Rotating mechanism and mechanical arm

Abstract

The utility model provides a rotating mechanism and a mechanical arm, the rotating mechanism comprises a fixed seat, a rotating seat and a rotating mechanism, and the rotating mechanism is connected with the fixed seat and the rotating seat, so that the fixed seat can rotate around a first axis relative to the rotating seat; the rotating mechanism comprises a rotating shaft, a first fixing plate, a second fixing plate and a first damping mechanism, the rotating shaft is sleeved with the first fixing plate, the second fixing plate and the first damping mechanism, the first fixing plate is fixedly connected with the fixing base, the second fixing plate is fixedly connected with the rotating base, and the rotating base is fixedly connected with the rotating shaft. The first fixing plate can rotate relative to the rotating shaft, and the second fixing plate can synchronously rotate along with the rotating shaft. According to the rotating mechanism, modular integrated design is adopted for the rotating mechanism, so that the assembling relation between the rotating mechanism and the fixing base and the assembling relation between the rotating mechanism and the rotating base are clear, and the maintenance and replacement process of the rotating mechanism is convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a rotating mechanism and a mechanical arm. BACKGROUND

[0002] The rotating mechanism is a main component of the mechanical arm, which is used to provide rotation of the mechanical arm in different directions. Generally, the rotating mechanism has a hovering function, and the setting of the hovering function leads to an increase in the number of components of the rotating mechanism, which brings difficulties to assembly and maintenance. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the present application provides a rotating mechanism, which comprises a rotating mechanism, a fixed seat and a rotating seat, wherein the rotating mechanism adopts a modular integrated design, so that the assembly relationship of the rotating mechanism, the fixed seat and the rotating seat is clear and understandable, and the difficulty of maintenance and replacement is greatly reduced.

[0004] The first part of the present application provides a rotating mechanism, which comprises a fixed seat, a rotating seat and a rotating mechanism, wherein the rotating mechanism is connected to the fixed seat and the rotating seat, so that the fixed seat can rotate relative to the rotating seat about a first axis.

[0005] The rotating mechanism comprises a rotating shaft, a first fixed plate, a second fixed plate and a first damping mechanism, the first fixed plate, the second fixed plate and the first damping mechanism are all sleeved on the rotating shaft, the first fixed plate is fixedly connected to the fixed seat, the second fixed plate is fixedly connected to the rotating seat, the first fixed plate can rotate relative to the rotating shaft, and the second fixed plate can rotate synchronously with the rotating shaft.

[0006] The first damping mechanism comprises a second thrust washer and a second friction plate arranged between the first fixed plate and the second fixed plate, and the two side surfaces of the second friction plate abut against the first fixed plate and the second thrust washer respectively.

[0007] Further, the rotating mechanism further comprises a first adjusting member, the first adjusting member is sleeved and arranged at one end of the rotating shaft close to the first fixed plate relative to the second fixed plate, the first damping mechanism further comprises a first thrust washer and a first friction plate arranged between the first adjusting member and the first fixed plate, and the two side surfaces of the first friction plate abut against the first fixed plate and the first thrust washer respectively.

[0008] Further, the first damping mechanism further comprises a first elastic member, the first elastic member is used to adjust the damping force between the first thrust washer and the first friction plate and the damping force between the second thrust washer and the second friction plate when the rotating shaft rotates.

[0009] Further, the first fixing plate is provided with an avoiding hole, so that the second fixing plate can be assembled and fixed with the rotating seat through the avoiding hole.

[0010] Further, the rotating shaft is provided with a flange, the flange is used for limiting the axial movement of the second fixing plate along the rotating shaft, the second fixing plate is matched with the rotating shaft in profile, and the second fixing plate is prevented from rotating relative to the rotating shaft.

[0011] Further, the rotating seat comprises a connecting part extending in the longitudinal direction and a base part extending in the transverse direction, the base part is detachably connected with the connecting part, one end of the connecting part extending in the longitudinal direction is connected with the fixing seat, the other end is connected with the base part, the base part extends in the transverse direction and is connected with a pitching part at one end away from the connecting part, the pitching part can rotate relative to the base part around a second axis, and the second axis is perpendicular to the first axis.

[0012] Further, the connecting part is provided with a groove part, the groove part is used for accommodating a fastener connecting the base part and the connecting part, so that the fastener can not abut against the rotating mechanism.

