Copper pipe angle conversion device in refrigeration field

Abstract

The utility model discloses a copper pipe angle conversion device in the refrigeration field. The copper pipe angle conversion device comprises a rotating mechanism and a grabbing mechanism. The rotating mechanism is used for driving the grabbing mechanism to rotate around a first movement direction; the grabbing mechanism is used for grabbing a U-shaped copper pipe for pipe insertion and comprises a mounting frame, a front clamping jaw, a rear clamping jaw and a linear driver; the mounting frame is connected with the rotating mechanism and rotates along with the rotating mechanism in a first movement direction; the front clamping jaw and the rear clamping jaw are arranged on the mounting frame in a spaced mode in the first movement direction, and the front clamping jaw and the rear clamping jaw can grab a U-shaped copper pipe; the linear driver is mounted on the mounting frame and can drive the rear clamping jaw to get close to and get away from the front clamping jaw in the first movement direction. The grabbing mechanism is used for grabbing the U-shaped copper pipe for pipe insertion, the rotating mechanism is used for driving the grabbing mechanism to rotate around the first movement direction to change the angle of the U-shaped copper pipe, and therefore the requirement for pipe insertion of the U-shaped copper pipe in two states can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to refrigeration equipment technical field especially relates to a copper pipe angle conversion device in refrigeration field. BACKGROUND

[0002] Generally, the heat exchange device surface that needs to carry out heat transfer passes through increasing the metal sheet that heat conductivity is stronger, the heat exchange surface area of device, improves the heat exchange efficiency, and the metal sheet with this function is called fin.

[0003] The common household air conditioner has two main heat exchangers, which are evaporator in indoor unit and condenser in outdoor unit respectively, and the working medium on one side of the two heat exchangers is refrigerant, and the other side is air, in order to strengthen the heat transfer of heat exchanger, generally take compact arrangement heat exchange area on air side, and the compact tube fin type heat exchanger is mostly used in household air conditioner.

[0004] The fin of compact tube fin type heat exchanger is generally provided with a plurality of mounting holes capable of cooperating with the outer diameter of U-shaped copper pipe, and the manufacturing process is generally as follows: first, the fin is punched into shape by a punch press, then the U-shaped copper pipe is inserted into the mounting holes on the fin group in parallel to form a fin assembly, and finally, the U-shaped copper pipe is expanded at the open end, and after the U-shaped copper pipe is dried, the U-shaped copper elbow pipe is inserted and welded to connect the U-shaped copper pipes in sequence, that is, all the U-shaped copper pipes are connected into a channel.

[0005] At present, when the indoor air conditioner is inserted into the pipe, the U-shaped copper pipe is in two states, one state is that the U-shaped copper pipe is inserted horizontally, and the other state is that the U-shaped copper pipe is inserted at a certain angle along its width direction. Therefore, a pipe insertion device capable of simultaneously satisfying the pipe insertion of the U-shaped copper pipe in two states needs to be designed. INVENTION CONTENTS

[0006] The utility model provides a copper pipe angle conversion device in refrigeration field to solve above -mentioned technical problem.

[0007] In order to realize the above purpose, the technical scheme of the utility model is as follows:

[0008] A copper pipe angle conversion device in refrigeration field, comprising a rotating mechanism and a grabbing mechanism;

[0009] The rotating mechanism is used to drive the grabbing mechanism to rotate around the first movement direction;

[0010] The grabbing mechanism is used to grab the U-shaped copper pipe for pipe insertion, and the grabbing mechanism comprises a mounting frame, a front jaw, a rear jaw and a linear actuator; the mounting frame is connected with the rotating mechanism and rotates around the first movement direction with the rotating mechanism; the front jaw and the rear jaw are arranged on the mounting frame in the first movement direction; the front jaw and the rear jaw can grab the U-shaped copper pipe; the linear actuator is installed on the mounting frame, and the linear actuator can drive the rear jaw to approach and move away from the front jaw along the first movement direction.

