Motion system with controllable rotation range

Abstract

A motion system with a controllable rotation range comprises a base (P), a first component (10), a second component (20) and a third component (30), the first component (10) can rotate around a first rotation shaft (R1) relative to the base (P), the second component (20) can rotate around a second rotation shaft (R2) relative to the first component (10), the third component (30) can rotate around a third rotation shaft (R3) relative to the second component (20), the included angle between the first rotation shaft (R1) and the second rotation shaft (R2) is a1, and a2 is an angle between the first rotation shaft (R1) and the second rotation shaft (R2). The included angle between the second rotating shaft (R2) and the third rotating shaft (R3) is a2, 0 degree < a1 < 90 degrees, 0 degree < a2 < 90 degrees, the third component (30) comprises a first collision area, the base (P) comprises a second collision area, the first collision area can interfere with the second collision area, and the conical angle of a conical area covered by the third rotating shaft (R3) in the moving process is made to be smaller than 4 * a1 and 4 * a2. And the rotating range can be set as required.

Description

Motion system with controllable rotation range Technical Field

[0001] The present application relates to the field of motion mechanisms, and more specifically to a motion system with a controllable rotation range. Background Art

[0002] A universal joint is a pivotal support that allows an object to rotate about an axis. Typically, a universal joint consists of a set of three rotating parts: a first rotating part mounted on a bracket, a second rotating part mounted on the first rotating part, and a third rotating part mounted on the second rotating part. Each rotating part has an orthogonal pivot axis between them, allowing an object mounted on the terminal rotating part (i.e., the aforementioned third rotating part) in a chain to remain independent of the bracket's rotation.

[0003] 19 shows a conventional universal joint having terminal rotation axes X, Y and Z. The rotational freedom of the terminal rotation axes X, Y and Z is realized by three mutually perpendicular revolute joints A, B and C. Such a universal joint is also called an orthogonal universal joint.

[0004] The orthogonal universal joint has the following shortcomings:

[0005] First, due to the limitation of the arm length of the universal joint (i.e. the distance from the terminal rotation center to the rotation joint), the effective load that the orthogonal universal joint can withstand is limited.

[0006] Second, depending on the application scenario of the universal joint, certain postures of the terminal platform during motion can be affected by the rotating parts during use. For example, as shown in Figure 20, when viewed along the arrow, revolute joint B obscures the view of the terminal platform's payload. This is undesirable when the terminal platform is carrying application devices such as radar, video cameras, and so on.

[0007] Patent application PCT / CN2022 / 082279 (WO2023040229A1) discloses a non-orthogonal universal joint, which includes two rotating parts that can slide relative to each other on a plane with an inclination angle of α, which is equivalent to providing a non-orthogonal universal joint. In addition, U.S. Patent US11346495B2 describes a control system using a non-orthogonal universal joint, which is used as a stabilization system for cameras and video equipment. However, in other applications, non-orthogonal universal joints are very rare.

[0008] Furthermore, in practical applications, in some cases, it is necessary to control the working range, or the rotation range, of the non-orthogonal universal joint, and there is no reasonable and effective solution in the prior art.

[0009] Summary of the Invention

[0010] The purpose of the present application is to overcome or at least alleviate the deficiencies of the above-mentioned prior art and to provide a non-orthogonal universal joint whose rotation range can be controlled.

[0011] The present application provides a motion system with a controllable rotation range, the motion system comprising a base, a first component, a second component and a third component.

[0012] The first component is rotatably connected to the base, so that the first component can rotate relative to the base around a first rotation axis.

[0013] The second component is rotatably connected to the first component so that the second component can rotate relative to the first component around a second rotation axis.

[0014] The third component is rotatably connected to the second component, so that the third component can rotate relative to the second component around a third rotation axis.

[0015] The first rotation axis, the second rotation axis and the third rotation axis intersect at point O.

[0016] The included angle between the first rotating shaft and the second rotating shaft is a1, the included angle between the second rotating shaft and the third rotating shaft is a2, 0°<a1<90°, 0°<a2<90°, wherein,

[0017] The third component forms a first collision zone, and the base forms a second collision zone.

[0018] During the movement of the third component relative to the base, the first collision area can interfere with the second collision area in a contact manner or a non-contact manner, so that the cone angle of the conical area covered by the third rotating shaft during the movement is less than 4*a1 and less than 4*a2.