[0013] Further, the pitching part is further rotationally connected with a mounting platform, the mounting platform can rotate relative to a third axis, and the third axis is perpendicular to the first axis and the second axis.

[0014] Further, the first limiting mechanism is used for limiting the rotation angle of the rotating seat relative to the fixing seat, the second limiting mechanism is used for limiting the rotation angle of the pitching part relative to the rotating seat, and the third limiting mechanism is used for limiting the rotation angle of the mounting platform relative to the pitching part.

[0015] The second aspect of the application provides a mechanical arm comprising the rotating mechanism.

[0016] The technical scheme provided by the embodiment of the application can have the following beneficial effects:

[0017] The rotating mechanism of the application adopts the modular integrated design, so that the assembly relationship of the rotating mechanism, the fixing seat and the rotating seat is clear and easy to understand, and the maintenance and assembly process of the rotating mechanism are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of a mechanical arm;

[0019] Figure 2 is Figure 1 is a sectional view of the mechanical arm in the embodiment of the application;

[0020] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0021] Figure 4 This is a schematic diagram of the rotating mechanism;

[0022] Figure 5 This is an exploded view of the rotating mechanism;

[0023] Figure 6 This is a schematic diagram of the rotating mechanism (the fixed base is omitted from the diagram);

[0024] Figure 7 yes Figure 6 Cross-sectional view of the rotating mechanism;

[0025] Figure 8 yes Figure 7 A magnified view of a section at point B in the middle;

[0026] Figure 9 yes Figure 7 A magnified view of a section at point C;

[0027] Figure 10 yes Figure 6 A quarter-section exploded view of the rotating mechanism;

[0028] Figure 11 This is a structural schematic diagram of the pitching component.

[0029] Figure label:

[0030] 10. Support arm; 20. Rotating mechanism; 21. Fixed seat; 211. First limiting recess; 212. Mounting part; 22. Rotating seat; 221. Connecting part; 2211. First mounting surface; 2212. Second mounting surface; 222. Base; 2221. Second limiting recess; 223. Second damping mechanism; 2231. Third friction plate; 2232. Fourth friction plate; 2233. Second elastic element; 23. Pitching element; 231. Second limiting protrusion; 232. Third limiting recess; 233. Third damping mechanism; 2331. Third elastic element; 2332. Third thrust washer; 2333. Fifth friction plate; 2334, Sixth friction plate; 234, Bearing; 235, Rotating shaft; 236, Second adjusting component; 24, Mounting platform; 241, Third limiting protrusion; 25, Rotating mechanism; 251, Rotating shaft; 2511, Flange; 252, First fixing plate; 2521, Clearance hole; 253, Second fixing plate; 2531, First limiting protrusion; 254, First damping mechanism; 2541, First thrust washer; 2542, First friction plate; 2543, Second thrust washer; 2544, Second friction plate; 2545, First elastic element; 256, First adjusting component; 30, Base. Detailed Implementation

[0031] The specific embodiments of this application are described in detail below with reference to the accompanying drawings.

[0032] Figure 1 This is a schematic diagram of a robotic arm. The robotic arm includes a support arm 10 and a rotating mechanism 20. The fixed end of the support arm 10 is connected to the base 30, and the free end is connected to the rotating mechanism 20, so that the rotating mechanism 20 can move in the Y-axis direction to meet the vertical movement requirements of the robotic arm.

[0033] The rotating mechanism 20 includes a fixed base 21, a rotating base 22, a pitching member 23, and a mounting platform 24. The fixed base 21 is rotatably connected to the rotating base 22, and the rotating base 22 is rotatably connected to the pitching member 23. The pitching member 23 is rotatably connected to the mounting platform 24. Specifically, the rotating base 22 can rotate relative to the fixed base 21 about a first axis (Z1 axis), the pitching member 23 can rotate relative to the rotating base 22 about a second axis (Z2 axis), and the mounting platform 24 can rotate relative to the pitching member 23 about a third axis (Z3 axis). In this embodiment, the Z1 axis is parallel to the Y-axis, the Z3 axis is parallel to the X-axis, and the Z2 axis is perpendicular to the plane formed by the Y-axis and X-axis. The rotating mechanism 20 achieves rotation in three directions through three mutually perpendicular rotation axes, increasing its rotational range and broadening its application scope.

