Continuous positioning and rotating mechanism and continuous positioning and rotating method for equipment rotation

Abstract

The invention relates to a continuous positioning rotating mechanism and a continuous positioning rotating method.The continuous positioning rotating mechanism for equipment rotation comprises a first driving mechanism, a second driving mechanism, a first assembling plate, a second assembling plate, a supporting plate, an unlocking pin and a rotating sleeve, and the second assembling plate is slidably connected to the first assembling plate; a main body structure of the first driving mechanism is fixed to the first assembling plate, the driving end of the first driving mechanism is in transmission connection with the second assembling plate and drives the second assembling plate to move front and back, a main body structure of the second driving mechanism is fixed to the second assembling plate, and the front end of the second assembling plate is perpendicularly and fixedly connected with a supporting plate. An unlocking pin is vertically fixed to the side face, away from the second assembling plate, of the supporting plate, the driving end of the second driving mechanism is connected with one end of the rotating sleeve and drives the rotating sleeve to rotate, and the other end of the rotating sleeve penetrates through the supporting plate and is arranged with the unlocking pin at intervals. According to the invention, coherent positioning, overhead and rotation actions can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field related to mechanical transmission, and in particular to a continuous positioning rotation mechanism and a continuous positioning rotation method for equipment rotation. Background Art

[0002] Existing mechanisms for rotating equipment generally use cylinders or connecting rod mechanisms. Such mechanisms cannot operate continuously when rotating the equipment, and have insufficient operating precision, inaccurate rotation angle control, and no automatic overhead components. Summary of the invention

[0003] In order to solve one or more of the technical problems existing in the prior art, the present invention provides a continuous positioning rotation mechanism and a continuous positioning rotation method for rotating a device, which can be used for folding a device, for example.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a continuous positioning rotation mechanism for equipment rotation, comprising a first driving mechanism, a second driving mechanism, a first assembly plate, a second assembly plate, a support plate, an unlocking pin and a rotating sleeve, the second assembly plate being slidably connected to the first assembly plate, the main structure of the first driving mechanism being fixed to the first assembly plate, the driving end of the first driving mechanism being transmission-connected to the second assembly plate and driving the second assembly plate to move forward and backward, the main structure of the second driving mechanism being fixed to the second assembly plate, the front end of the second assembly plate being vertically fixedly connected to the support plate, an unlocking pin being vertically fixed on a side surface of the support plate facing away from the second assembly plate, the driving end of the second driving mechanism being connected to one end of the rotating sleeve and driving the rotating sleeve to rotate, the other end of the rotating sleeve passing through the support plate and being arranged at intervals with the unlocking pin.

[0005] The beneficial effects of the present invention are as follows: the continuous positioning rotation mechanism of the present invention can realize continuous positioning, overhead and rotation actions, can be used in high-precision positioning occasions, can realize the control of different rotation angles after overhead, and shorten the operation time of the mechanism. The continuous positioning rotation mechanism of the present invention has high versatility and can be applied to rotation occasions where various nuts are fixed.

[0006] Based on the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, a support frame is provided on the first assembly plate on the left side or the right side of the second assembly plate, and the main structure of the first driving mechanism is fixed on the support frame.

[0008] The beneficial effect of adopting the above further solution is that by providing a support frame, the first driving mechanism and the second driving mechanism can be arranged in a staggered manner, and the structure is stable and reliable.

[0009] Furthermore, the driving end of the first driving mechanism is arranged vertically downward and is connected to a driving gear, and a driving rack extending forward and backward is fixed to the second assembly plate, and the driving gear is meshed with the driving rack.

[0010] The beneficial effect of adopting the above further solution is that the forward and backward movement accuracy of the second assembly plate is made higher by utilizing the cooperation between the driving gear and the driving rack.

[0011] Furthermore, the support frame has a Z-shaped structure.

[0012] Furthermore, a positioning pin is vertically fixed on a side surface of the support plate facing away from the second assembly plate.

[0013] The beneficial effect of adopting the above further solution is that the positioning accuracy is high by providing the positioning pins.

[0014] Furthermore, the positioning pin has a conical structure at the front end.

[0015] The beneficial effect of adopting the above further solution is that the positioning accuracy and positioning precision are ensured by adopting the positioning pin with a conical structure.