[0019] In at least one embodiment, the first collision zone and the second collision zone are both annular.

[0020] In at least one embodiment, when the third component interferes with the base, the first collision area and the second collision area abut against each other.

[0021] In at least one embodiment, in the direction of the third rotation axis, the first collision area and the second collision area are arranged opposite to each other.

[0022] In at least one embodiment, the first collision zone and the second collision zone are arranged to be nested with each other.

[0023] In at least one embodiment, the third component is in the shape of a cap.

[0024] The third component includes a third component rib in the shape of a hat brim, and the first collision area is located at the edge of the third component rib.

[0025] In at least one embodiment, the first component and the second component are assembled together to form a spherical shape, and the third component is partially sleeved on the outside of the second component.

[0026] In at least one embodiment, a1 = a2 = α.

[0027] In at least one embodiment, the interference position between the third component and the base is such that the cone angle of the conical area covered by the third rotating shaft during movement is less than 2α.

[0028] In at least one embodiment, in an orthogonal coordinate system, the third component has three rotational degrees of freedom about an X axis, a Y axis, and a Z axis.

[0029] In at least one embodiment, in an orthogonal coordinate system, the third component has two rotational degrees of freedom about an X axis and a Y axis, and the rotational degree of freedom of the third component about a Z axis is limited.

[0030] In at least one embodiment, the third component includes a third component limiting portion, and the base includes a base limiting portion. The third component limiting portion and the base limiting portion cooperate with each other so that the third component can rotate around the X-axis and around the Y-axis relative to the base, and the third component cannot rotate around the Z-axis relative to the base.

[0031] In at least one embodiment, one of the third component limiting portion and the base limiting portion is a slot and the other is a pin, and the pin passes through the slot.

[0032] During movement of the third member, at least one of the pins is at least partially retained within the slot.

[0033] In at least one embodiment, there are two pins, and a line connecting the two pins passes through the point O.

[0034] In at least one embodiment, the pin is formed in the third component and the slot is formed in the base.

[0035] The beneficial effects of this application include:

[0036] (i) The motion system according to the present application has a shorter arm than conventional orthogonal universal joint rotation systems, thereby increasing payload weight and volume capacity, particularly in limited volume or operating space. Furthermore, the rotation range of the terminal platform of the motion system according to the present application is limited, which prevents the terminal platform from moving to undesirable positions. For example, this can prevent the terminal platform from moving to a singular point position and ensure a symmetrical range of motion for the motion platform. For another example, this can prevent the terminal platform from moving to a position where the payload may tip over.

[0037] The motion system provided in this application, for example, a non-orthogonal universal joint can be used for rotation or support purposes, including but not limited to pan / tilt heads, chairs, cameras, entertainment equipment, sports or rehabilitation training equipment, household appliances, industrial robots, automobiles and solar tracking systems.

[0038] (ii) The motion system according to the present application can also limit the rotation of the terminal platform in a certain direction as needed to facilitate its use in certain special application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 1 to 3 are schematic structural diagrams of three possible non-orthogonal universal joints according to the present application.

[0040] FIG. 4 is a schematic diagram of the motion range of the payload when the non-orthogonal universal joint of FIG. 1 is carrying the payload.

[0041] FIG5 is a schematic diagram of a motion system with controllable rotation range according to a first embodiment of the present application.

[0042] 6 and 7 are cross-sectional views of FIG. 5 at two different positions.

[0043] FIG8 is a schematic diagram of the structural decomposition of FIG5.

[0044] FIG9 is a schematic structural diagram of the base in FIG5 .

[0045] FIG10 is a schematic structural diagram of the first component in FIG5 .

[0046] FIG11 is a schematic structural diagram of the second component in FIG5 .

[0047] FIG12 is a schematic structural diagram of the third component in FIG5 .

[0048] FIG13 is a schematic diagram showing the connection relationship of main components of the motion system with controllable rotation range according to the first embodiment of the present application.

[0049] FIG14 is a schematic diagram of a motion system with controllable rotation range according to a second embodiment of the present application.

[0050] FIG. 15 is a partially exploded schematic diagram of FIG. 14 .

[0051] FIG16 is a schematic structural diagram of the base in FIG14 .

[0052] FIG17 is a cross-sectional view of FIG14.

[0053] FIG18 is a schematic diagram showing the connection relationship of main components of a motion system with controllable rotation range according to a second embodiment of the present application.

