Continuous positioning rotation mechanism and continuous positioning rotation method for device rotation

Abstract

The present invention relates to a continuous positioning rotation mechanism and a continuous positioning rotation method for device rotation. The continuous positioning rotation mechanism for device rotation includes a first driving mechanism, a second driving mechanism, a first mounting plate, a second mounting plate, a support plate, an unlocking pin, and a rotating sleeve. The second mounting plate is slidably connected to the first mounting plate. The main structure of the first driving mechanism is fixed on the first mounting plate. The driving end of the first driving mechanism is in transmission connection with the second mounting plate and drives the second mounting plate to move back and forth. The main structure of the second driving mechanism is fixed on the second mounting plate. A support plate is vertically and fixedly connected to the front end of the second mounting plate. An unlocking pin is vertically fixed on the side surface of the support plate facing away from the second mounting 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. The other end of the rotating sleeve passes through the support plate and is arranged at intervals with the unlocking pin. The present invention can achieve coherent positioning, unlocking, and rotation actions.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and particularly relates to a continuous positioning rotation mechanism and a continuous positioning rotation method for device rotation. Background Art

[0002] Existing mechanisms for device rotation generally adopt a cylinder or a connecting rod mechanism. When rotating the device, such a mechanism cannot operate continuously, has insufficient operation accuracy, inaccurate rotation angle control, and no automatic unlocking component, etc. Summary of the Invention

[0003] In order to solve one or several 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 device rotation, which can be used for device folding, for example.

[0004] The technical solution of the present invention for solving the above technical problems is as follows: A continuous positioning rotation mechanism for device rotation includes a first driving mechanism, a second driving mechanism, a first mounting plate, a second mounting plate, a support plate, an unlocking pin, and a rotating sleeve. The second mounting plate is slidably connected to the first mounting plate. The main structure of the first driving mechanism is fixed on the first mounting plate. The driving end of the first driving mechanism is in transmission connection with the second mounting plate and drives the second mounting plate to move back and forth. The main structure of the second driving mechanism is fixed on the second mounting plate. A support plate is vertically and fixedly connected to the front end of the second mounting plate. An unlocking pin is vertically fixed on the side of the support plate facing away from the second mounting 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. The other end of the rotating sleeve passes through the support plate and is arranged at an interval from the unlocking pin.

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

[0006] On the basis of the above technical solution, the present invention can be further improved as follows.

[0007] Further, a support frame is provided on the first mounting plate on the left or right side of the second mounting 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: 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 connected with a driving gear, a driving rack extending forward and backward is fixed on the second assembling plate, and the driving gear meshes with the driving rack.

[0010] The beneficial effect of adopting the above further scheme is that the cooperation of the driving gear and the driving rack makes the forward and backward movement accuracy of the second assembling plate higher.

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

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

[0013] The beneficial effect of adopting the above further scheme is that by setting the positioning pin, the positioning accuracy is high.

[0014] Furthermore, the front end of the positioning pin is of a conical structure.

[0015] The beneficial effect of adopting the above further scheme is that the positioning pin with a conical structure ensures the accuracy and positioning precision of positioning.

[0016] Furthermore, the rotating sleeve includes an inner sleeve, an outer sleeve, a spring, a sliding rod and a positioning sleeve. The inner sleeve is sleeved inside the outer sleeve and one end thereof is fixedly connected with one end of the outer sleeve. One end of the sliding rod is inserted into the other end of the outer sleeve and slidably arranged inside the inner sleeve. The other end of the sliding rod is located outside the outer sleeve and fixedly connected with one end of the positioning sleeve. The positioning sleeve penetrates through the support plate, and a positioning groove is arranged on the end surface of the other end of the positioning sleeve. The spring is sleeved outside the sliding rod and the other end of the inner sleeve. One end of the spring is connected with the outer side wall of the sliding rod, and the other end is connected with the outer side wall of the inner sleeve. The driving end of the second driving mechanism is fixedly connected with one end of the outer sleeve or / and one end of the inner sleeve.