[0034] Figure 2 yes Figure 1 Cross-sectional view of the robotic arm. Figure 3 yes Figure 2 A magnified view of a portion at point A in the middle. Based on... Figure 3 As shown, a rotating mechanism 25 is provided inside the fixed base 21 to drive the rotating base 22 to rotate relative to the fixed base 21. Figure 4 A schematic diagram of the rotating mechanism. Figure 5 As shown in the exploded view of the rotating mechanism 4-5, the rotating mechanism 25 includes a rotating shaft 251, a first adjusting member 256, a first fixing plate 252, and a second fixing plate 253. The first fixing plate 252 is fixed to the fixing seat 21, and the fixing method can be threaded connection, welding, or other methods that allow the two to be relatively fixed. In this embodiment, the first fixing plate 252 and the fixing seat 21 are separately configured. A mounting part 212 is provided on the inner wall of the fixing seat 21, and threaded holes and positioning holes are provided at corresponding positions on the mounting part 212 and the first fixing plate 252. During assembly, the fixing seat 21 and the first fixing plate 252 are first positioned by positioning pins engaging with the positioning holes. Then, the threaded holes of the mounting part 212 and the first fixing plate 252 are connected by bolts to achieve the connection and fixation of the fixing seat 21 and the first fixing plate 252.

[0035] The second fixing plate 253 is fixedly connected to the rotating seat 22. The fixing method can be threaded connection, welding, or other methods that can fix the two relatively. In this embodiment, the second fixing plate 253 and the rotating seat 22 are separately provided. Threaded holes and positioning holes are provided on the second fixing plate 253 and the rotating seat 22, and the two are positioned and fixed by bolts and positioning pins.

[0036] The rotating shaft 251 passes through the first fixed plate 252 and the second fixed plate 253. The first fixed plate 252 can rotate relative to the rotating shaft 251; that is, when the rotating shaft 251 rotates, the first fixed plate 252 remains stationary. The second fixed plate 253 is fixedly connected to the rotating shaft 251, and when the rotating shaft 251 rotates, the second fixed plate 253 rotates synchronously. Therefore, when the rotating shaft 251 rotates, it can drive the second fixed plate 253 to rotate. Since the second fixed plate 253 is fixedly connected to the rotating seat 22, the rotating shaft 251 can further drive the rotating seat 22 to rotate. Furthermore, since the rotating shaft 251 does not drive the first fixed plate 252 to rotate, the fixed seat 21, which is fixedly connected to the first fixed plate 252, will not rotate. Through the cooperative design of the first fixed plate 252 with the rotating shaft 251 and the fixed seat 21, and the cooperative design of the second fixed plate 253 with the rotating shaft 251 and the rotating seat 22, the rotating seat 22 can rotate relative to the fixed seat 21.

[0037] In this embodiment, a first adjusting member 256, specifically a nut, is provided on the rotating shaft 251. The nut is fixed to the rotating shaft 251 by threads, so that the rotating shaft 251 can be supported by the first fixing plate 252 and connected to the first fixing plate 252.

[0038] In this embodiment, a flange 2511 is provided at one end of the rotating shaft 251 near the second fixed plate 253. The second fixed plate 253 is supported by the flange 2511, restricting the axial movement of the second fixed plate 253 along the rotating shaft 251. Furthermore, to prevent relative rotation between the second fixed plate 253 and the rotating shaft 251, the second fixed plate 253 and the rotating shaft 251 are fitted together using a profile fit. This design allows the second fixed plate 253 to be fixedly connected to the rotating shaft 251, thereby ensuring that the rotation of the rotating shaft 251 drives the rotation of the second fixed plate 253. In other embodiments, the second fixed plate 253 and the rotating shaft 251 can be integrally formed or threadedly connected, etc.

[0039] For a robotic arm, if the rotation angle between the rotating seat 22 and the fixed seat 21 is not limited, the rotating mechanism 20 can easily collide with the support arm 10 during rotation, leading to equipment damage. To avoid this, a first limiting mechanism is provided on the rotating mechanism 20. This first limiting mechanism limits the rotation angle of the rotating seat 22 relative to the fixed seat 21, ensuring that the rotating seat 22 rotates within a predetermined rotation angle range. Specifically, in this embodiment, the second fixed plate 253 has a first limiting protrusion 2531, and the fixed seat 21 has a first limiting recess 211. The first limiting protrusion 2531 is accommodated within the first limiting recess 211, and the first limiting recess 211 can only rotate within it. Furthermore, by limiting the length of the first limiting recess 211, the rotation angle of the first limiting protrusion 2531 can be controlled. It should be noted that the first limiting recess 211 can also be provided on the first fixing plate 252, while the first limiting protrusion 2531 is provided on the fixing base 21.