[0016] Further, the rotating sleeve includes an inner sleeve, an outer sleeve, a spring, a sliding rod and a positioning sleeve, the inner sleeve is sleeved in the outer sleeve and one end is fixedly connected to one end of the outer sleeve, one end of the sliding rod is inserted from the other end of the outer sleeve and slidably arranged in the inner sleeve, the other end of the sliding rod is located outside the outer sleeve and fixedly connected to one end of the positioning sleeve, the positioning sleeve passes through the support plate arrangement, and a positioning groove is provided on the end surface of the other end of the positioning sleeve; the spring is sleeved on the outside of the sliding rod and the other end of the inner sleeve, one end of the spring is connected to the outer side wall of the sliding rod, and the other end is connected to the outer side wall of the inner sleeve; the driving end of the second driving mechanism is fixedly connected to one end of the outer sleeve or / and one end of the inner sleeve.

[0017] The beneficial effect of adopting the above further solution is that the floating sleeve can be used to avoid crushing related parts of the equipment.

[0018] Furthermore, a first in-place sensor is provided on the lower surface of the first assembly plate, and a second in-place sensor is provided on the upper surface of the first assembly plate. The first in-place sensor is used to detect whether there is a device being fed in from the front, and the second in-place sensor is used to detect whether the device in the front is rotated into place.

[0019] The beneficial effect of adopting the above further solution is that by providing the first in-position sensor and the second in-position sensor, it is convenient to perform in-position detection control on the rotating device.

[0020] Furthermore, a plurality of position sensors arranged in a front-to-back order are provided on the upper surface of the first assembly plate, and a sensing sheet adapted to the position sensors is provided on the second assembly plate.

[0021] The beneficial effect of adopting the above further solution is that by providing a position sensor and a sensing sheet, the movement position of the second assembly plate can be detected conveniently.

[0022] The continuous positioning and rotating method is implemented by using the above-mentioned continuous positioning and rotating mechanism for rotating equipment, and comprises the following steps: feeding the equipment having a main structure and a structure to be rotated from the front side, and the structure to be rotated is locked into the locking hole of the main structure by a spring pin and is locked and positioned in an initial position;

[0023] After the first in-place sensor detection device is in place, the first driving mechanism drives the second assembly plate to move forward, so that the unlocking pin is inserted into the locking hole of the main structure to push the spring pin out of the locking hole of the main structure to unlock it. At the same time, the rotating sleeve is sleeved on the clamping piece on the structure to be rotated, and the second driving mechanism drives the rotating sleeve to rotate, thereby driving the clamping piece and the structure to be rotated to rotate. The second driving mechanism stops rotating after detecting that its own torque is in place. The second in-place sensor is used to detect the rotation angle limit of the structure to be rotated. At this time, the structure to be rotated is rotated into place, and the first driving mechanism drives the second assembly plate to move backward to the original position, and repeats this action.

[0024] The beneficial effects of the present invention are as follows: the continuous positioning and rotation method of the present invention utilizes sensors to detect the position and coordination of various extreme positions, thereby ensuring the smoothness of movement, and can achieve the continuity of positioning, overhead and rotation. It can be used in high-precision positioning situations, and can achieve control of different rotation angles after overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The three-dimensional structure diagram of the continuous positioning rotating mechanism for equipment rotation of the present invention is shown in FIG. Figure 1 ;

[0026] Figure 2 The three-dimensional structure diagram of the continuous positioning rotating mechanism for equipment rotation of the present invention is shown in FIG. Figure 2 ;

[0027] Figure 3 It is a side view structural schematic diagram of the rotating sleeve of the present invention;

[0028] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure of AA.

[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0030] 1. A first driving mechanism; 2. A second driving mechanism;

[0031] 3. First assembly plate; 31. First in-position sensor; 32. Second in-position sensor; 33. Position sensor; 34. Linear guide rail; 35. Support frame;

[0032] 4. Second assembly board; 41. Induction sheet;

[0033] 5. Support plate; 6. Unlocking pin;

[0034] 7. Rotating sleeve; 71. Inner sleeve; 72. Outer sleeve; 73. Spring; 74. Sliding rod; 75. Positioning sleeve; 76. Positioning groove;

[0035] 8. Driving gear; 9. Driving rack; 10. Positioning pin. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0037] like Figure 1~Figure 4 As shown, the continuous positioning rotation mechanism for equipment rotation in this embodiment includes a first driving mechanism 1, a second driving mechanism 2, a first assembly plate 3, a second assembly plate 4, a support plate 5, an unlocking pin 6 and a rotating sleeve 7, the second assembly plate 4 is slidably connected to the first assembly plate 3, the main structure of the first driving mechanism 1 is fixed on the first assembly plate 3, the driving end of the first driving mechanism 1 is transmission-connected to the second assembly plate 4 and drives the second assembly plate 4 to move forward and backward, the main structure of the second driving mechanism 2 is fixed on the second assembly plate 4, the front end of the second assembly plate 4 is vertically fixedly connected with the support plate 5, the unlocking pin 6 is vertically fixed on the side surface of the support plate 5 facing away from the second assembly plate 4, the driving end of the second driving mechanism 2 is connected to one end of the rotating sleeve 7 and drives the rotating sleeve 7 to rotate, and the other end of the rotating sleeve 7 passes through the support plate 5 and is arranged with the unlocking pin 6 at intervals.

