Rotating device

Abstract

The utility model relates to a rotating device. The rotating device comprises a base assembly, a first rotating assembly and a second rotating assembly. The first rotating assembly is mounted on the base assembly, and the first rotating assembly can rotate around the axial direction of a first rotating shaft relative to the base assembly; the second rotating assembly is mounted on the first rotating assembly, and the second rotating assembly can rotate around the axial direction of the second rotating shaft relative to the first rotating assembly; an included angle is formed between the extension direction of the second rotating shaft and the extension direction of the first rotating shaft; the second rotating assembly of the rotating device is connected with the robot, and when the tool center point of the robot enters or approaches the singular point, the robot can be driven by the device to rotate around the axial direction of the first rotating shaft and the axial direction of the second rotating shaft, so that the working arm length and the working range of the robot are increased; the tool center point of the robot can be far away from the singular point as soon as possible, the singular point of the robot is better avoided, and then the robot moves more smoothly.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to rotating devices. Background Technology

[0002] A singularity is a specific point in a robot's workspace caused by its inverse kinematics, resulting in the loss of one or more degrees of freedom. When a robot's tool center point enters or approaches a singularity, the robot will stop moving or move in an unexpected way. For example, when a 6-DOF robot enters a singularity, one or more of its joints will stop functioning, essentially turning it into a 5-DOF or less robot, thus restricting its motion. Utility Model Content

[0003] Therefore, it is necessary to provide a rotation device to address the problem that the robot's motion is restricted when the robot's tool center point enters or approaches a singularity.

[0004] A rotating device comprising:

[0005] Base assembly;

[0006] A first rotating component is mounted on the base component and is axially rotatable relative to the base component about a first rotating axis.

[0007] A second rotating component is mounted on the first rotating component and is capable of rotating axially about a second rotating axis relative to the first rotating component.

[0008] The extension direction of the second rotating shaft is set at an angle to the extension direction of the first rotating shaft.

[0009] In one embodiment, the base assembly includes:

[0010] First base plate;

[0011] A first top plate is provided at intervals with the first bottom plate along the extension direction of the first rotation axis to form a first accommodating space between the first bottom plate and the first top plate.

[0012] A first driving member is installed within the first accommodating space and is connected in a transmission manner to the first rotating assembly; the first driving member is used to drive the first rotating assembly to rotate axially around the first rotating axis.

[0013] In one embodiment, the first rotating component includes:

[0014] Second base plate;

[0015] A first side plate, which is connected to the second bottom plate;

[0016] The second side plate is spaced apart from the first side plate along the extension direction of the second rotation axis to form a second accommodating space between the first side plate and the second side plate;

[0017] The first limiting member is installed on the side of the first top plate away from the first bottom plate, and the first limiting member protrudes from the upper surface of the first top plate along the extension direction of the first rotation axis.

[0018] The second limiting member is installed on the side of the second base plate near the first top plate, and the second limiting member protrudes from the lower surface of the second base plate;

[0019] The first limiting member and the second limiting member cooperate to limit the rotation angle of the first rotating component around the first rotating axis to be within a first preset range.

[0020] In one embodiment, the first rotating component further includes a first limit switch;

[0021] The first limit switch is mounted on the first limit member; the first limit switch is communicatively connected to the second limit member;

[0022] The second limiting member is communicatively connected to the first driving member;

[0023] The first limit switch and the second limit member cooperate to limit the rotation angle of the first rotating group around the first rotating axis to be within a second preset range;

[0024] The second preset range is smaller than the first preset range.

[0025] In one embodiment, when the first rotating component rotates around the first rotating axis to a first preset position, the first limit switch sends a rotation control signal so that the second limit member receives and controls the first driving member to stop rotating.

[0026] When the first rotating component rotates around the first rotating axis to the second preset position, the first limiting member abuts against the second limiting member.

[0027] In one embodiment, the first rotating component further includes a connecting transition plate connected between the first driving member and the second base plate.

[0028] In one embodiment, the second rotating component includes:

[0029] The second top plate and the second bottom plate are spaced apart along the extension direction of the first rotation axis;

[0030] The third side plate is fixedly connected to the second top plate; and the third side plate and the second side plate are spaced apart along the axial direction of the second rotation axis, with the third side plate located on the side of the second side plate opposite to the first side plate.