[0017] The beneficial effect of adopting the above further scheme is that by adopting a floating sleeve, the relevant components of the equipment can be prevented from being damaged by pressing.

[0018] Furthermore, a first in-place sensor is arranged on the lower surface of the first assembling plate, and a second in-place sensor is arranged on the upper surface of the first assembling plate. The first in-place sensor is used for detecting whether there is a device sent in front, and the second in-place sensor is used for detecting whether the device in front rotates in place.

[0019] The beneficial effect of adopting the above further scheme is that by setting the first in-place sensor and the second in-place sensor, it is convenient to perform in-place detection control on the device to be rotated.

[0020] Further, a plurality of position sensors are sequentially arranged at intervals in the front-rear direction on the upper surface of the first assembly plate, and induction sheets adapted to the position sensors are arranged on the second assembly plate.

[0021] The beneficial effect of adopting the above further solution is that by arranging the position sensors and the induction sheets, it is convenient to detect the movement position of the second assembly plate.

[0022] The continuous positioning rotation method is implemented by adopting the above continuous positioning rotation mechanism for equipment rotation, and includes the following steps: feeding the equipment with the main body structure and the structure to be rotated from the front side, and the structure to be rotated is clamped and positioned at the initial position in the locking hole of the main body structure through a spring pin;

[0023] After the first in-place sensor detects that the equipment 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 body structure to eject the spring pin from the locking hole of the main body structure for unlocking. At the same time, the rotating sleeve is sleeved on the clamping member on the structure to be rotated, and the second driving mechanism drives the rotating sleeve to rotate, thereby driving the clamping member and the structure to be rotated to rotate. After the second driving mechanism detects that its torque is in place, it stops rotating. 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 rotates in place, and the first driving mechanism drives the second assembly plate to move backward to the original position, and this action is repeated in a cycle.

[0024] The beneficial effect of the present invention is that the continuous positioning rotation method of the present invention utilizes the cooperation of the inductor to detect the in-place and each limit position, ensuring the smoothness of the movement, realizing the coherence of positioning, unlocking and rotation, being applicable to high-precision positioning occasions, and being able to control different rotation angles after unlocking. Description of the Drawings

[0025] Figure 1 is a schematic three-dimensional structure diagram of the continuous positioning rotation mechanism for equipment rotation of the present invention Figure 1 ;

[0026] Figure 2 is a schematic three-dimensional structure diagram of the continuous positioning rotation mechanism for equipment rotation of the present invention Figure 2 ;

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

[0028] Figure 4 is Figure 3 the cross-sectional structure diagram of A-A in

[0029] In the drawings, the list of components represented by each reference numeral is as follows:

[0030] 1. First driving mechanism; 2. Second driving mechanism;

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

[0032] 4. Second mounting plate; 41. Inductive sheet;

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

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

[0035] 8. Driving gear; 9. Driving rack; 10. Positioning pin. Specific embodiments

[0036] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0037] As Figures 1 to 4 shown, the continuous positioning rotating mechanism for equipment rotation in this embodiment includes a first driving mechanism 1, a second driving mechanism 2, a first mounting plate 3, a second mounting plate 4, a support plate 5, an unlock pin 6 and a rotating sleeve 7. The second mounting plate 4 is slidably connected to the first mounting plate 3. The main structure of the first driving mechanism 1 is fixed on the first mounting plate 3. The driving end of the first driving mechanism 1 is in transmission connection with the second mounting plate 4 and drives the second mounting plate 4 to move back and forth. The main structure of the second driving mechanism 2 is fixed on the second mounting plate 4. A support plate 5 is vertically and fixedly connected to the front end of the second mounting plate 4. An unlock pin 6 is vertically fixed on the side of the support plate 5 facing away from the second mounting 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. The other end of the rotating sleeve 7 passes through the support plate 5 and is arranged at an interval from the unlock pin 6.