[0038] like Figure 1 and Figure 2 As shown, a support frame 35 is provided on the first assembly plate 3 on the left or right side of the second assembly plate 4 of this embodiment, and the main structure of the first drive mechanism 1 is fixed on the support frame 35. By providing the support frame, the first drive mechanism and the second drive mechanism can be staggered, and the structure is stable and reliable.

[0039] like Figure 1 and Figure 2As shown, the driving end of the first driving mechanism 1 of this embodiment is arranged vertically downward and connected to a driving gear 8, and a driving rack 9 extending forward and backward is fixed to the second assembly plate 4, and the driving gear 8 is meshed with the driving rack 9. The cooperation of the driving gear and the driving rack makes the forward and backward movement accuracy of the second assembly plate higher.

[0040] like Figure 1 and Figure 2 As shown, the support frame 35 of this embodiment is in a Z-shaped structure.

[0041] like Figure 1 and Figure 2 As shown, a positioning pin 10 is vertically fixed on the side surface of the support plate 5 of this embodiment which faces away from the second assembly plate 4. By providing the positioning pin, the positioning accuracy is high.

[0042] like Figure 1 and Figure 2 As shown, the positioning pin 10 of this embodiment has a conical structure at the front end. The positioning pin with a conical structure ensures the accuracy and precision of positioning. The mechanism adopts a direct overhead mechanism after positioning, which ensures the accuracy of positioning and the consistency of the structure and shortens the operation time of the mechanism.

[0043] like Figure 2~Figure 4 As shown, the rotating sleeve 7 of this embodiment includes an inner sleeve 71, an outer sleeve 72, a spring 73, a sliding rod 74 and a positioning sleeve 75. The inner sleeve 71 is sleeved in the outer sleeve 72 and one end is fixedly connected to one end of the outer sleeve 72. One end of the sliding rod 74 is inserted from the other end of the outer sleeve 72 and slidably arranged in the inner sleeve 71. The other end of the sliding rod 74 is located on the outside of the outer sleeve 72 and is fixedly connected to one end of the positioning sleeve 75. The positioning sleeve 75 is arranged through the support plate 5, and a positioning groove 76 is provided on the end surface of the other end of the positioning sleeve 75; the spring 73 is sleeved on the outside of the sliding rod 74 and the other end of the inner sleeve 71, one end of the spring 73 is connected to the outer side wall of the sliding rod 74, and the other end is connected to the outer side wall of the inner sleeve 71; the driving end of the second driving mechanism 2 is fixedly connected to one end of the outer sleeve 72 or / and one end of the inner sleeve 71. The use of a floating sleeve can avoid crushing related parts of the equipment and ensure the surface quality and rotation stability of the equipment to be rotated.

[0044] like Figure 1 and Figure 2As shown, in this embodiment, a first in-place sensor 31 is provided on the lower surface of the first assembly plate 3, and a second in-place sensor 32 is provided on the upper surface of the first assembly plate 3. The first in-place sensor 31 is used to detect whether there is a device in front, and the second in-place sensor 32 is used to detect whether the device in front is rotated to the position. By providing the first in-place sensor and the second in-place sensor, it is convenient to perform in-place detection control on the rotating device.

[0045] like Figure 1 As shown, the upper surface of the first assembly plate 3 of this embodiment is also provided with a plurality of position sensors 33 arranged in sequence in front and back, and the second assembly plate 4 is provided with a sensing sheet 41 adapted to the position sensor 33. By providing the position sensor and the sensing sheet, the movement position of the second assembly plate can be conveniently detected.

[0046] Specifically, three position sensors 33 are provided on the first assembly plate 3 , the front and rear position sensors 33 are used for extreme position protection, and the middle position sensor 33 is used as the origin position for driving the rack 9 to move.

[0047] The position sensor 33 may be a slot-type photoelectric sensor, and the sensing sheet 41 may pass through a sensing slot of the slot-type photoelectric sensor for matching detection.