[0031] The second driving member is connected to the third side plate in a transmission manner, and the second driving member is used to drive the third side plate to rotate axially around the second rotation axis.

[0032] In one embodiment, the second rotating component further includes:

[0033] A fourth side plate is disposed on the side of the first side plate away from the second side plate, and the fourth side plate is fixedly connected to the second top plate;

[0034] The third limiting member is installed on the side of the fourth side plate near the first side plate;

[0035] A fourth limiting member is installed on the side of the first side plate near the fourth side plate;

[0036] The third limiting member and the fourth limiting member cooperate to limit the rotation angle of the second rotating component around the second rotating axis to be within a third preset range.

[0037] In one embodiment, the side of the first side plate near the fourth side plate is provided with an annular groove;

[0038] The fourth limiting member is installed in the annular groove;

[0039] The end of the third limiting member near the first side plate extends into the annular groove.

[0040] In one embodiment, the second rotating component further includes:

[0041] The fifth limiting member is mounted on the third side plate;

[0042] The sixth limiting member is mounted on the second side plate;

[0043] The fifth limiting member and the sixth limiting member cooperate to limit the rotation angle of the second rotating component around the second rotating axis to be within a fourth preset range;

[0044] The fourth preset range is larger than the third preset range.

[0045] When the second rotating component of the aforementioned rotating device is connected to the robot, the second rotating component can rotate axially relative to the first rotating component around the second rotating axis, and the first rotating component can rotate axially relative to the base component around the first rotating axis. Therefore, when the robot's tool center point enters or approaches the singularity, the rotating device can drive the robot to rotate axially around the first and second rotating axes, thereby increasing the robot's arm length and working range. This allows the robot's tool center point to move away from the singularity as quickly as possible, making the robot's degrees of freedom less likely to decrease and resulting in smoother robot movement. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of a rotating device provided in some embodiments of this application.

[0047] Figure 2 for Figure 1 A first schematic diagram of the internal connections of the rotating device shown.

[0048] Figure 3 for Figure 1 A second schematic diagram of the internal connections of the rotating device shown.

[0049] Figure 4 for Figure 1 The third schematic diagram shows the internal connections of the optional device.

[0050] Reference numerals: 100-Base assembly; 110-First base plate; 120-First top plate; 130-First driving component; 131-First motor; 132-First reducer; 140-Maintenance cover; 150-Platform support; 160-First protective shell; 170-Protective cover support column; 200-First rotating assembly; 210-Second base plate; 220-First side plate; 221-Annular groove; 230-Second side plate; 240-First limiting component; 25 0-Second limiting component; 260-First limiting switch; 270-Connecting transition plate; 300-Second rotating assembly; 310-Second top plate; 320-Third side plate; 330-Second driving component; 331-Second motor; 332-Second reducer; 340-Fourth side plate; 350-Third limiting component; 360-Fourth limiting component; 370-Fifth limiting component; 380-Sixth limiting component; 391-Centering sleeve; 392-Bearing; 393-Second protective cover. Detailed Implementation

[0051] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0052] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0053] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0057] See Figure 1 and Figure 2 , Figure 1 A schematic diagram of a rotating device provided in some embodiments of this application is shown. Figure 2 It shows Figure 1 The diagram shows a first schematic of the internal connections of the rotating device. An embodiment of this application provides a rotating device including a base assembly 100, a first rotating assembly 200, and a second rotating assembly 300. The first rotating assembly 200 is mounted on the base assembly 100 and is axially rotatable relative to the base assembly 100 about a first rotating axis; the second rotating assembly 300 is mounted on the first rotating assembly 200 and is axially rotatable relative to the first rotating assembly 200 about a second rotating axis; wherein the extending direction of the second rotating axis forms an angle with the extending direction of the first rotating axis; specifically, the extending direction of the first rotating axis is... Figure 1 and Figure 2 The direction of the p-line in the equation; the extension direction of the second rotation axis is... Figure 1 and Figure 2 The direction of the n-line in the diagram.