[0011] Preferably, the front clamping jaw comprises a first front clamping jaw and a second front clamping jaw, which respectively clamp two straight sections of the U-shaped copper pipe;

[0012] The rear clamping jaw comprises a first rear clamping jaw and a second rear clamping jaw, which respectively clamp two straight sections of the U-shaped copper pipe.

[0013] Preferably, the first front clamping jaw, the second front clamping jaw, the first rear clamping jaw and the second rear clamping jaw are respectively provided with a flexible clamping assembly.

[0014] The flexible clamping assembly comprises two oppositely arranged fingers, and the fingers are respectively provided with a flexible pad.

[0015] Preferably, an arc surface is formed on the finger, and the flexible pad is arc-shaped and adhered to the arc surface.

[0016] Preferably, a plurality of fixing grooves are formed on the arc surface of the finger, and a plurality of protrusions are arranged on the surface of the flexible pad, which are correspondingly arranged in the fixing grooves.

[0017] Preferably, each flexible clamping assembly is provided with a positioning block, which is arranged on any finger of the flexible clamping assembly; the positioning surface of the positioning block is parallel to the first movement direction, and the positioning block is used for positioning after the flexible clamping assembly clamps the U-shaped copper pipe.

[0018] Preferably, a guide assembly is arranged between the mounting frame and the rear clamping jaw, which guides the movement of the rear clamping jaw.

[0019] Preferably, the linear actuator is a rodless cylinder.

[0020] Preferably, the mounting frame comprises a mounting plate, two support frames and a rotating step shaft; the front clamping jaw, the rear clamping jaw and the linear actuator are arranged on the mounting plate, the two support frames are arranged on the mounting plate in a spaced manner, and the rotating step shaft is arranged along the first movement direction, and the two ends of the rotating step shaft are respectively fixed on the two support frames.

[0021] The rotating mechanism comprises a motor and a hollow rotating platform, the motor is connected to the input end of the hollow rotating platform, and the output end of the hollow rotating platform is fixedly connected to the step of the rotating step shaft.

[0022] Preferably, the rotating mechanism further comprises an angle sensor assembly, which is used for detecting the rotation angle of the rotating step shaft.

[0023] Advantages:

[0024] The copper pipe angle conversion device in the refrigeration field disclosed by the application is provided with a grabbing mechanism for grabbing the U-shaped copper pipe for pipe insertion, and a rotating mechanism is used to drive the grabbing mechanism to rotate around the first movement direction to change the angle of the U-shaped copper pipe, so that pipe insertion in two states of the U-shaped copper pipe can be met. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0026] Figure 1 The structure diagram of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure.

[0027] Figure 2 The front view of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure.

[0028] Figure 3 The Figure 2 The sectional view of the middle C-C is shown in the figure.

[0029] Figure 4 The structure diagram of the first rear jaw of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure.

[0030] Figure 5 The right view of the first rear jaw of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure.

[0031] Figure 6 The front view of the first rear jaw of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure.

[0032] Figure 7 The structure diagram of the combination of the rotating mechanism and the rotating step shaft of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure. Figure 1 ;

[0033] Figure 8 The structure diagram of the combination of the rotating mechanism and the rotating step shaft of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure. Figure 2 ;

[0034] Figure 9 The structure diagram of the combination of the rear connecting plate, the insertion plate, the pressing plate and the linear driver of the copper pipe angle conversion device in the refrigeration field disclosed by the present application is shown in the figure.

[0035] Figure 10 is Figure 9 a sectional view along line A-A;

[0036] Figure 11 is a top view of the rear connecting plate, the plug-in plate, the pressing plate and the linear driver combination of the copper pipe angle conversion device in the refrigeration field disclosed by the utility model;

[0037] Figure 12 is Figure 11 a sectional view along line B-B.