[0048] In this embodiment, the second assembly plate 4 is provided with a linear guide rail 34, and a guide rail groove adapted to the linear guide rail 34 can be provided on the lower surface of the first assembly plate 3, and the linear guide rail 34 cooperates with the guide rail groove to realize the forward and backward movement of the second assembly plate relative to the first assembly plate; the linear guide rail 34 extends in the forward and backward direction. Two or more linear guide rails 34 can be selected.

[0049] Specifically, the first drive mechanism 1 and the second drive mechanism 2 of this embodiment use servo motors. The servo motors cooperate with the rotating sleeve, with the servo motor torque as the rotation starting point and the servo motor rotation angle as the rotation ending point, ensuring the consistency and accuracy of the rotation angle.

[0050] The continuous positioning rotation mechanism for device rotation in this embodiment is mainly used for device folding.

[0051] Among them, the equipment generally includes a main structure and a structure to be rotated. For example, the equipment is a folding trolley, which includes a supporting plate (main structure) and a folding handle (structure to be rotated). The folding handle is perpendicular to the supporting plate in the initial state, and is in a folded state when it is stacked on the supporting plate; when the folding handle is disposed with the supporting plate, it can be clamped and positioned with the main structure through a spring pin. The structure to be rotated is provided with a clamping piece that cooperates with the positioning groove, which is used to cooperate with the positioning groove. When the rotating sleeve rotates, it can drive the clamping piece and the structure to be rotated to rotate. The positioning groove can be a nut groove, such as a hexagonal nut groove, and the clamping piece can be a nut, such as a hexagonal nut.

[0052] The continuous positioning rotation mechanism of this embodiment can realize the rotation of the structure to be rotated relative to the main structure within the range of 0°~360°, with high rotation accuracy and angle control within ±1°. Positioning pins are used for positioning, with a positioning accuracy of ±0.5mm. The entire mechanism has a stable structure and high strength. The main components are made of 45# chrome-plated steel with high stability; the gear rack cooperates with the linear guide rail for stable movement and high precision.

[0053] The first drive mechanism and the second drive mechanism of this embodiment can use servo motors to provide power for each motion mechanism to ensure the stability of motion accuracy. The second drive mechanism can detect the motor output torque when rotating to avoid excessive output torque damaging the rotating structure of the equipment and achieve overload protection.

[0054] The continuous positioning rotation mechanism of this embodiment can realize continuous positioning, overhead and rotation actions, can be used in high-precision positioning occasions, can realize the control of different rotation angles after overhead, and shorten the operation time of the mechanism. The continuous positioning rotation mechanism of this embodiment has high versatility and can be applied to various rotation occasions where nuts are fixed. This mechanism can replace rotating sleeves with different positioning groove specifications according to the size of the clamping parts that cooperate with the positioning groove on the structure to be rotated on the equipment. This mechanism is interchangeable and can be installed symmetrically on the left and right sides, suitable for installation on both sides. The stroke of the linear guide and the drive rack can be adjusted to adapt to the structure to be rotated on equipment of different sizes. The rotation of this mechanism is completed by combining a high-precision rotating sleeve and a servo motor, with the motor torque as the starting point of rotation and the motor rotation angle as the end point of rotation, ensuring the consistency and accuracy of the rotation angle. This mechanism has high versatility and can be applied to various rotation occasions where nuts are fixed.

[0055] The present embodiment also provides a continuous positioning and rotation method, which is implemented by the above-mentioned continuous positioning and rotation mechanism for equipment rotation, and includes the following steps: a device having a main structure and a structure to be rotated is fed in from the front side, and the structure to be rotated is positioned in the initial position by snapping a spring pin into the locking hole of the main structure; after the first in-place sensor 31 detects that the device is in place, the first drive mechanism 1 drives the second assembly plate 4 to move forward, so that the unlocking pin 6 is inserted into the locking hole of the main structure to push the spring pin out of the locking hole of the main structure to unlock, and at the same time, the rotating sleeve 7 is sleeved on the clamping piece on the structure to be rotated, and the second drive mechanism 2 drives the rotating sleeve 7 to rotate, thereby driving the clamping piece and the structure to be rotated to rotate, and the second drive mechanism 2 stops rotating after detecting that its own torque is in place, and the second in-place sensor 32 is used to detect the rotation angle limit of the structure to be rotated, at this time the structure to be rotated is rotated in place (the folding handle of the folding cart is in a folded state), and the first drive mechanism 1 drives the second assembly plate 4 to move backward to the original position, and repeats this action.

[0056] The continuous positioning and rotation method of this embodiment uses sensors to detect the position and coordination of various extreme positions, which ensures the smoothness of movement and can achieve the continuity of positioning, overhead and rotation. It can be used in high-precision positioning situations and can achieve control of different rotation angles after overhead.

