Exercise system

Abstract

The embodiment of the invention provides a motion system. The motion system comprises a first connecting disc, a second connecting disc, a first motion module, a second motion module and a rotating assembly, wherein the first motion module, the second motion module and the rotating assembly are arranged between the first connecting disc and the second connecting disc; the first movement module and the second movement module are oppositely arranged and are both connected with the rotating assembly; the first movement module comprises a first component and a second component which are connected with each other, two opposite ends of the first component are rotatably connected with the second connecting disc and one end of the second component respectively, and one end, away from the first component, of the second component is rotatably connected with the rotating assembly; the second movement module comprises a third component and a fourth component which are connected with each other, the two opposite ends of the third component are rotationally connected with the second connecting disc and one end of the fourth component respectively, and the end, away from the third component, of the fourth component is rotationally connected with the rotating assembly. According to the scheme, the load from the supported object can be distributed to two directions, so that the stress on the first moving module and the second moving module is reduced.

Description

A movement system Technical Field

[0001] The present application relates to the technical field of motion systems, and in particular to a rotary motion system. Background Art

[0002] A gimbal is a pivoting support that allows an object to rotate about an axis. A set of three gimbals, mounted one above the other, have orthogonal pivot axes, allowing the object mounted on the innermost gimbal to remain independent of the gimbal's support's rotation. In Figure 19, a conventional gimbal has platform rotation axes X, Y, and Z. Platform rotation in X, Y, and Z is achieved by three perpendicular gimbal rotations, A, B, and C. This is a conventional orthogonal gimbal.

[0003] However, due to the long gimbal arm, the payload of an orthogonal gimbal is limited. Furthermore, in certain platform orientations, as shown in Figure 20, the gimbal obscures the view of the payload on the platform, which is relevant for applications such as radars, cameras, and video cameras.

[0004] The present invention aims to alleviate these drawbacks by providing a gimbal with non-orthogonal gimbal axes, with an angle α between 0° and 90°, as shown in Figure 21. Angle α is defined as the angle between the gimbal's axes of rotation A and B and the perpendicular axis C. An angle α of 90° represents a conventional orthogonal gimbal. Platform rotation about axes X and Y is achieved by the compound rotations of the non-orthogonal gimbal arms, A and B. A and B can be rotated to any angle, but the platform's rotation about X and Y will never exceed twice the angle α.

[0005] In many applications where high position accuracy, range control, and high payload weight and volume are more important than working range, non-orthogonal gimbals are preferred over traditional orthogonal gimbals. Shorter gimbal arms enable higher payload weight and volume capabilities.

[0006] As described in patent PCT / CN2022 / 082279 (WO2023040229A1), the non-orthogonal universal joint is developed from a rotary joint with two rotating components that can slide by tilting at an angle of α. The payload rotates around the origin O, which depends on the controlled rotation of the rotating components, as shown in Figure 22a. The virtual rotation origin O is defined by the intersection of the rotation axes of the two rotating components. It can be changed by configuring the rotation axes of the rotating components, as shown in Figure 22b. Figure 22c and Figure 22b are actually the same, but the rotating components are replaced by arms and joints. Figure 22c shows a non-orthogonal universal joint with an angle of α.

[0007] Patent US11346495B2 describes a control system for a non-orthogonal gimbal, which is used as a stabilization system for cameras and video equipment. However, in other applications, non-orthogonal gimbals are very rare.

[0008] Summary of the Invention

[0009] In order to solve one or more of the above-mentioned technical problems existing in the prior art, an embodiment of the present application provides a motion system.

[0010] In order to achieve the above objectives, the technical solutions adopted by this application to solve the technical problems are:

[0011] The present application provides a motion system, comprising a first connection disk, a second connection disk, and a first motion module, a second motion module, and a rotation assembly arranged between the first connection disk and the second connection disk;

[0012] The first motion module and the second motion module are arranged opposite to each other and are both connected to the rotating assembly;

[0013] The first motion module includes a first component and a second component connected to each other, wherein opposite ends of the first component are rotatably connected to the second connecting plate and one end of the second component respectively, and an end of the second component away from the first component is rotatably connected to the rotating assembly;

[0014] The second motion module includes a third component and a fourth component connected to each other, wherein opposite ends of the third component are rotatably connected to the second connecting disk and one end of the fourth component respectively, and one end of the fourth component away from the third component is rotatably connected to the rotating assembly.