[0040] like Figure 4 As shown, in this embodiment, the first fixing plate 252 is provided with a clearance hole 2521, which corresponds to the threaded hole and positioning hole on the second fixing plate 253. The clearance hole 2521 connects the threaded hole and positioning hole of the second fixing plate and the outside of the fixing seat 21, so that the positioning pin and bolt can be connected and fixed through the clearance hole during assembly. In the specific assembly process, the bolt and positioning pin first fix the rotating mechanism 25 to the rotating seat 22 through the clearance hole 2521, and then the rotating mechanism 25 is fixed to the fixing seat 21. The setting of the clearance hole 2521 allows the modularly designed rotating mechanism 25 to be assembled and fixed with the fixing seat 21 and the rotating seat 22, which is convenient for disassembly and installation. The bolt fixing method ensures the stability and flexibility of the installation between the three, and can be replaced and repaired in time when a part fails.

[0041] For the robotic arm, the rotating mechanism 20 needs to have a hovering function. Hovering means that when the user stops rotating the rotating shaft 251 during its rotation, the rotating shaft 251 can immediately stop rotating and stabilize at the position it was in at the moment of stopping. Generally speaking, when two objects are connected to each other by a rotating shaft, if the connection is too tight, the friction between them will be relatively large, which is not conducive to rotation. However, if the connection is too loose, the friction between them will be very small, and a hovering effect cannot be achieved.

[0042] In order for the swivel seat 22 to achieve the hovering function, such as Figure 4 and 5As shown, a first damping mechanism 254 is also provided on the rotating mechanism 25. The first damping mechanism 254 includes a first elastic element 2545, a thrust washer, and a friction plate. Two thrust washers and two friction plates are provided. The thrust washers include a first thrust washer 2541 and a second thrust washer 2543, and the friction plates include a first friction plate 2542 and a second friction plate 2544. The thrust washers and friction plates are symmetrically arranged on both sides of the first fixed plate 252. One side of the first friction plate 2542 and the second friction plate 2544 abuts against the first fixed plate 252, while the other side abuts against the first thrust washer 2541 and the second thrust washer 2543, respectively. Along the direction from the top to the bottom of the rotating shaft 251, the first thrust washer 2541, the first friction plate 2542, the first fixed plate 252, the second friction plate 2544, and the second thrust washer 2543 are arranged sequentially. The thrust washer and the rotating shaft 251 are fitted by a profile, and the two cannot rotate relative to each other.

[0043] In this embodiment, since the first fixed plate 252 and the rotating shaft 251 can rotate relative to each other, friction plates and thrust washers are symmetrically arranged on both sides of the first fixed plate 252. The friction plates and thrust washers are provided to provide damping force when the rotating seat 22 rotates relative to each other.

[0044] The side of the first thrust washer 2541 that is not in contact with the first friction plate 2542 abuts against the first elastic member 2545. The first elastic member can be a disc spring, a spring, or other elastic component. In this embodiment, the first elastic member 2545 is a disc spring. The other side of the first elastic member 2545 abuts against the first adjusting member 256. In this embodiment, by adjusting the position of the first adjusting member 256, the force applied to the first elastic member 2545 is adjusted, thereby adjusting the damping force between the first thrust washer and the first friction plate, as well as the damping force between the second thrust washer and the second friction plate, resulting in better rotational damping and smoother rotation.

[0045] As shown above, by integrating the first damping mechanism and related rotation-related structures into the rotating mechanism 25, the rotating mechanism 25 becomes a relatively independent component in terms of both function and structure. The assembly relationship with the fixed seat 21 and the rotating seat 22 is simpler and clearer, avoiding the appearance of scattered parts and making it more user-friendly for assembly and maintenance personnel.