[0038] 11, motor; 12, hollow rotating platform; 131, horizontal state baffle; 132, inclined state baffle; 133, first photoelectric sensor; 211, mounting plate; 212, support frame; 213, rotating step shaft; 214, rear connecting plate; 215, front connecting seat; 216, plug-in plate; 217, pressing plate; 22, front clamping jaw; 221, first front clamping jaw; 222, second front clamping jaw; 23, rear clamping jaw; 231, first rear clamping jaw; 232, second rear clamping jaw; 24, linear driver; 241, front support; 242, rear support; 243, displacement shielding plate; 244, second photoelectric sensor; 245, third photoelectric sensor; 31, finger; 312, positioning block; 32, flexible pad; 321, protrusion; 4, guide assembly; 5, base plate; 6, clamping connecting piece; 7, support piece. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0040] A copper pipe angle conversion device in the refrigeration field combines Figures 1 to 12As shown, the device comprises a rotating mechanism and a grabbing mechanism; the rotating mechanism is used to drive the grabbing mechanism to rotate around a first movement direction; the grabbing mechanism is used to grab the U-shaped copper pipe for insertion; the grabbing mechanism comprises a mounting frame, a front jaw 22, a rear jaw 23 and a linear actuator 24; the mounting frame is connected to the rotating mechanism and rotates with the rotating mechanism around the first movement direction; the front jaw 22 and the rear jaw 23 are arranged on the mounting frame along the first movement direction; the front jaw 22 and the rear jaw 23 can grab the U-shaped copper pipe; the linear actuator 24 is installed on the mounting frame; the linear actuator 24 can drive the rear jaw 23 to move towards and away from the front jaw 22 along the first movement direction. The front jaw 22 and the rear jaw 23 can grab the straight sections of the U-shaped copper pipe; after the front jaw 22 is loosened a little, the linear actuator 24 drives the rear jaw 23 to move towards the front jaw 22 along the first movement direction, thereby driving the U-shaped copper pipe to insert along the first movement direction. When the U-shaped copper pipe needs to be inserted in a state that the two straight sections of the U-shaped copper pipe are parallel to the first movement direction and the plane of the U-shaped copper pipe is at a specific inclined angle with the horizontal plane, the rotating mechanism drives the entire grabbing mechanism to rotate around the first movement direction, thereby changing the angle of the U-shaped copper pipe, so that the insertion of the U-shaped copper pipe in two states can be met.

[0041] Preferably, the front jaw 22 comprises a first front jaw 221 and a second front jaw 222, which respectively grab the two straight sections of the U-shaped copper pipe.

[0042] The rear jaw 23 comprises a first rear jaw 231 and a second rear jaw 232, which respectively grab the two straight sections of the U-shaped copper pipe.

[0043] Specifically, the first front jaw 221, the second front jaw 222, the first rear jaw 231 and the second rear jaw 232 are all pneumatic fingers. The first front jaw 221 and the second front jaw 222 are staggered to ensure that they can respectively grab the two straight sections of the U-shaped copper pipe without interfering with each other. The first rear jaw 231 and the second rear jaw 232 are also staggered.

[0044] Preferably, the first front jaw 221, the second front jaw 222, the first rear jaw 231 and the second rear jaw 232 are all installed with flexible grabbing components; the flexible grabbing component comprises two oppositely arranged fingers 31, and the fingers 31 are fixedly provided with flexible pads 32; the flexible pads 32 of the two fingers 31 clamp the U-shaped copper pipe. Clamping the U-shaped copper pipe with the flexible pads 32 can avoid damaging the U-shaped copper pipe.

[0045] Specifically, the fingers 31 are installed through screws and mounting holes at the front end of the pneumatic fingers.

[0046] Preferably, the finger 31 is provided with an arc-shaped surface, and the flexible pad 32 is arc-shaped and is attached to the arc-shaped surface. The arc-shaped surface can increase the contact area between the flexible pad 32 and the U-shaped copper pipe, and the deformation of the flexible pad 32 can reliably fix the U-shaped copper pipe.

[0047] Preferably, the arc-shaped surface of the finger 31 is provided with a plurality of fixing grooves, and the surface of the flexible pad 32 facing the arc-shaped surface is provided with a plurality of protrusions 321 which are correspondingly clamped in the fixing grooves. The cooperation between the protrusions 321 and the fixing grooves can ensure the reliable connection between the flexible pad 32 and the finger 31.