[0015] In a specific embodiment, the rotating assembly includes a first connecting shaft and a first seat bearing and a second seat bearing sleeved on the first connecting shaft;

[0016] The first connecting plate is sleeved on the first connecting shaft and is located above the first seat bearing and the second seat bearing;

[0017] One end of the second member away from the first member is sleeved on the first connecting shaft and connected to the outer ring of the first seated bearing;

[0018] One end of the fourth component away from the third component is sleeved on the first connecting shaft and connected to the outer ring of the second seat bearing.

[0019] In a specific embodiment, the first motion module further includes a first connecting mechanism, the first connecting mechanism including a second connecting shaft and a third seat bearing and a fourth seat bearing sleeved on the second connecting shaft;

[0020] One end of the second member close to the first member is sleeved on the second connecting shaft and connected to the outer ring of the third seated bearing;

[0021] One end of the first component close to the second component is sleeved on the second connecting shaft and connected to the outer ring of the fourth seated bearing.

[0022] In a specific embodiment, the first motion module further includes a second connecting mechanism, wherein the second connecting mechanism includes a third connecting shaft and a fifth seat bearing sleeved on the third connecting shaft;

[0023] One end of the first member away from the second member is sleeved on the third connecting shaft and is connected to the outer ring of the fifth seat bearing;

[0024] One end of the second connecting disk close to the first component is sleeved on the third connecting shaft.

[0025] In a specific embodiment, the second motion module further includes a third connecting mechanism, the third connecting mechanism including a fourth connecting shaft and a sixth seat bearing and a seventh seat bearing sleeved on the fourth connecting shaft;

[0026] One end of the fourth member close to the third member is sleeved on the fourth connecting shaft and connected to the outer ring of the sixth seat bearing;

[0027] One end of the third component close to the fourth component is sleeved on the fourth connecting shaft and connected to the outer ring of the seventh seat bearing.

[0028] In a specific embodiment, the second motion module further includes a fourth connecting mechanism, the fourth connecting mechanism including a fifth connecting shaft and an eighth seated bearing sleeved on the fifth connecting shaft;

[0029] One end of the third member away from the fourth member is sleeved on the fifth connecting shaft and connected to the outer ring of the eighth seat bearing;

[0030] One end of the second connecting disk close to the third component is sleeved on the fifth connecting shaft.

[0031] In a specific embodiment, the rotating assembly includes a gear assembly and a first bearing assembly connected to each other;

[0032] One end of the second member away from the first member is embedded in the first bearing assembly and abuts against the gear assembly;

[0033] One end of the fourth component away from the third component is sleeved on the outside of the first bearing assembly and abuts against the gear assembly.

[0034] In a specific embodiment, the gear assembly includes a gear and a connecting member, and the gear is connected to the first bearing assembly through the connecting member;

[0035] An end of the second member abutting against the gear assembly is provided with an outer gear ring matching the gear;

[0036] An end of the fourth component abutting against the gear assembly is provided with an inner gear ring matching the gear.

[0037] In a specific embodiment, the first bearing assembly includes a first bearing and a second bearing sleeved on the outer ring of the first bearing;

[0038] One end of the second member away from the first member is embedded in the inner ring of the first bearing;

[0039] One end of the fourth member away from the third member is sleeved on the outside of the outer ring of the second bearing;

[0040] The gear is connected to the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

[0041] In a specific embodiment, the first connecting plate is connected to both the outer ring of the first bearing and the inner ring of the second bearing.