[0054] FIG19 is a schematic diagram of an orthogonal universal joint in the prior art.

[0055] FIG20 is a schematic diagram of an orthogonal universal joint in the prior art during motion.

[0056] Description of reference numerals:

[0057] P base; P1 base matching part; P2 base limiting part;

[0058] 10 first component; 11 first matching portion of the first component; 12 second matching portion of the first component;

[0059] 20 second component; 21 first matching portion of the second component; 22 second matching portion of the second component;

[0060] 30 third component; 31 third component first matching portion; 301 third component retaining edge; 32 third component limiting portion;

[0061] B1 first bearing assembly; B10 first bearing; B11 first retaining ring of first bearing assembly; B12 second retaining ring of first bearing assembly;

[0062] B2 second bearing assembly; B20 second bearing; B21 second bearing assembly first retaining ring; B22 second bearing assembly second retaining ring;

[0063] B3 third bearing assembly; B30 third bearing; B31 third bearing first retaining ring; B32 third bearing second retaining ring;

[0064] R1 is the first rotating axis; R2 is the second rotating axis; R3 is the third rotating axis. DETAILED DESCRIPTION

[0065] The following describes exemplary embodiments of the present application with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present application, and are not intended to exhaust all possible embodiments of the present application, nor to limit the scope of the present application.

[0066] Unless otherwise specified, this application uses the three-dimensional coordinate system shown in Figure 1 to illustrate the positional relationships of various components. It should be understood that the positional relationships defined in this application based on the X, Y, and Z axes are relative, and the coordinate axes can be rotated in space depending on the actual application of the device.

[0067] Figure 1 shows a model of a non-orthogonal universal joint (hereinafter also referred to as a motion system). The universal joint includes a first component 10, a second component 20, and a third component 30. The third component 30 is a terminal platform. The third component 30 has rotational freedom around the X-axis, Y-axis, and Z-axis in an orthogonal coordinate system. Among them, the rotation axis of the first component 10 relative to the base (not shown in the figure) is the rotation axis A, the rotation axis of the second component 20 relative to the first component 10 is the rotation axis B, and the rotation axis of the third component 30 relative to the second component 20 is the rotation axis C. The angle between the rotation axis A and the rotation axis B is α, and the angle between the rotation axis B and the rotation axis C is also α, 0°<α<90°. In the position shown in the figure, the rotation axis C is parallel to the Z axis.

[0068] The first component 10 and the second component 20 act as the arms of a non-orthogonal universal joint, and the combined rotational motion of these components provides rotation about the X-axis and the Y-axis for the third component 30. During the rotation of the first component 10 and the second component 20 about the rotation axis A and the rotation axis B, respectively, the rotation angles of the third component 30 about the X-axis and the Y-axis do not exceed four times the angle α. In other words, the rotation range of the third component 30 about the X-axis does not exceed ±2α, and the rotation range of the third component 30 about the Y-axis does not exceed ±2α.

[0069] 4 , with the rotation axis of the third component 30 as the target object, within the rotation range of the third component 30 , the area covered by the rotation axis of the third component 30 during the rotation process forms a corresponding cone angle, and half of the cone angle is 2α.

[0070] The arm of a non-orthogonal gimbal can be located on one side of the terminal platform. Compared to an orthogonal gimbal, the arm length of a non-orthogonal gimbal is shorter. A shorter gimbal arm can carry a higher payload weight, or in other words, a non-orthogonal gimbal has a higher payload-to-weight-to-volume ratio.

[0071] High positional accuracy and payload weight-to-volume ratio make non-orthogonal gimbals more popular in certain applications, such as but not limited to pan / tilts, chairs, cameras, entertainment equipment, sports or rehabilitation training equipment, home appliances, industrial robots, automobiles and solar tracking systems.

[0072] In addition to being implemented using a combination of rotating components in the form of arms and joints, the aforementioned non-orthogonal universal joint can also be implemented using a combination of rotating components in the form of stacked rotating platforms. This application does not limit the specific form of the rotating components. For example, Figures 2 and 3 illustrate two other non-orthogonal universal joints. The universal joint shown in Figure 2 is essentially the same as the universal joint shown in Figure 1.