[0058] When the second rotating component 300 of the aforementioned rotating device is connected to the robot, the second rotating component 300 can rotate axially relative to the first rotating component 200 about the second rotating axis, and the first rotating component 200 can rotate axially relative to the base assembly 100 about the first rotating axis. Therefore, when the robot's tool center point enters or approaches a singularity, the rotating device can drive the robot to rotate axially about the first and second rotating axes, thereby increasing the robot's working arm length and working range. This allows the robot's tool center point to move away from the singularity as quickly as possible, better avoiding the robot's own singularity, thus making the robot's degrees of freedom less likely to decrease, and making the robot's movement smoother.

[0059] The rotating device of this application, by mounting the robot on the second rotating component 300, makes the robot's body a movable part, no longer confined to a fixed state, thus giving the robot a greater range of motion. When the robot encounters a singularity, the robot body can change its posture to achieve the ultimate goal of avoiding the singularity as quickly as possible.

[0060] This application enables the robot to have more diverse and flexible postures through the cooperation of the first rotating component 200 and the second rotating component 300; at the same time, it increases the robot's working range and enables it to work in more unusual working conditions, making it more adaptable.

[0061] The following is a detailed description of the structure of the rotating device. Please refer to [link / reference needed]. Figure 3 and Figure 4 , Figure 3 It shows Figure 1 A second schematic diagram of the internal connections of the rotating device shown. Figure 4 It shows Figure 1 The third schematic diagram shows the internal connections of the optional device.

[0062] Please see Figure 2In some embodiments, the base assembly 100 includes a first base plate 110, a first top plate 120, and a first drive member 130. The first top plate 120 and the first base plate 110 are spaced apart along the extension direction of the first rotation axis to form a first receiving space between the first base plate 110 and the first top plate 120; the first drive member 130 is installed in the first receiving space and is drively connected to the first rotating assembly 200; the first drive member 130 is used to drive the first rotating assembly 200 to rotate axially about the first rotation axis. By driving the first rotating assembly 200 to rotate axially about the first rotation axis through the first drive member 130, the first rotating assembly 200 can drive the robot mounted on the second rotating assembly 300 to rotate axially about the first rotation axis. At the same time, by installing the first drive member 130 in the first receiving cavity space formed by the first base plate 110 and the first top plate 120, not only can the first drive member 130 be protected, but the structure of the entire device can also be made more compact and occupy less space.

[0063] Please see Figure 2 In one specific embodiment, the first driving component 130 includes a first motor 131 and a first reducer 132 that are driveably connected to each other. The end of the first reducer 132 away from the first motor 131 is driveably connected to the first rotating assembly 200, thereby driving the first rotating assembly 200 to rotate. Specifically, the first motor 131 can be a servo motor, and the first reducer 132 can be an RV reducer.

[0064] Please see Figure 2 In some embodiments, the base assembly 100 further includes a maintenance cover 140, which is connected to the side of the first base plate 110 opposite to the first top plate 120. The maintenance cover 140 and the first base plate 110 are detachably connected by a threaded connector, thereby facilitating the inspection and maintenance of the first drive unit 130 in the first accommodating space.

[0065] Please see Figures 2-4 In some embodiments, the base assembly 100 further includes platform supports 150, which are used to connect the first base plate 110 and the first top plate 120 to provide support. Specifically, there can be multiple platform supports 150, which are spaced apart to provide better support.

[0066] Please see Figure 2 In some embodiments, the base assembly 100 further includes a first protective shell 160, which is installed on the outer periphery of the plurality of platform supports 150. The first protective shell 160 is used to cover the first drive component 130, reducing the risk of injury to people caused by the first drive component 130 during movement, thus making it safer.

[0067] Please see Figure 3 In some embodiments, the base assembly 100 further includes a protective cover support column 170, which is installed between the first protective shell 160 and the first top plate 120 to provide support.

[0068] Please see Figure 2 In some embodiments, the first rotating assembly 200 includes a second base plate 210, a first side plate 220, a second side plate 230, a first limiting member 240, and a second limiting member 250. The first side plate 220 is connected to the second base plate 210; the second side plate 230 and the first side plate 220 are spaced apart along the extension direction of the second rotation axis to form a second accommodating space between the first side plate 220 and the second side plate 230; the first limiting member 240 is installed on the side of the first top plate 120 opposite to the first base plate 110, and the first limiting member 240 protrudes from the upper surface of the first top plate 120 along the extension direction of the first rotation axis; the second limiting member 250 is installed on the side of the second base plate 210 near the first top plate 120, and the second limiting member 250 protrudes from the lower surface of the second base plate 210; the first limiting member 240 and the second limiting member 250 cooperate to limit the rotation angle of the first rotating assembly 200 about the first rotation axis to a first preset range. Through the cooperation of the first limiting member 240 and the second limiting member 250, the rotation angle of the first rotating component 200 is kept within a first preset range, ensuring that when the first rotating component 200 drives the robot to rotate around the first rotating axis, the rotation angle is controlled within a relatively safe range. In one specific embodiment, the first preset range is ±175°. Of course, in other embodiments, the first preset range can also be other values, and can be adaptively adjusted according to actual conditions.