[0042] In a specific embodiment, the first motion module further includes a first connection mechanism, and the first connection mechanism includes a second bearing assembly;

[0043] One end of the second member close to the first member is embedded in the interior of the second bearing assembly;

[0044] One end of the first component close to the second component is sleeved on the outside of the second bearing assembly.

[0045] In a specific embodiment, the first connecting mechanism further includes a first elastic member, and the first elastic member is disposed between the second member and the second bearing assembly.

[0046] In a specific embodiment, the first motion module further includes a second connection mechanism, and the second connection mechanism includes a third bearing assembly;

[0047] One end of the first member away from the second member is sleeved on the outside of the third bearing assembly;

[0048] One end of the second connecting plate close to the first component is embedded in the interior of the third bearing assembly.

[0049] In a specific embodiment, the second connecting mechanism further includes a second elastic member, and the second elastic member is disposed between the second connecting plate and the third bearing assembly.

[0050] In a specific embodiment, the second motion module further includes a third connection mechanism, and the third connection mechanism includes a fourth bearing assembly;

[0051] One end of the fourth member close to the third member is embedded in the interior of the fourth bearing assembly;

[0052] One end of the third component close to the fourth component is sleeved on the outside of the fourth bearing assembly.

[0053] In a specific embodiment, the third connecting mechanism further includes a third elastic member, and the third elastic member is disposed between the fourth component and the third bearing assembly.

[0054] In a specific embodiment, the second motion module further includes a fourth connection mechanism, and the fourth connection mechanism includes a fifth bearing assembly;

[0055] One end of the third member away from the fourth member is sleeved on the outside of the fifth bearing assembly;

[0056] One end of the second connecting plate close to the third component is embedded in the interior of the fifth bearing assembly.

[0057] In a specific embodiment, the fourth connecting mechanism further includes a fourth elastic member, and the fourth elastic member is disposed between the second connecting plate and the fifth bearing assembly.

[0058] In a specific embodiment, the first elastic member and / or the second elastic member and / or the third elastic member and / or the fourth elastic member include a spring or a rubber block.

[0059] In a specific embodiment, the rotating assembly includes a gear assembly and a first bearing assembly connected to each other;

[0060] One end of the second member away from the first member is embedded in the first bearing assembly;

[0061] One end of the fourth component away from the third component is sleeved on the outside of the first bearing assembly and connected to the gear assembly.

[0062] In a specific embodiment, the gear assembly includes an inner ring gear, a gear train meshing with the inner ring gear, and a connecting member;

[0063] The gear train is connected to the first bearing assembly via the connecting member;

[0064] The inner ring gear is fixedly connected to the fourth component.

[0065] In a specific embodiment, the gear train includes a central gear and a plurality of planetary gears meshing with the central gear.

[0066] In a specific embodiment, the first bearing assembly includes a first bearing and a second bearing sleeved on the outer ring of the first bearing;

[0067] One end of the second member away from the first member is embedded in the inner ring of the first bearing;

[0068] One end of the fourth member away from the third member is sleeved on the outside of the outer ring of the second bearing;

[0069] One of the gears in the gear train is connected to both the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

[0070] In a specific embodiment, the rotating assembly includes a gear assembly and a first bearing assembly connected to each other;

[0071] One end of the second member away from the first member is embedded in the first bearing assembly and connected to the gear assembly;

[0072] One end of the fourth component away from the third component is sleeved on the outside of the first bearing assembly and connected to the gear assembly.

[0073] In a specific embodiment, the gear assembly includes a first inner ring gear, a second inner ring gear, a gear train meshing with the first inner ring gear and the second inner ring gear, and a connecting member;

[0074] At least one gear in the gear train is connected to the first bearing assembly via the connecting member;

[0075] The first internal gear ring is fixedly connected to the second member and meshes with one of the gears in the gear train;

[0076] The second internal gear ring is fixedly connected to the fourth member and meshes with another gear in the gear train.

