal characteristic. Instead of simply blowing out in a straight line, the air flow is blown out in a way that spreads outward and has a tendency to rotate, forming a centrifugal air flow, improving the comprehensiveness and thoroughness of dust removal, and better maintaining the cleanliness of the lens of the industrial camera 4, ensuring the image acquisition quality.

[0044] Referring to Figure 5 , Figure 7 and Figure 8 , the dust blowing mechanism 6 further comprises an annular cover plate 65 capable of closing the annular blowing port 62 of the annular cover 61, and an electric push rod 66 arranged on the side wall of the annular cover 61 for driving the annular cover plate 65 to open and close the annular blowing port 62.

[0045] When the mechanical arm is in daily operation and the industrial camera 4 does not need to be cleaned, the annular cover plate 65 is in a state of covering the annular blowing port 62 of the annular cover 61. In this state, the annular cover plate 65 acts as a protective cover, which can effectively block dust, impurities and the like from the outside from entering the inside of the annular cover 61, thereby reducing dust accumulation.

[0046] When the industrial camera 4 needs to be cleaned, the electric push rod 66 starts to work and pushes the annular cover plate 65 to move. With the movement of the annular cover plate 65, the annular blowing port 62 originally covered by the annular cover plate 65 is gradually opened, and the air flow generated by the blowing head 63 can be blown out through the annular blowing port 62, thereby performing dust blowing and cleaning operation on the lens surface of the industrial camera 4.

[0047] The above embodiments only express one or several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A robot arm, characterized in that, The utility model provides a kind of industrial camera and pneumatic chuck height-adjusting device, including rotary table (1), the top of rotary table (1) is symmetrically provided with first mounting plate (11) and second mounting plate (12), first mounting plate (11) is hinged with main arm (111), the end of main arm (111) is hinged with auxiliary arm (112), the end of auxiliary arm (112) is hinged with connecting arm (113), industrial camera (4) and pneumatic chuck (5) are installed on connecting arm (113), second mounting plate (12) is equipped with first adjusting mechanism (2) for adjusting the height of industrial camera (4) and pneumatic chuck (5), first mounting plate (11) is further equipped with second adjusting mechanism (3) for adjusting the angle of industrial camera (4) and pneumatic chuck (5), connecting arm (113) is further provided with blowing mechanism (6) for blowing dust to the lens of industrial camera (4).

2. The robotic arm of claim 1, wherein, First adjusting mechanism (2) includes first servo motor (21), first connecting rod (22) and second connecting rod (23), first servo motor (21) is horizontally installed on second mounting plate (12), one end of first connecting rod (22) is fixedly arranged on the output shaft of first servo motor (21), one end of second connecting rod (23) is hinged to the end of first connecting rod (22) away from first servo motor (21), the other end of second connecting rod (23) is hingedly arranged with the end of auxiliary arm (112) close to main arm (111), when first connecting rod (22) is rotated upward by first servo motor (21), second connecting rod (23) is turned over upward at this time, and second connecting rod (23) drives auxiliary arm (112) to move downward.

3. The robotic arm of claim 2, wherein, Second adjusting mechanism (3) includes second servo motor (31), third connecting rod (32), fourth connecting rod (33) and fifth connecting rod (34), second servo motor (31) is installed on first mounting plate (11), second servo motor (31) is mirror image arranged with first servo motor (21), the end of main arm (111) away from auxiliary arm (112) is fixedly arranged on the output shaft of second servo motor (31), one end of third connecting rod (32) is hinged to first mounting plate (11), fourth connecting rod (33) is triangular structure, first hinged hole, second hinged hole and third hinged hole are respectively arranged at each corner of fourth connecting rod (33), the first hinged hole of fourth connecting rod (33) is hinged with the side of auxiliary arm (112) close to main arm (111), the second hinged hole of fourth connecting rod (33) is hinged with the end of third connecting rod (32) away from first mounting plate (11), one end of fifth connecting rod (34) is hinged with the third hinged hole of fourth connecting rod (33), and the end of fifth connecting rod (34) is hinged with the side of connecting arm (113) away from auxiliary arm (112).

4. The robotic arm of claim 1, wherein, Blowing mechanism (6) includes annular cover (61) arranged around the lens of industrial camera (4), annular cover (61) is provided with annular blowing port (62) for the lens of industrial camera (4), blowing head (63) capable of blowing air to the blowing port of annular cover (61) is arranged in the inside of annular cover (61).

5. The robotic arm of claim 4, wherein, A rotatable ring-shaped frame (64) is arranged at the ring-shaped blowing port (62) of the ring-shaped cover (61), and a plurality of wind blades (641) are arranged on the ring-shaped frame (64) and are equidistantly distributed along the circumferential direction of the ring-shaped frame (64). The wind blades (641) are arranged in an inclined manner. When the blowing head (63) blows air, the blowing head (63) cooperates with the wind blades (641) arranged in an inclined manner to drive all the wind blades (641) on the ring-shaped frame (64) to rotate and form a centrifugal airflow.

6. The robotic arm of claim 5, wherein, The soot blowing mechanism (6) further comprises a ring-shaped cover plate (65) capable of closing the ring-shaped blowing port (62) of the ring-shaped cover (61), and an electric push rod (66) arranged on the side wall of the ring-shaped cover (61) and used for driving the ring-shaped cover plate (65) to open and close the ring-shaped blowing port (62).

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