[0069] Please see Figure 2In some embodiments, the first rotating assembly 200 further includes a first limit switch 260; the first limit switch 260 is mounted on the first limiting member 240; the first limit switch 260 is communicatively connected to the second limiting member 250; the second limiting member 250 is communicatively connected to the first driving member 130; the first limit switch 260 and the second limiting member 250 cooperate to limit the rotation angle of the first rotating assembly around the first rotating axis to be within a second preset range; wherein the second preset range is smaller than the first preset range. Through the cooperation of the first limit switch 260 and the second limiting member 250, the rotation angle of the first rotating assembly 200 around the first rotating axis is kept within the second preset range, and the second preset range is smaller than the first preset range. This allows the rotation angle of the first rotating assembly 200 to be doubly limited by the combined cooperation of the first limiting member 240, the second limiting member 250, and the first limit switch 260, thereby making the rotation process of the first rotating assembly 200 safer. In one specific embodiment, the second preset range is ±170°. In other embodiments, the second preset range can also be other value ranges, which can be adaptively adjusted according to the actual situation.

[0070] In some embodiments, when the first rotating component 200 rotates around the first rotating axis to a first preset position, the first limit switch 260 sends a rotation control signal to the second limit member 250, which then controls the first driving member 130 to stop rotating. When the first rotating component 200 rotates around the first rotating axis to a second preset position, the first limit member 240 abuts against the second limit member 250. When the first rotating component 200, driven by the first driving member 130, rotates around the first rotating axis to the first preset position, the first limit switch 260 sends a rotation control signal, which is received by the second limit member 250. The second limit member 250 then controls the first driving member 130 to stop rotating, thereby keeping the rotation range of the first rotating component 200 within a smaller second preset range. When the first limit switch 260 or the second limit member 250 malfunctions and cannot send or receive signals, the first rotating component 200 continues to rotate around the second rotating axis to the second preset position. At this time, the first limit member 240 and the second limit member 250 will come into contact, thus achieving a second layer of protection from the perspective of physical structure. This ensures that the rotation angle range of the first rotating component 200 is limited under the dual action of photoelectric signal control and physical structure control, making it safer.

[0071] Please see Figure 2In some embodiments, the first rotating assembly 200 further includes a connecting transition plate 270, which is connected between the first driving member 130 and the second base plate 210. By providing the connecting transition plate 270, the power output from the first driving member 130 can be transmitted to the second base plate 210 through the connecting transition plate 270, thereby driving the entire second base plate 210, the first side plate 220, and the second side plate 230 to rotate.

[0072] Please see Figure 2 In some embodiments, the second rotating assembly 300 includes a second top plate 310, a third side plate 320, and a second driving member 330. The second top plate 310 and the second bottom plate 210 are spaced apart along the extension direction of the first rotation axis; the third side plate 320 is fixedly connected to the second top plate 310; and the third side plate 320 and the second side plate 230 are axially spaced apart along the second rotation axis, with the third side plate 320 located on the side of the second side plate 230 opposite to the first side plate 220; the second driving member 330 is drively connected to the third side plate 320 and is used to drive the third side plate 320 to rotate axially around the second rotation axis. By driving the third side plate 320 to rotate axially around the second rotation axis through the second driving member 330, the second top plate 310, which is fixedly connected to the third side plate 320, rotates synchronously, thereby driving the robot mounted on the second top plate 310 to rotate around the second rotation axis.

[0073] Please see Figure 2 In one specific embodiment, the second drive unit 330 includes a second motor 331 and a second reducer 332 that are driveably connected to each other. The end of the second reducer 333 away from the second motor 331 is driveably connected to the third side plate 320, thereby driving the second rotating assembly 300 to rotate. Specifically, the second motor 331 can be a servo motor, and the second reducer 332 can be an RV reducer.