[0077] In a specific embodiment, the first bearing assembly includes a first bearing and a second bearing sleeved on the outer ring of the first bearing;

[0078] One end of the second member away from the first member is embedded in the inner ring of the first bearing;

[0079] One end of the fourth member away from the third member is sleeved on the outside of the outer ring of the second bearing;

[0080] At least one gear in the gear train is connected to both the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

[0081] In a specific embodiment, the first connecting plate is connected to the first bearing assembly.

[0082] In a specific embodiment, the rotating assembly includes a gear assembly and two first bearing assemblies;

[0083] One end of the second member away from the first member is sleeved on the outside of one of the first bearing assemblies;

[0084] One end of the fourth member away from the third member is sleeved on the outside of another first bearing assembly;

[0085] One end of the second member away from the first member abuts against one end of the fourth member away from the third member through the gear assembly.

[0086] In a specific embodiment, the gear assembly includes a first outer gear ring provided at an end of the second member away from the first member and a second outer gear ring provided at an end of the fourth member away from the third member;

[0087] The first outer ring gear is meshed with the second outer ring gear.

[0088] In a specific embodiment, each of the bearing assemblies includes a connecting column, a first bearing, and a second bearing;

[0089] The first bearing and the second bearing are sleeved on the connecting column, and the inner rings of the first bearing and the second bearing are connected to the connecting column;

[0090] One end of the second component away from the first component or one end of the fourth component away from the third component is sleeved outside the first bearing and the second bearing and connected to the outer rings of the first bearing and the second bearing.

[0091] In a specific embodiment, the first connecting plate is connected to the first bearing assembly.

[0092] In a specific embodiment, the motion system further includes a first connecting rod assembly, a second connecting rod assembly and a rotation transfer disk.

[0093] The rotating shafts of the first and second components that rotate relative to each other are coaxially arranged with the rotation transmission disk, and the rotation transmission disk and the first and second components can rotate relative to each other.

[0094] One end of the first connecting rod assembly is connected to the rotation transmission disk via a ball joint, and the position of the other end of the first connecting rod assembly relative to the rotation axis between the first member and the second connecting disk is controlled.

[0095] One end of the second connecting rod assembly is connected to the rotation transfer disk through a ball joint, and the other end of the second connecting rod assembly is connected to the rotating assembly through a ball joint.

[0096] In a specific embodiment, the other end of the second connecting rod assembly is fixed to the second connecting plate.

[0097] In a specific embodiment, the motion system further includes a drive disc,

[0098] The rotation axes of the first component and the second connecting disk that rotate relative to each other are coaxially arranged with the driving disk. The driving disk can rotate relative to the first component and the second connecting disk. The driving disk can rotate around its own rotation axis in a controlled manner.

[0099] The beneficial effects of the technical solution provided by the embodiments of the present application are:

[0100] The motion system provided by an embodiment of the present application includes a first connecting disk, a second connecting disk, and a first motion module, a second motion module, and a rotation assembly arranged between the first connecting disk and the second connecting disk; the first motion module and the second motion module are arranged opposite to each other and are both connected to the rotation assembly; the first motion module includes a first member and a second member connected to each other, the opposite ends of the first member are rotatably connected to the second connecting disk and one end of the second member, respectively, and the end of the second member away from the first member is rotatably connected to the rotation assembly; the second motion module includes a third member and a fourth member connected to each other, the opposite ends of the third member are rotatably connected to the second connecting disk and one end of the fourth member, respectively, and the end of the fourth member away from the third member is rotatably connected to the rotation assembly. The present application provides two opposite first motion modules and second motion modules so that the first motion module and the second motion module have opposite and asymmetric motion ranges, so that the motion system can distribute the load from the supported object in two directions, thereby reducing the stress on the first motion module and the first motion module. The motion system of the present application has a shorter arm than the traditional orthogonal universal joint rotation system, thereby improving the payload weight and volume capacity, especially in limited volume or operating space; in other aspects, it also has higher positioning accuracy and lower motor load caused by external loads and vibrations.