[0048] Specifically, the cross section of the fixing groove is C-shaped, the cross section of the protrusion 321 is C-shaped, and the protrusion 321 is integrally formed with the flexible pad 32. The protrusion 321 is aligned with the fixing groove, and the protrusion 321 is inserted into the fixing groove to be clamped in the fixing groove, and the flexible pad 32 is tightly attached to the arc-shaped surface of the finger 31.

[0049] Specifically, the flexible pad 32 is made of polyurethane material and plays a protective role for the U-shaped copper pipe.

[0050] Preferably, each flexible gripping assembly is provided with a positioning block 312 which is installed on any finger 31 of the flexible gripping assembly. The positioning surface of the positioning block 312 is parallel to the first movement direction, and the positioning block 312 is used for positioning after the flexible gripping assembly clamps the U-shaped copper pipe. Due to the flexible characteristics of the flexible pad 32, the two flexible pads 32 of the two fingers 31 cannot guarantee that the two straight sections of the U-shaped copper pipe are parallel to the first movement direction after clamping the U-shaped copper pipe. During the gripping of the U-shaped copper pipe, the positioning blocks 312 on the first front clamping jaw 221, the second front clamping jaw 222, the first rear clamping jaw 231 and the second rear clamping jaw 232 are used for positioning. The positioning surfaces of the positioning blocks 312 on the first front clamping jaw 221 and the first rear clamping jaw 231 abut one straight section of the U-shaped copper pipe, and the positioning surfaces of the positioning blocks 312 on the second front clamping jaw 222 and the second rear clamping jaw 232 abut the other straight section of the U-shaped copper pipe, so that the U-shaped copper pipe after gripping is kept parallel to the first movement direction, which is conducive to the alignment of the mounting holes on the fins during subsequent pipe insertion.

[0051] Specifically, the positioning block 312 is L-shaped, the fixing segment of the positioning block 312 is installed on any finger 31 of the flexible gripping assembly by screws, and the positioning segment of the positioning block 312 extends in the direction in which the two fingers 31 of the flexible gripping assembly approach each other, so that after the two fingers 31 approach each other, the positioning segment extends to the other finger 31, and the positioning surface of the positioning segment can abut the U-shaped copper pipe.

[0052] Preferably, the mounting frame comprises a mounting plate 211, two support frames 212 and a rotating stepped shaft 213; the front clamping jaw 22, the rear clamping jaw 23 and the linear driver 24 are mounted on the mounting plate 211, the two support frames 212 are arranged on the mounting plate 211 in a spaced manner, and the rotating stepped shaft 213 is arranged along a first movement direction and has two ends fixed on the two support frames 212 respectively;

[0053] The rotating mechanism comprises a motor 11 and a hollow rotating platform 12, the motor 11 is connected to an input end of the hollow rotating platform 12, and an output end of the hollow rotating platform 12 is fixedly connected to a step of the rotating stepped shaft 213. The motor 11 provides power to rotate the output end of the hollow rotating platform 12, thereby driving the rotating stepped shaft 213 to rotate and synchronously driving the mounting frame to rotate, so as to realize angle adjustment.

[0054] Specifically, the support frame 212 is provided with a "D"-shaped hole, and the end of the rotating stepped shaft 213 is processed with a flat surface matched with the "D"-shaped hole, so as to ensure that the support frame 212 rotates synchronously with the rotating stepped shaft 213. A gap is formed in the support frame 212, a screw is screwed in the gap and fastened on the support frame 212, and the "D"-shaped hole is pressed against the rotating stepped shaft 213 by deformation to realize fixed connection. The step of the rotating stepped shaft 213 is fixedly connected to a rotating table of the hollow rotating platform 12 by a screw, so that the rotating table drives the rotating stepped shaft 213 to rotate synchronously when the rotating table rotates.