[0038] As Figure 1 and Figure 2 shown, a support frame 35 is provided on the first mounting plate 3 on the left or right side of the second mounting plate 4 in this embodiment. The main structure of the first driving mechanism 1 is fixed on the support frame 35. By providing the 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.

[0039] As Figure 1 and Figure 2As shown, the driving end of the first driving mechanism 1 of this embodiment is arranged vertically downward and connected with a driving gear 8. A driving rack 9 extending forward and backward is fixed on the second mounting plate 4, and the driving gear 8 meshes with the driving rack 9. By using the cooperation of the driving gear and the driving rack, the forward and backward movement precision of the second mounting plate is higher.

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

[0041] As Figure 1 and Figure 2 shown, a positioning pin 10 is vertically fixed on the side of the support plate 5 facing away from the second mounting plate 4. By setting the positioning pin, the positioning precision is high.

[0042] As Figure 1 and Figure 2 shown, the positioning pin 10 of this embodiment has a conical structure at the front end. By using the positioning pin with a conical structure, the accuracy and precision of positioning are guaranteed. This mechanism adopts a direct pin-removing mechanism after positioning, which ensures the accuracy of positioning and the coherence of the structure, and shortens the operation time of the mechanism.

[0043] As Figures 2 to 4 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 inside the outer sleeve 72 and one end is fixedly connected with one end of the outer sleeve 72. One end of the sliding rod 74 is inserted into the inner sleeve 71 from the other end of the outer sleeve 72 and is slidably arranged therein. The other end of the sliding rod 74 is located outside the outer sleeve 72 and is fixedly connected with one end of the positioning sleeve 75. The positioning sleeve 75 penetrates through the support plate 5, and a positioning groove 76 is arranged on the end surface of the other end of the positioning sleeve 75; the spring 73 is sleeved outside the sliding rod 74 and the other end of the inner sleeve 71. One end of the spring 73 is connected with the outer side wall of the sliding rod 74, and the other end is connected with the outer side wall of the inner sleeve 71; the driving end of the second driving mechanism 2 is fixedly connected with one end of the outer sleeve 72 or / and one end of the inner sleeve 71. By using a floating sleeve, it is possible to avoid damaging the relevant components of the equipment, and the surface quality and rotation stability of the equipment to be rotated are guaranteed.

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

[0045] As Figure 1 shown in the figure, a plurality of position sensors 33 arranged at intervals in sequence from front to back are further provided on the upper surface of the first mounting plate 3 of this embodiment, and an induction sheet 41 adapted to the position sensors 33 is provided on the second mounting plate 4. By providing the position sensors and the induction sheet, it is convenient to detect the movement position of the second mounting plate.

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

[0047] The position sensor 33 can adopt a slot type photoelectric sensor, and the induction sheet 41 can be matched and detected through the induction slot of the slot type photoelectric sensor.

[0048] A linear guide 34 is provided on the second mounting plate 4 of this embodiment. A guide groove adapted to the linear guide 34 can be provided on the lower surface of the first mounting plate 3, and the cooperation of the linear guide 34 and the guide groove is used to realize the front-back movement of the second mounting plate relative to the first mounting plate; the linear guide 34 extends in the front-back direction. Two or more linear guides 34 can be selected.

[0049] Specifically, the first driving mechanism 1 and the second driving mechanism 2 of this embodiment adopt servo motors. The servo motors are matched with the rotating sleeves. Starting from the torque of the servo motors as the starting point of rotation and ending with the rotation angle of the servo motors as the ending point of rotation, the consistency and accuracy of the rotation angle are ensured.