[0101] Not all products in this application need to have all of the above effects. The motion system provided by this patent can be used for non-orthogonal universal joints, especially non-orthogonal universal joints that can be used for rotation or support purposes. The applications include but are not limited to pan / tilt heads, chairs, cameras, entertainment equipment, sports or rehabilitation training equipment, household appliances, industrial robots, automobiles and solar tracking systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0103] FIG1 is a schematic structural diagram of a motion system provided in Example 1 of the present application;

[0104] FIG2 is an exploded view of the motion system provided in Example 1 of the present application;

[0105] FIG3 is a schematic structural diagram of a motion system provided in Example 2 of the present application;

[0106] FIG4 is an exploded view of the motion system provided in Example 2 of the present application;

[0107] FIG5 is a schematic structural diagram of a motion system provided in Example 3 of the present application;

[0108] FIG6 is a schematic diagram of a partial structure of a motion system provided in Example 3 of the present application;

[0109] FIG7 is an exploded view of the motion system provided in Example 3 of the present application;

[0110] FIG8 is a schematic structural diagram of a motion system provided in Example 4 of the present application;

[0111] FIG9 is a schematic diagram of a partial structure of a motion system provided in Example 4 of the present application;

[0112] FIG10 is an exploded view of the motion system provided in Example 4 of the present application;

[0113] FIG11 is a schematic structural diagram of a motion system provided in Example 5 of the present application;

[0114] FIG12 is an exploded diagram of the motion system provided in Example 5 of the present application.

[0115] Figures 13 and 14 are schematic diagrams of partial structures of the active system provided in Example 6 of the present application.

[0116] Figure 15 is a cross-sectional view of the active system provided in Example 6 of the present application.

[0117] Figure 16 is a structural diagram of the active system provided in Example 6 of the present application.

[0118] Figure 17 is a schematic diagram of part of the structure of the active system provided in Example 6 of the present application.

[0119] Figure 18 is a schematic diagram of the partial structure of the passive system provided in Example 6 of the present application.

[0120] FIG19 is a schematic structural diagram of a conventional 90° orthogonal universal joint.

[0121] FIG20 is a schematic diagram of the field of view angle blocked by a conventional 90° orthogonal universal joint.

[0122] FIG21 is a schematic structural diagram of a non-orthogonal universal joint with an angle of α.

[0123] Figure 22 is a schematic diagram of a universal joint with an arm and joints replacing the rotating parts. DETAILED DESCRIPTION

[0124] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0125] The following describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0126] Example 1

[0127] 1 and 2 , the motion system provided in the embodiments of the present application generally includes a first connection plate 100a, a second connection plate 200a, a first motion module 300a, a second motion module 400a, and a rotation assembly 500a. The first motion module 300a, the second motion module 400a, and the rotation assembly 500a are all disposed between the first connection plate 100a and the second connection plate 200a. The first motion module 300a and the second motion module 400a are connected to one side of the first connection plate 100a via the rotation assembly 500a. The other side of the first connection plate 100a is used to connect to a supported object, and the side of the second connection plate 200a away from the first connection plate 100a is used to connect to a supporting device. It should be noted that the embodiments of the present application do not impose specific restrictions on the support connection and the supporting device. As an illustrative, non-restrictive explanation, the supported object can be a chair seat, and correspondingly, the supporting device can be a chair leg.

[0128] As a preferred embodiment, in the present application, the first motion module 300a and the second motion module 400a are arranged opposite each other. The first motion module 300a and the second motion module 400a have opposite motion directions (primarily rotational directions) and opposite, asymmetric ranges of motion. This allows the motion system to distribute the load from the supported object in two directions, thereby reducing stress on the first motion module 300a and the second motion module 400a.