[0074] Please see Figure 2 and combined Figure 3 In some embodiments, the second rotating assembly 300 further includes a fourth side plate 340 and a third limiting member 350. Figure 2 (as shown) and the fourth limiting member 360 ( Figure 3(As shown). The fourth side plate 340 is disposed on the side of the first side plate 220 opposite to the second side plate 230, and the fourth side plate 340 is fixedly connected to the second top plate 310; the third limiting member 350 is installed on the side of the fourth side plate 340 near the first side plate 220; the fourth limiting member 360 is installed on the side of the first side plate 220 near the fourth side plate 340; the third limiting member 350 and the fourth limiting member 360 cooperate to limit the rotation angle of the second rotating assembly 300 around the second rotating axis to be within a third preset range. Through the cooperation of the third limiting member 350 and the fourth limiting member 360, the rotation angle of the second rotating assembly 300 is kept within the second preset range, so that when the second rotating assembly 300 drives the robot to rotate around the second rotating axis, the rotation angle is controlled within a certain reasonable range. In one specific embodiment, the third preset range can be ±70°. Of course, in other embodiments, the third preset range can also be other values, which can be adjusted adaptively according to the actual situation.

[0075] Please see Figure 2 and combined Figure 3 In some embodiments, the first side plate 220 has an annular groove 221 on the side near the fourth side plate 340; the fourth limiting member 360 is installed in the annular groove 221; and the end of the third limiting member 350 near the first side plate 220 extends into the annular groove 221. By installing the fourth limiting member 360 in the annular groove 221 and allowing the end of the third limiting member 350 to extend into the annular groove 221, the structure of the entire rotating device along the second rotation axis is more compact, and the space occupied is smaller.

[0076] Please see Figure 2 and combined Figure 4 In some embodiments, the second rotating assembly 300 further includes a fifth limiting member 370. Figure 2 (as shown) and the sixth limiting member 380 ( Figure 4 (As shown). The fifth limiting member 370 is installed on the third side plate 320; the sixth limiting member 380 is installed on the second side plate 230; the fifth limiting member 370 and the sixth limiting member 380 cooperate to limit the rotation angle of the second rotating component 300 around the second rotation axis to a fourth preset range; wherein, the fourth preset range is greater than the third preset range. Through the cooperation of the fifth limiting member 370 and the sixth limiting member 380, when the limiting of the third limiting member 350 and the fourth limiting member 360 fails, the cooperation of the fifth limiting member 370 and the sixth limiting member 380 can still provide a secondary limitation, thereby making the rotation process of the second rotating component 300 safer. In one specific embodiment, the fourth preset range is ±73°. Of course, in other embodiments, the fourth preset range can also be other values, which can be adaptively adjusted according to the actual situation.

[0077] Please see Figure 2 In some embodiments, the second rotating assembly 300 further includes a centering sleeve 391 and a bearing 392. One end of the centering sleeve 391 is fixedly connected to the first side plate 220; the inner ring of the bearing 392 is sleeved on the other end of the centering sleeve 391, and the outer ring of the bearing 392 is snap-fitted to the fourth side plate 340. Through the cooperation of the centering sleeve 391 and the bearing 392, the first side plate 220 and the fourth side plate 340 are rotatably connected, so that when the second driving member 330 drives the third side plate 320 and the fourth side plate 340 to rotate around the second rotation axis, the fourth side plate 340 can rotate relative to the first side plate 220, avoiding motion interference.

[0078] Please see Figure 2 and Figure 3 In some embodiments, the second rotating assembly 300 further includes a second protective cover 393, which is disposed on the outer periphery of the second base plate 210, the first side plate 220 and the second side plate 230, thereby covering the second driving member 330, reducing the possibility of injury to people during the movement of the second driving member 330, and making it safer.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A rotating device, characterized in that, The rotating device includes: Base assembly (100); the base assembly (100) includes: First base plate (110); A first top plate (120) and a first bottom plate (110) are spaced apart along the extension direction of a first rotation axis to form a first accommodating space between the first bottom plate (110) and the first top plate (120). A first driving member (130) is installed in the first accommodating space and is connected to the first rotating assembly (200) in a transmission manner; the first driving member (130) is used to drive the first rotating assembly (200) to rotate axially around the first rotating shaft; A maintenance cover (140) is detachably connected to the first base plate (110); A first rotating component (200) is mounted on the base component (100) and is capable of rotating axially about a first rotating axis relative to the base component (100). A second rotating assembly (300) is mounted on the first rotating assembly (200) and is rotatable relative to the first rotating assembly (200) about a second rotating axis; the second rotating assembly (300) is used to connect to the robot. The extension direction of the second rotating shaft is set at an angle to the extension direction of the first rotating shaft.