[0055] Specifically, the hollow rotating platform 12 is mounted on a base plate 5, the base plate 5 is provided with a clearance hole, the rotating stepped shaft 213 and the motor 11 can pass through the clearance hole, and the shell of the hollow rotating platform 12 is fixedly connected to the base plate 5 by a screw. The base plate 5 is provided with a clamping connector 6 mounted by a screw, and the clamping connector 6 is used for connecting a vertical shaft of a horizontal multi-joint robot. A support 7 is mounted on the clamping connector 6 by a screw, and the support 7 is used for supporting a corrugated pipe for wiring.

[0056] Preferably, the rotating mechanism further comprises an angle sensor assembly for detecting the rotation angle of the rotating stepped shaft 213.

[0057] Specifically, the angle sensor assembly comprises a horizontal state baffle 131, an inclined state baffle 132 and a first photoelectric sensor 133, the horizontal state baffle 131 and the inclined state baffle 132 are mounted on the rotating stepped shaft 213 or a rotating table of the hollow rotating platform 12, and the first photoelectric sensor 133 is mounted on a shell of the hollow rotating platform 12. The horizontal state baffle 131 and the inclined state baffle 132 can shield the first photoelectric sensor 133 respectively with the rotation of the rotating table of the hollow rotating platform 12, and signals generated by the shielding of the horizontal state baffle 131 and the inclined state baffle 132 assist in angle judgment.

[0058] Preferably, a guide assembly 4 is further arranged between the mounting frame and the rear clamping jaw 23, which guides the movement of the rear clamping jaw 23.

[0059] Specifically, the guide assembly 4 adopts a guide rail, which is mounted on the side of the mounting plate 211 away from the support frame 212, and a sliding block is connected to the rear connecting plate 214, and the first rear clamping jaw 231 and the second rear clamping jaw 232 are mounted on the rear connecting plate 214.

[0060] Specifically, the first front clamping jaw 221 and the second front clamping jaw 222 are mounted on the front connecting seat 215, which is mounted on the front end of the side of the mounting plate 211 away from the support frame 212.

[0061] Preferably, the linear actuator 24 adopts a rodless cylinder to drive the rear clamping jaw 23, which utilizes the feature that the same stroke volume is reduced by half to make the structure more compact.

[0062] Specifically, the rodless cylinder is fixed at both ends of the cylinder barrel to the side of the mounting plate 211 through the front bracket 241 and the rear bracket 242, and the sliding table of the rodless cylinder is connected to the rear connecting plate 214.

[0063] Specifically, the rear connecting plate 214 is provided with a plug rod on the side facing the rodless cylinder, the lower surface of the sliding table of the rodless cylinder is fixed with a plug plate 216, the lower surface of the plug plate 216 is provided with a positioning groove, the positioning groove penetrates to the side of the plug plate 216 facing the rear connecting plate 214, the plug rod is inserted into the positioning groove of the plug plate 216, a pressing plate 217 is connected to the lower surface of the plug plate 216, and the plug rod and the plug plate 216 are pressed tightly by the pressing plate 217. In the first movement direction: the side wall of the plug rod abuts against the inner wall of the positioning groove of the plug plate 216, so as to realize the driving of the rear connecting plate 214 by the rodless cylinder. In the direction perpendicular to the first movement direction: the plug rod can move in the positioning groove, so as to automatically adapt to the error of the rodless cylinder and the guide rail in the direction perpendicular to the first movement direction.

[0064] Specifically, the rear connecting plate 214 is provided with a displacement blocking plate 243, which is located between the mounting plate 211 and the rodless cylinder, and the second photoelectric sensor 244 and the third photoelectric sensor 245 are mounted on the side of the mounting plate 211, and are located between the mounting plate 211 and the rodless cylinder and are spaced apart along the first movement direction. The displacement blocking plate 243 moves with the rear connecting plate 214 and can successively block the second photoelectric sensor 244 and the third photoelectric sensor 245, thereby generating a signal for determining the position of the first rear clamping jaw 231 and the second rear clamping jaw 232.