[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] This embodiment also provides a continuous positioning and rotation method, which is implemented by using the above-mentioned continuous positioning and rotation mechanism for device rotation, and includes the following steps: A device with a main body structure and a structure to be rotated is fed in from the front side, and the structure to be rotated is clamped and positioned at the initial position through a spring pin clamped into the locking hole of the main body structure; after the first in-place sensor 31 detects that the device is in place, the first driving 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 body structure to eject the spring pin from the locking hole of the main body structure for unlocking. At the same time, the rotating sleeve 7 is sleeved on the clamping member of the structure to be rotated, and the second driving mechanism 2 drives the rotating sleeve 7 to rotate, thereby driving the clamping member and the structure to be rotated to rotate. After the second driving mechanism 2 detects that its torque is in place, it stops rotating. 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 rotates in place (the folding handle of the folding cart is in the folded state), and the first driving mechanism 1 drives the second assembly plate 4 to move backward to the original position, and this action is repeated in a cycle.

[0056] The continuous positioning and rotation method of this embodiment uses sensors to detect the in-place and the cooperation of each limit position, ensuring the smoothness of the movement, enabling the coherence of positioning, unlocking, and rotation, and can be used in high-precision positioning occasions. After unlocking, the control of different rotation angles can be achieved.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 construed as a limitation of the present invention.

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

[0059] In the present invention, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, 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 defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

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

[0062] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A continuous positioning rotation mechanism for device rotation, characterized in that, It includes 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 is slidably connected to the first assembly plate. The main structure of the first driving mechanism is fixed on the first assembly plate. The driving end of the first driving mechanism is in transmission connection with the second assembly plate and drives the second assembly plate to move back and forth. The main structure of the second driving mechanism is fixed on the second assembly plate. A support plate is vertically and fixedly connected to the front end of the second assembly plate. An unlocking pin is vertically fixed on one side of the support 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. The other end of the rotating sleeve passes through the support plate and is arranged at an interval from the unlocking pin; A positioning pin is vertically fixed on one side of the support plate facing away from the second assembly plate; The rotating sleeve includes an inner sleeve, an outer sleeve, a spring, a slide rod and a positioning sleeve. The inner sleeve is sleeved inside the outer sleeve and one end is fixedly connected to one end of the outer sleeve. One end of the slide rod is inserted into the other end of the outer sleeve and is slidably arranged inside the inner sleeve. The other end of the slide rod is located outside the outer sleeve and is fixedly connected to one end of the positioning sleeve. The positioning sleeve is arranged through the support plate. A positioning groove is provided on the end surface of the other end of the positioning sleeve; The spring is sleeved outside the slide rod and the other end of the inner sleeve. One end of the spring is connected to the outer side wall of the slide 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 and / or one end of the inner sleeve.

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

3. The continuous positioning rotation mechanism for device rotation according to claim 2, characterized in that, The driving end of the first driving mechanism is arranged vertically downward and is connected with a driving gear. A driving rack extending back and forth is fixed on the second assembly plate. The driving gear meshes with the driving rack.

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

5. The continuous positioning rotation mechanism for device rotation according to claim 1, characterized in that The positioning pin has a conical structure at the front end.

6. The continuous positioning rotation mechanism for device rotation according to any one of claims 1 to 5, 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 sent in front, and the second in-place sensor is used to detect whether the device in front rotates in place.

7. The continuous positioning rotation mechanism for device rotation according to claim 6, characterized in that, A plurality of position sensors arranged at intervals in sequence are further provided on the upper surface of the first assembly plate. An induction sheet adapted to the position sensors is provided on the second assembly plate.

8. Continuous positioning and rotation method, characterized in that, It is realized by using the continuous positioning and rotating mechanism for device rotation described in claim 6 or 7, including the following steps: sending a device with a main structure and a structure to be rotated from the front side. The structure to be rotated is clamped and positioned at the initial position through a spring pin inserted into the locking hole of the main structure; After the first in-place sensor detects that the 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 body structure to eject the spring pin from the locking hole of the main body structure for unlocking. At the same time, the rotating sleeve is sleeved on the clamping member on the structure to be rotated. The second driving mechanism drives the rotating sleeve to rotate, thereby driving the clamping member and the structure to be rotated to rotate. After the second driving mechanism detects that its torque is in place, it stops rotating. 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 rotates in place. The first driving mechanism drives the second assembly plate to move backward to the original position, and this action is repeated in a cycle.

Images