[0129] 1 , the first motion module 300a includes a first component 310a, a second component 320a, a first connecting mechanism 330a, and a second connecting mechanism 340a. Opposite ends of the first component 310a are rotatably connected to the second connecting disk 200a via the second connecting mechanism 340a, and are rotatably connected to one end of the second component 320a via the first connecting mechanism 330a. An end of the second component 320a remote from the first component 310a is rotatably connected to the rotation assembly 500a. Correspondingly, the second motion module 400a includes a third component 410a, a fourth component 420a, a third connecting mechanism 430a, and a fourth connecting mechanism 440a. Opposite ends of the third component 410a are rotatably connected to the second connecting disk 200a via the fourth connecting mechanism 440a, and are rotatably connected to one end of the fourth component 420a via the third connecting mechanism 430a. An end of the fourth component 420a remote from the third component 410a is rotatably connected to the rotation assembly 500a.

[0130] 2 , the rotating assembly 500a includes a first connecting shaft 510a, a first bearing block 520a, and a second bearing block 530a. The first connecting plate 200a, the first bearing block 520a, and the second bearing block 530a all have through-holes. The first connecting plate 200a, the first bearing block 520a, and the second bearing block 530a are sequentially mounted on the first connecting shaft 510a through the through-holes therein. The first connecting shaft 510a is provided with an external thread (not shown) on one end away from the first connecting plate 200a. A nut is threadedly connected to the threaded end of the first connecting shaft 510a, thereby securing the first connecting plate 200a, the first bearing block 520a, and the second bearing block 530a to the first connecting shaft 510a.

[0131] Optionally, the transmission assembly 500a can also be provided with multiple gaskets 540a according to actual needs. Preferably, a gasket 540a can be provided between the first connecting plate 200a and the first seat bearing 520a, between the first seat bearing 520a and the second seat bearing 530a, and between the second seat bearing 530a and the nut. The gasket establishes a distance between the bearings so that the bearings can rotate, and at the same time can increase the force area between the above components to prevent the surface of the first connecting plate 200a, the first seat bearing 520a and the second seat bearing 530a from being damaged or deformed.

[0132] It will be appreciated that both the first and second seated bearings 520a, 530a include inner and outer rings that are rotatable relative to each other. The first and second seated bearings 520a, 530a are each sleeved onto the first connecting shaft 510a via their inner rings, and their inner rings are fixedly connected to the first connecting shaft 510a, allowing the outer rings of the first and second seated bearings 520a, 530a, to rotate relative to the first connecting shaft 510a.

[0133] 2 , the first connecting mechanism 330a includes a second connecting shaft 331a, a first nut 332a, a third seated bearing 333a, and a fourth seated bearing 334a. The third and fourth seated bearings 333a and 334a are sleeved on the second connecting shaft 331a. The first nut 332a cooperates with the second connecting shaft 331a to retain the third and fourth seated bearings 333a and 334a on the second connecting shaft 331a.

[0134] Optionally, the second connecting shaft 331a includes a screw. Preferably, a washer may be provided between the first nut 332a and the third seat bearing 333a, and between the third seat bearing 333a and the fourth seat bearing 334a.

[0135] It is understood that the third and fourth seat bearings 333a and 334a each include an inner ring and an outer ring, and the inner and outer rings are rotatable relative to each other. The inner rings of the third and fourth seat bearings 333a and 334a are each sleeved onto the second connecting shaft 331a, and the inner rings of the third and fourth seat bearings 333a and 334a are fixedly connected to the second connecting shaft 331a, so that the outer rings of the third and fourth seat bearings 333a and 334a can rotate relative to the second connecting shaft 331a.

[0136] 2 , the second connecting mechanism 340a includes a third connecting shaft 341a, a second nut 342a, and a fifth seat bearing 343a. The fifth seat bearing 343a is sleeved on the third connecting shaft 341a. The second nut 342a cooperates with the third connecting shaft 341a to retain the fifth seat bearing 343a on the third connecting shaft 341a.

[0137] Optionally, the third connecting shaft 341a includes a screw. Preferably, a gasket may be provided between the head of the third connecting shaft 341a and the fifth seat bearing 343a.