[0046] like Figure 6As shown, the rotating base 22 includes a connecting portion 221 and a base 222 connected to each other. The connecting portion 221 extends longitudinally to provide greater longitudinal variation space, while the base 222 extends laterally. A pitching member 23 is connected to the end of the laterally extending portion. Due to the laterally extending arrangement of the base 222, an angle is formed between the base 222 and the connecting portion 221, preventing the pitching member 23 from colliding with the connecting portion 221 or the fixed base 21 during rotation. In this embodiment, to facilitate component processing, the connecting portion 221 and the base 222 are separately configured and connected by threads. Specifically, the connecting portion 221 has a groove inside, forming two mounting surfaces at different levels: a first mounting surface 2211 and a second mounting surface 2212. The first mounting surface 2211 is higher than the second mounting surface 2212. The first mounting surface 2211 has mounting holes, such as threaded holes and positioning holes. The mounting hole is used to fix the second fixing plate 253 with bolts. The second mounting surface 2212 also has mounting holes, which are fixedly engaged with the mounting holes on the base 222 using fasteners; in this embodiment, the fasteners are bolts. This arrangement allows the rotating seat 22 and the fixed seat 21 to form a stable structure, enabling mutual rotation between them. To ensure that the fasteners connecting the base 222 and the connecting part 221 do not affect the connection between the second fixing plate 253 and the connecting part 221, or the movement or installation of other components of the rotating mechanism 25, the height difference between the first mounting surface 2211 and the second mounting surface 2212 is greater than the height of the fasteners above the second mounting surface 2212. That is, the fasteners on the second mounting surface do not protrude from the first mounting surface 2211 and do not abut against the rotating mechanism 25.

[0047] A pitching member 23 is rotatably connected to the laterally extending end of the base 222. Specifically, holes are provided on both the pitching member 23 and the base 222, and the two are connected by bolts to achieve relative rotation. To achieve a hovering effect, a second damping mechanism 223 is provided on the bolts and on the contact surfaces of the base 222 and the pitching member 23 where relative rotation is possible.

[0048] Figure 7 yes Figure 6 Cross-sectional view of the rotating mechanism. Figure 8 yes Figure 7 A magnified view of a section at point B, as shown below. Figure 8 As shown, the second damping mechanism 223 includes a third friction plate 2231, a fourth friction plate 2232, and a second elastic element 2233. The second elastic element 2233 can be a disc spring, a spring, or other elastic components. In this embodiment, the second elastic element 2233 is a disc spring.

[0049] like Figure 10As shown, in order to limit the rotation angle of the pitch member 23, a second limiting mechanism is also provided on the pitch member 23 and the rotary seat 22. In this embodiment, the rotary seat 22 is provided with a second limiting recess 2221, and the pitch member 23 is provided with a second limiting protrusion 231. The rotation angle is limited by the cooperation of the second limiting recess 2221 and the second limiting protrusion 231.

[0050] A mounting platform 24 is rotatably connected to the pitch member 23. The mounting platform 24 is used to mount a load, such as a camera. A handle is also connected to the mounting platform 24 to provide a force point and facilitate rotation. In this embodiment, both the pitch member 23 and the mounting platform 24 have mounting holes. A rotating shaft 235 connects the pitch member 23 and the mounting platform 24, with the mounting platform 24 fixedly connected to the rotating shaft 235, and the pitch member 23 rotatably connected to the rotating shaft 235. To facilitate the rotation of the pitch member 23, a bearing 234 is provided in the mounting hole of the pitch member 23. Furthermore, to achieve a hovering effect, a third damping mechanism 233 is provided on the rotating shaft 235.

[0051] Figure 9 yes Figure 7 A magnified view of a section at point C, as shown below. Figure 9 As shown, the third damping mechanism includes a third elastic element 2331, a third thrust washer 2332, a fifth friction plate 2333, and a sixth friction plate 2334. One side of the fifth friction plate 2333 and the sixth friction plate 2334 are respectively abutted against the two sides of the pitching member 23, with the other side of the fifth friction plate 2333 abutting against the third thrust washer 2332, which in turn abuts against the third elastic element 2331. The third elastic element 2331 can be a disc spring, a spring, or other elastic component; in this embodiment, the third elastic element 2331 is a disc spring. A second adjusting member 236 is threadedly connected to the side of the rotating shaft 235 away from the mounting platform 24. The second adjusting member 236 abuts against the third elastic element 2331 and is used to control the friction force between the friction plate and the component. The second adjusting member can be a nut.