[0073] It is worth noting that the intersection of the rotation axes of the two rotating components (first component 10 and second component 20) defines a virtual origin O, around which the payload will rotate. By adjusting the shape and size of the rotating components, the position of the virtual origin O can be adjusted, thereby changing the rotation trajectory of the terminal platform (third component 30). For example, the motion trajectories of the third component 30 in Figures 2 and 3 are different.

[0074] Next, referring to FIG. 4 to FIG. 19 , motion systems according to two embodiments of the present application are introduced.

[0075] First embodiment

[0076] 4 to 13 , the motion system according to the first embodiment of the present application is a non-orthogonal universal joint with a controllable rotation range of a terminal platform.

[0077] The motion system in this embodiment includes a base P, a first component 10 , a second component 20 and a third component 30 .

[0078] The first component 10 is mounted on the base P, and the base mating portion P1 and the first component first mating portion 11 are mated with each other, so that the first component 10 can rotate relative to the base P around the first rotation axis R1.

[0079] The second component 20 is mounted on the first component 10 , and the first component second matching portion 12 and the second component first matching portion 21 match each other, so that the second component 20 can rotate relative to the first component 10 around the second rotation axis R2 .

[0080] The third component 30 is mounted on the second component 20 , and the second matching portion 22 of the second component cooperates with the first matching portion 31 of the third component, so that the third component 30 can rotate relative to the second component 20 around the third rotation axis R3 .

[0081] Figure 13 shows a schematic diagram of the positional relationship among the base P, the first component 10, the second component 20, and the third component 30. The positional relationship between the mating portions of these components causes the first rotation axis R1, the second rotation axis R2, and the third rotation axis R3 to intersect at point O.

[0082] The included angle between the first rotating shaft R1 and the second rotating shaft R2 is a1, and the included angle between the second rotating shaft R2 and the third rotating shaft R3 is a2. 0° < a1 < 90°, 0° < a2 < 90°. In this embodiment, a1 = a2 = α. It should be understood that since the perspective view in FIG. 13 is a sectional two-dimensional perspective view, and the included angles a1 and a2 shown in the figure are angles in a three-dimensional space, the proportional relationship of the angle sizes shown on the paper surface does not represent the proportional relationship of the actual angles in space.

[0083] The above-mentioned position and connection relationship enable the third component 30 to have three rotational degrees of freedom in the orthogonal coordinate system about the virtual rotation center O.

[0084] Specifically, in this embodiment, the base P is substantially circular ring-shaped, the first component 10 and the second component 20 are asymmetric hemispherical, and the third component 30 is hemispherical shell-shaped or cap-shaped.

[0085] On one side of the annular main body of the base P, an inclined base mating portion P1 is formed, and the base mating portion P1 is frustum-shaped. The spherical region of the hemispherical main body of the first component 10 is partially recessed inward to form the first mating portion 11 of the first component. A first bearing assembly B1 is provided between the base mating portion P1 and the first mating portion 11 of the first component. The first bearing assembly B1 includes a first bearing B10 and first bearing assembly first retaining rings B11 and first bearing assembly second retaining rings B12 located at both ends of the first bearing B10 and anti-torsionally connected (non-rotatably connected) to the outer ring and inner ring of the bearing respectively.

[0086] When the first component 10 is installed on the base P, optionally, the first component 10 is partially recessed into the annular space formed by the annular main body of the base P, so that the first component 10 and the base P as a whole occupy less space in the Z direction.

[0087] A second mating portion 12 of the first component is formed on the planar side of the hemispherical main body of the first component 10, a first mating portion 21 of the second component is formed on the planar side of the hemispherical main body of the second component 20, the second mating portion 12 of the first component and the first mating portion 21 of the second component are arranged opposite to each other, and a second bearing assembly B2 is provided between them. The second bearing assembly B2 includes a second bearing B20 and second bearing assembly first retaining rings B21 and second bearing assembly second retaining rings B22 located at both ends of the second bearing B20 and anti-torsionally connected to the inner ring and outer ring of the bearing respectively.

[0088] The spherical surface of the hemispherical main body of the second component 20 also partially protrudes to form the second component second mating portion 22. A third component first mating portion 31 is formed at the top of the inner cavity of the spherical shell structure of the third component 30. The second component second mating portion 22 and the third component first mating portion 31 are arranged opposite each other, with a third bearing assembly B3 disposed therebetween. The third bearing assembly B3 includes a third bearing B30 and a first retaining ring B31 and a second retaining ring B32 located at opposite ends of the third bearing B30, respectively connected to the outer and inner rings of the bearing for torsion resistance.