[0065] It should be finally pointed out that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A copper pipe angle conversion device in the field of refrigeration, characterized by, The rotating mechanism and the grabbing mechanism are included; The rotating mechanism is used to drive the grabbing mechanism to rotate around a first movement direction; The grabbing mechanism is used to grab the U-shaped copper pipe for pipe insertion, and includes a mounting frame, a front jaw (22), a rear jaw (23) and a linear actuator (24). The mounting frame is connected to the rotating mechanism and rotates with the rotating mechanism around the first movement direction. The front jaw (22) and the rear jaw (23) are arranged on the mounting frame along the first movement direction, and the front jaw (22) and the rear jaw (23) can grab the U-shaped copper pipe. The linear actuator (24) is installed on the mounting frame, and the linear actuator (24) can drive the rear jaw (23) to move towards and away from the front jaw (22) along the first movement direction.

2. The copper tube angle conversion device for refrigeration field according to claim 1, characterized in that, The front jaw (22) includes a first front jaw (221) and a second front jaw (222), and the first front jaw (221) and the second front jaw (222) respectively grab two straight sections of the U-shaped copper pipe. The rear jaw (23) includes a first rear jaw (231) and a second rear jaw (232), and the first rear jaw (231) and the second rear jaw (232) respectively grab two straight sections of the U-shaped copper pipe.

3. The copper tube angle conversion device for refrigeration field according to claim 2, characterized in that, The first front jaw (221), the second front jaw (222), the first rear jaw (231) and the second rear jaw (232) are all installed with flexible grabbing assemblies. The flexible grabbing assembly includes two oppositely arranged fingers (31), and the fingers (31) are fixedly provided with flexible pads (32). The flexible pads (32) of the two fingers (31) clamp the U-shaped copper pipe.

4. The copper tube angle conversion device for refrigeration field according to claim 3, characterized in that, An arc surface is formed on the finger (31), and the flexible pad (32) is arc-shaped and pasted on the arc surface.

5. The copper tube angle conversion device for refrigeration field according to claim 4, characterized in that, A plurality of fixing grooves are formed on the arc surface of the finger (31), and a plurality of protrusions (321) are arranged on the surface of the flexible pad (32) facing the arc surface, and the plurality of protrusions (321) are correspondingly clamped in the plurality of fixing grooves.

6. The copper tube angle conversion device for refrigeration field according to claim 3, characterized in that, Each group of flexible grabbing assemblies is provided with a positioning block (312), and the positioning block (312) is installed on any finger (31) of the flexible grabbing assembly. A positioning surface of the positioning block (312) is parallel to the first movement direction, and the positioning block (312) is used to position the U-shaped copper pipe after the flexible grabbing assembly clamps the U-shaped copper pipe.

7. The copper tube angle conversion device for refrigeration field according to claim 1, characterized in that, A guide assembly (4) is further arranged between the mounting frame and the rear jaw (23), and the guide assembly (4) guides the movement of the rear jaw (23).

8. The copper tube angle conversion device for refrigeration field according to claim 1, characterized in that, The linear actuator (24) drives the rear jaw (23) by using a rodless cylinder.

9. The copper tube angle conversion device for refrigeration field according to claim 1, characterized in that, The mounting frame comprises a mounting plate (211), two support frames (212) and a rotating step shaft (213); the front clamping jaw (22), the rear clamping jaw (23) and the linear driver (24) are mounted on the mounting plate (211), the two support frames (212) are arranged on the mounting plate (211) at intervals, and the rotating step shaft (213) is arranged along a first movement direction, and two ends of the rotating step shaft (213) are fixed on the two support frames (212) respectively; The rotating mechanism comprises a motor (11) and a hollow rotating platform (12), the motor (11) is connected to an input end of the hollow rotating platform (12), and an output end of the hollow rotating platform (12) is fixedly connected with steps of the rotating step shaft (213).

10. The copper tube angle conversion device for refrigeration field according to claim 9, characterized in that, The rotating mechanism further comprises an angle sensor assembly, and the angle sensor assembly is used for detecting a rotating angle of the rotating step shaft (213).

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