[0052] like Figure 10-11 As shown, the pitch member 23 and the mounting platform 24 are provided with a third limiting mechanism. Specifically, the pitch member 23 is provided with a third limiting recess 232, and the mounting platform 24 is provided with a third limiting protrusion 241. The third limiting protrusion 241 is accommodated in the third limiting recess 232. When the rotating shaft 235 rotates, the third limiting mechanism is used to limit the rotation angle range of the rotating shaft 235.

Claims

1. A rotating mechanism, characterized in that, It includes a fixed base (21), a rotating base (22), and a rotating mechanism (25), wherein the rotating mechanism (25) connects the fixed base (21) and the rotating base (22) so that the fixed base (21) can rotate relative to the rotating base (22) about a first axis; The rotating mechanism (25) includes a rotating shaft (251), a first fixed plate (252), a second fixed plate (253), and a first damping mechanism (254). The first fixed plate (252), the second fixed plate (253), and the first damping mechanism (254) are all sleeved on the rotating shaft (251). The first fixed plate (252) is fixedly connected to the fixed seat (21), and the second fixed plate (253) is fixedly connected to the rotating seat (22). The first fixed plate (252) can rotate relative to the rotating shaft (251), and the second fixed plate (253) can rotate synchronously with the rotating shaft (251). The first damping mechanism (254) includes a second thrust washer (2543) and a second friction plate (2544) disposed between the first fixed plate (252) and the second fixed plate (253), with the two sides of the second friction plate (2544) respectively abutting against the first fixed plate (252) and the second thrust washer (2543).

2. The rotating mechanism according to claim 1, characterized in that, The rotating mechanism (25) further includes a first adjusting member (256), which is sleeved on the end of the rotating shaft (251) that is close to the first fixed plate (252) relative to the second fixed plate (253). The first damping mechanism (254) further includes a first thrust washer (2541) and a first friction plate (2542) disposed between the first adjusting member (256) and the first fixed plate (252). The two sides of the first friction plate (2542) abut against the first fixed plate (252) and the first thrust washer (2541) respectively.

3. The rotating mechanism according to claim 2, characterized in that, The first damping mechanism (254) further includes a first elastic element (2545), which is used to adjust the damping force between the first thrust washer (2541) and the first friction plate (2542) and the damping force between the second thrust washer (2543) and the second friction plate (2544) when the rotating shaft (251) rotates.

4. The rotating mechanism according to claim 1, characterized in that, The first fixing plate (252) is provided with a clearance hole (2521) so that the second fixing plate (253) can be assembled and fixed with the rotating seat (22) through the clearance hole (2521).

5. The rotating mechanism according to claim 1, characterized in that, The rotating shaft (251) is provided with a flange (2511), which is used to restrict the second fixing plate (253) from moving axially along the rotating shaft (251). The second fixing plate (253) is in surface fit with the rotating shaft (251) to prevent the second fixing plate (253) from rotating relative to the rotating shaft (251).

6. The rotating mechanism according to claim 1, characterized in that, The rotating base (22) includes a longitudinally extending connecting portion (221) and a transversely extending base (222). The base (222) and the connecting portion (221) are detachably connected. One end of the longitudinally extending connecting portion (221) is connected to the fixed base (21), and the other end is connected to the base (222). One end of the transversely extending base (222) away from the connecting portion (221) is connected to a pitch member (23). The pitch member (23) is capable of rotating relative to the base (222) about a second axis, which is perpendicular to the first axis.

7. The rotating mechanism according to claim 6, characterized in that, The connecting part (221) is provided with a groove for accommodating a fastener that connects the base (222) and the connecting part, so that the fastener does not abut against the rotating mechanism (25).

8. The rotating mechanism according to claim 6, characterized in that, The pitching component (23) is also rotatably connected to a mounting platform (24), which is capable of rotating relative to a third axis, which is perpendicular to both the first axis and the second axis.

9. The rotating mechanism according to claim 8, characterized in that, It also includes a first limiting mechanism, a second limiting mechanism and a third limiting mechanism. The first limiting mechanism is used to limit the rotation angle of the rotating seat (22) relative to the fixed seat (21). The second limiting mechanism is used to limit the rotation angle of the pitch member (23) relative to the rotating seat (22). The third limiting mechanism is used to limit the rotation angle of the mounting platform (24) relative to the pitch member (23).

10. A robotic arm, characterized in that, Includes the rotating mechanism described in any one of claims 1-9.

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