The invention discloses a mechanism capable of swinging and rotating at any angle. The mechanism comprises a power device, a swing mechanism, a supporting rod, a connecting rod, a connecting body connected with the connecting rod, and a rotating body mounted in the connecting body, wherein one end of the swing mechanism is in transmission connection with the output shaft of the power device, and the other end of the swing mechanism is hinged to a point on the connecting rod; one end of the connecting rod is hinged to the supporting rod; the other end of the connecting rod is fixedly connected with the middle of the connecting body. The mechanism provided by the invention is simple in structure, and is capable of swinging and rotating at any angle, can swing or rotate individually, also can swing and rotate simultaneously and cooperatively, can well rotate while achieving stable swing, and is stable in operating and good in coordination.