[0057] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0062] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A continuous positioning rotating mechanism for equipment rotation, characterized in that: The invention comprises a first driving mechanism, a second driving mechanism, a first assembly plate, a second assembly plate, a supporting plate, an unlocking pin and a rotating sleeve, wherein the second assembly plate is slidably connected to the first assembly plate, the main structure of the first driving mechanism is fixed to the first assembly plate, the driving end of the first driving mechanism is transmission-connected to the second assembly plate and drives the second assembly plate to move forward and backward, the main structure of the second driving mechanism is fixed to the second assembly plate, the front end of the second assembly plate is vertically fixedly connected to the supporting plate, an unlocking pin is vertically fixed on the side surface of the supporting plate facing away from the second assembly plate, the driving end of the second driving mechanism is connected to one end of the rotating sleeve and drives the rotating sleeve to rotate, and the other end of the rotating sleeve passes through the supporting plate and is arranged at intervals with the unlocking pin.

2. The continuous positioning rotation mechanism for equipment rotation according to claim 1, characterized in that: A support frame is provided on the first assembly plate on the left side or the right side of the second assembly plate, and the main structure of the first driving mechanism is fixed on the support frame.

3. The continuous positioning rotation mechanism for equipment rotation according to claim 2, characterized in that: The driving end of the first driving mechanism is arranged vertically downward and is connected to a driving gear. A driving rack extending forward and backward is fixed to the second assembly plate, and the driving gear is meshed with the driving rack.

4. The continuous positioning rotation mechanism for equipment rotation according to claim 2, characterized in that: The support frame is in a Z-shaped structure.

5. The continuous positioning rotation mechanism for equipment rotation according to claim 1, characterized in that: A positioning pin is vertically fixed on a side surface of the support plate facing away from the second assembly plate.

6. The continuous positioning rotation mechanism for equipment rotation according to claim 5, characterized in that: The positioning pin has a conical structure at the front end.

7. The continuous positioning rotation mechanism for equipment rotation according to claim 1, characterized in that: The rotating sleeve includes an inner sleeve, an outer sleeve, a spring, a sliding rod and a positioning sleeve, the inner sleeve being sleeved in the outer sleeve and having one end fixedly connected to one end of the outer sleeve, one end of the sliding rod being inserted from the other end of the outer sleeve and slidably arranged in the inner sleeve, the other end of the sliding rod being located on the outside of the outer sleeve and fixedly connected to one end of the positioning sleeve, the positioning sleeve being arranged through the support plate, and a positioning groove being provided on the end surface of the other end of the positioning sleeve; the spring being sleeved on the outside of the sliding rod and the other end of the inner sleeve, one end of the spring being connected to the outer side wall of the sliding rod, and the other end being connected to the outer side wall of the inner sleeve; the driving end of the second driving mechanism being fixedly connected to one end of the outer sleeve or / and one end of the inner sleeve.

8. The continuous positioning rotating mechanism for equipment rotation according to any one of claims 1 to 7, characterized in that: A first in-place sensor is provided on the lower surface of the first assembly plate, and a second in-place sensor is provided on the upper surface of the first assembly plate. The first in-place sensor is used to detect whether there is a device in front, and the second in-place sensor is used to detect whether the device in front is rotated into place.

9. The continuous positioning rotating mechanism for equipment rotation according to claim 8, characterized in that: The upper surface of the first assembly plate is also provided with a plurality of position sensors arranged in a front-to-back order, and the second assembly plate is provided with a sensing sheet adapted to the position sensors.

10. A continuous positioning rotation method, characterized in that: This is achieved by using the continuous positioning rotation mechanism for equipment rotation as described in claim 8 or 9, The method comprises the following steps: feeding a device having a main structure and a structure to be rotated from the front side, and the structure to be rotated is locked into a locking hole of the main structure by a spring pin and is locked and positioned in an initial position; After the first in-place sensor detection device is in place, the first driving mechanism drives the second assembly plate to move forward, so that the unlocking pin is inserted into the locking hole of the main structure to push the spring pin out of the locking hole of the main structure to unlock it. At the same time, the rotating sleeve is sleeved on the clamping piece on the structure to be rotated, and the second driving mechanism drives the rotating sleeve to rotate, thereby driving the clamping piece and the structure to be rotated to rotate. The second driving mechanism stops rotating after detecting that its own torque is in place. The second in-place sensor is used to detect the rotation angle limit of the structure to be rotated. At this time, the structure to be rotated is rotated into place, and the first driving mechanism drives the second assembly plate to move backward to the original position, and repeats this action.

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