[0089] Next, it is described how the terminal platform, ie, the third component 30 , in the motion system according to the present application can rotate within a controlled range.

[0090] In this embodiment, the third component 30 includes an annular, brim-shaped third component rib 301, which extends toward the base P, so that during the rotation of the third component 30, the third component rib 301 will touch the base P in an area with a larger rotation range, or interfere with the base P, or be blocked by the base P and cannot further expand the rotation range.

[0091] By limiting the rotational range of the third component 30 through contact interference between the base P and the third component 30, it is possible to prevent the third component 30 from rotating to an undesirable position. For example, in certain situations, to prevent the third component 30 from encountering a singularity (also known as a singular point) within its rotational range, the orientation of the entire motion system can be changed so that the singularity is located at the motion system's theoretical maximum operating angle. In this case, the system's operating range is asymmetric. By limiting the rotational range of the third component 30, the system's operating range can be adjusted back to a reasonable, symmetrical range. In this application, the interference region can optionally be set so that half of the cone angle of the conical area covered by the third rotation axis R3 during its movement is less than α.

[0092] The areas where the third component 30 and the base P may interfere are respectively referred to as the first collision zone and the second collision zone. In this embodiment, the first collision zone is located at the edge of the third component rib 301, and the second collision zone is located at the outer peripheral wall of the base P.

[0093] It should be understood that, although in this embodiment, the first collision zone and the second collision zone are arranged relative to each other in the extension direction of the third rotation axis R, this is not the only arrangement of the first collision zone and the second collision zone. For example, in other possible arrangements, the first collision zone and the second collision zone may be arranged nested with each other.

[0094] In addition to physical collision and contact interference between the first and second collision zones, as in the present embodiment, the first and second collision zones can also be configured for distance-controlled non-contact interference. For example, in an active system, or a system having a power source for controlling the rotation of the first, second, and third components 10, 20, and 30, a distance sensor can be used to identify the separation distance between the first and second collision zones. When the separation distance is less than or equal to a predetermined value, the system triggers the non-contact interference mechanism, causing the third component 30 to stop further rotation.

[0095] Second embodiment

[0096] 14 to 18 , the second embodiment of the present application is described. The second embodiment is a modification of the first embodiment, and components with the same or similar structures or functions as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions of these components are omitted.

[0097] The main difference between this embodiment and the first embodiment is that the third component 30 has only two degrees of rotational freedom relative to the base P, for example, the third component 30 can only tilt and roll but cannot swing left and right.

[0098] The base P includes a pair of base limiting portions P2. The base limiting portions P2 are fork-shaped and surround the outer circumference of the third component 30. Each base limiting portion P2 defines a slot.

[0099] The third component 30 includes a pair of third component stoppers 32 , each of which is pin-shaped. A line connecting the two third component stoppers 32 passes through point O.

[0100] Each third component limiting portion 32 can extend into a groove defined by a base limiting portion P2, and during the movement of the third component 30, at least one third component limiting portion 32 is at least partially accommodated in the groove.

[0101] The groove of the base stopper P2 allows the third component stopper 32 to slide only along the groove's extension direction, allowing the third component 30 to tilt, or to rotate about its own axis, allowing the third component 30 to pitch. The width of the groove prevents the third component stopper 32 from moving left or right within the groove, preventing the third component 30 from rotating about the Z-axis relative to the base P.

[0102] In this embodiment, the fork-shaped base limiting portion P2 makes one end of the slot open, which makes it easier to install the third component limiting portion 32 and the slot.

[0103] It should be understood that although the paired third component limiting portions 32 and the paired base limiting portions P2 can enhance the stability of limiting the third component 30, this is not necessary. There can be only one third component limiting portion 32 and one base limiting portion P2.

[0104] It should be understood that in other possible implementations, the base limiting portion P2 may be configured to be pin-shaped, while the third component limiting portion 32 may be configured to be groove-shaped.

[0105] It should be understood that in other possible embodiments, the base limit portion P2 can be detachably provided with the main body of the base P, and / or the third component limit portion 32 can be detachably provided with the main body of the third component 30, and the base limit portion P2 and / or the third component limit portion 32 are only installed in place in applications where the third component 30 needs to be rotationally limited; in other applications, the possibility of retaining three degrees of rotational freedom is retained for the third component 30.