2. The rotating device according to claim 1, characterized in that, The first rotating component (200) includes: Second base plate (210); The first side plate (220) is connected to the second bottom plate (210); The second side plate (230) is spaced apart from the first side plate (220) along the extension direction of the second rotation axis to form a second accommodating space between the first side plate (220) and the second side plate (230). The first limiting member (240) is installed on the side of the first top plate (120) away from the first bottom plate (110), and the first limiting member (240) protrudes from the upper surface of the first top plate (120) along the extension direction of the first rotation axis. The second limiting member (250) is installed on the side of the second base plate (210) near the first top plate (120), and the second limiting member (250) protrudes from the lower surface of the second base plate (210). The first limiting member (240) and the second limiting member (250) cooperate to limit the rotation angle of the first rotating component (200) about the first rotating axis to be within a first preset range.

3. The rotating device according to claim 2, characterized in that, The first rotating assembly (200) also includes a first limit switch (260); The first limit switch (260) is mounted on the first limit member (240); the first limit switch (260) is communicatively connected to the second limit member (250); The second limiting member (250) is communicatively connected to the first driving member (130); The first limit switch (260) and the second limit member (250) cooperate to limit the rotation angle of the first rotating group around the first rotating axis to be within a second preset range; The second preset range is smaller than the first preset range.

4. The rotating device according to claim 3, characterized in that, When the first rotating component (200) rotates around the first rotating axis to the first preset position, the first limit switch (260) sends a rotation control signal so that the second limit member (250) receives and controls the first driving member (130) to stop rotating; When the first rotating component (200) rotates around the first rotating axis to the second preset position, the first limiting member (240) abuts against the second limiting member (250).

5. The rotating device according to claim 2, characterized in that, The first rotating assembly (200) further includes a connecting transition plate (270) connected between the first driving member (130) and the second base plate (210).

6. The rotating device according to claim 2, characterized in that, The second rotating assembly (300) includes: The second top plate (310) and the second bottom plate (210) are spaced apart along the extension direction of the first rotation axis; The third side plate (320) is fixedly connected to the second top plate (310); and the third side plate (320) and the second side plate (230) are spaced apart along the axial direction of the second rotation axis, and the third side plate (320) is located on the side of the second side plate (230) away from the first side plate (220); The second driving member (330) is connected to the third side plate (320) in a transmission manner. The second driving member (330) is used to drive the third side plate (320) to rotate axially around the second rotation axis.

7. The rotating device according to claim 6, characterized in that, The second rotating component (300) also includes: A fourth side plate (340) is disposed on the side of the first side plate (220) away from the second side plate (230), and the fourth side plate (340) is fixedly connected to the second top plate (310); The third limiting member (350) is installed on the side of the fourth side plate (340) near the first side plate (220); A fourth limiting member (360) is installed on the side of the first side plate (220) near the fourth side plate (340); The third limiting member (350) and the fourth limiting member (360) cooperate to limit the rotation angle of the second rotating component (300) around the second rotating axis to be within a third preset range.

8. The rotating device according to claim 7, characterized in that, The first side plate (220) has an annular groove (221) on the side near the fourth side plate (340); The fourth limiting member (360) is installed in the annular groove (221); The third limiting member (350) extends into the annular groove (221) at one end near the first side plate (220).

9. The rotating device according to claim 7, characterized in that, The second rotating component (300) also includes: The fifth limiting member (370) is mounted on the third side plate (320); A sixth limiting member (380) is mounted on the second side plate (230); The fifth limiting member (370) and the sixth limiting member (380) cooperate to limit the rotation angle of the second rotating component (300) about the second rotating axis to be within a fourth preset range; The fourth preset range is larger than the third preset range.

Images