[0106] It should be understood that the above-mentioned embodiments and some aspects or features thereof may be appropriately combined.

[0107] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present application. Those skilled in the art may, under the guidance of the present application, make various modifications and alterations to the above embodiments without departing from the scope of the present application. For example, the rotating components (first component, second component, and third component) of the motion system according to the present application may be stacked rotating tables as shown in the first and second embodiments, or may be rotating arms connected by joints as shown in FIG1 .

Claims

1. A motion system with a controllable rotation range, the motion system comprising a base (P), a first component (10), a second component (20) and a third component (30), The first component (10) is rotatably connected to the base (P), so that the first component (10) can rotate relative to the base (P) around a first rotation axis (R1), The second component (20) is rotatably connected to the first component (10), so that the second component (20) can rotate relative to the first component (10) around a second rotation axis (R2). The third component (30) is rotatably connected to the second component (20), so that the third component (30) can rotate relative to the second component (20) around a third rotation axis (R3). The first rotation axis (R1), the second rotation axis (R2) and the third rotation axis (R3) intersect at point O, The angle between the first rotating shaft (R1) and the second rotating shaft (R2) is a1, the angle between the second rotating shaft (R2) and the third rotating shaft (R3) is a2, 0°<a1<90°, 0°<a2<90°, characterized in that, The third component (30) is formed with a first collision zone, and the base (P) is formed with a second collision zone, During the movement of the third component (30) relative to the base (P), the first collision zone can cause contact interference or non-contact interference with the second collision zone, so that the cone angle of the conical area covered by the third rotating shaft (R3) during the movement is less than 4*a1 and less than 4*a2.

2. The motion system with controllable rotation range according to claim 1, characterized in that: The first collision area and the second collision area are both annular.

3. The motion system with controllable rotation range according to claim 1, characterized in that: When the third component (30) interferes with the base (P), the first collision area and the second collision area abut against each other.

4. The motion system with controllable rotation range according to claim 3, characterized in that: In the direction of the third rotation axis (R3), the first collision area and the second collision area are arranged opposite to each other.

5. The motion system with controllable rotation range according to claim 3, characterized in that: The first collision zone and the second collision zone are arranged to be nested with each other.

6. The motion system with controllable rotation range according to claim 4, characterized in that: The third component (30) is in the shape of a cap, The third component (30) comprises a third component rib (301) in the shape of a hat brim, and the first collision zone is located at the edge of the third component rib (301).

7. The motion system with controllable rotation range according to claim 6, characterized in that: The first component (10) and the second component (20) are assembled together to form a spherical shape, and the third component (30) is partially sleeved on the outside of the second component (20).

8. The motion system with controllable rotation range according to claim 1, characterized in that: a1=a2=α.

9. The motion system with controllable rotation range according to claim 8, characterized in that: The interference position between the third component (30) and the base (P) enables the cone angle of the cone area covered by the third rotating shaft (R3) during movement to be less than 2α.

10. The motion system with controllable rotation range according to any one of claims 1 to 9, characterized in that: In an orthogonal coordinate system, the third component (30) has three rotational degrees of freedom about the X axis, the Y axis and the Z axis.

11. The motion system with controllable rotation range according to any one of claims 1 to 9, characterized in that: In an orthogonal coordinate system, the third component (30) has two rotational degrees of freedom about an X axis and a Y axis, and the rotational degree of freedom of the third component (30) relative to a Z axis is limited.

12. The motion system with controllable rotation range according to claim 11, characterized in that: The third component (30) includes a third component limiting portion (32), and the base (P) includes a base limiting portion (P2). The third component limiting portion (32) and the base limiting portion (P2) cooperate with each other, so that the third component (30) can rotate around the X axis and around the Y axis relative to the base (P), and the third component (30) cannot rotate around the Z axis relative to the base (P).

13. The motion system with controllable rotation range according to claim 12, characterized in that: One of the third component limiting portion (32) and the base limiting portion (P2) is a slot and the other is a pin, the pin passes through the slot. During movement of the third member, at least one of the pins is at least partially retained within the slot.

14. The motion system with controllable rotation range according to claim 13, characterized in that: There are two pins, and the line connecting the two pins passes through the point O.

15. The motion system with controllable rotation range according to claim 13, characterized in that: The pin is formed on the third component (30), and the groove is formed on the base (P).

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