[0138] It will be appreciated that the fifth seated bearing 343a includes an inner ring and an outer ring, which are rotatable relative to each other. The fifth seated bearing 343a is sleeved onto the third connecting shaft 341a via its inner ring, and the inner ring is fixedly connected to the third connecting shaft 341a, so that the outer ring of the fifth seated bearing 343a can rotate relative to the third connecting shaft 341a.

[0139] 2 , the third connecting mechanism 430a includes a fourth connecting shaft 431a, a third nut 432a, a sixth housing bearing 433a, and a seventh housing bearing 434a. The sixth and seventh housing bearings 433a, 434a are sleeved onto the fourth connecting shaft 431a. The third nut 432a cooperates with the fourth connecting shaft 431a to retain the sixth and seventh housing bearings 433a, 434a on the fourth connecting shaft 431a.

[0140] Preferably, a gasket can be arranged between the third nut 432a and the sixth seat bearing 433a, and between the sixth seat bearing 433a and the seventh seat bearing 434a, so as to increase the force-bearing area between the above components and prevent the surface of the sixth seat bearing 433a and the seventh seat bearing 434a from being damaged and deformed.

[0141] It will be appreciated that the sixth and seventh seat bearings 433a and 434a each include an inner ring and an outer ring, and the inner and outer rings are rotatable relative to each other. The sixth and seventh seat bearings 433a and 434a are each sleeved onto the fourth connecting shaft 431a via their inner rings, and their inner rings are fixedly connected to the fourth connecting shaft 431a, allowing the outer rings of the sixth and seventh seat bearings 433a and 434a to rotate relative to the fourth connecting shaft 431a.

[0142] 2 , the fourth connecting mechanism 440a includes a fifth connecting shaft 441a, a fourth nut 442a, and an eighth seat bearing 443a. The eighth seat bearing 443a is sleeved on the fifth connecting shaft 441a. The fourth nut 442a cooperates with the fifth connecting shaft 441a to retain the eighth seat bearing 443a on the fifth connecting shaft 441a.

[0143] Optionally, the fifth connecting shaft 441a includes a screw. Preferably, a gasket can be provided between the head of the fifth connecting shaft 441a and the eighth seat bearing 443a, thereby increasing the force-bearing area between the above components and preventing the surface of the eighth seat bearing 443a from being damaged or deformed.

[0144] It will be appreciated that the eighth seated bearing 443a includes an inner ring and an outer ring, which are rotatable relative to each other. The eighth seated bearing 443a is sleeved onto the fifth connecting shaft 441a via its inner ring, and the inner ring is fixedly connected to the fifth connecting shaft 441a, so that the outer ring of the eighth seated bearing 443a can rotate relative to the fifth connecting shaft 441a.

[0145] 2 , through holes are respectively provided at both ends of the first component 310 , the second component 320 a , the third component 410 , and the fourth component 420 . Preferably, the number of the first component 310 a and the number of the third component 410 are both two.

[0146] The end of the first member 310a closest to the second member 320a is sleeved onto the second connecting shaft 331a through a through-hole therein and connected to the outer ring of the fourth seat bearing 334a. The end of the first member 310a away from the second member 320a is sleeved onto the third connecting shaft 341a through a through-hole therein and connected to the outer ring of the fifth seat bearing 343a. The end of the second member 320a away from the first member 310a is sleeved onto the first connecting shaft 510a through a through-hole therein and connected to the outer ring of the first seat bearing 520a. The end of the second member 320a closest to the first member 310a is sleeved onto the second connecting shaft 331a through a through-hole therein and connected to the outer ring of the third seat bearing 333a. The end of the third member 410a closest to the fourth member 420a is sleeved onto the fourth connecting shaft 431a through a through-hole and connected to the outer ring of the seventh seat bearing 434a. The end of the third member 410a away from the fourth member 420a is sleeved onto the fifth connecting shaft 441a through a through-hole and connected to the outer ring of the eighth seat bearing 443a. The end of the fourth member 420a away from the third member 410a is sleeved onto the first connecting shaft 510a through a through-hole and connected to the outer ring of the second seat bearing 520a. The end of the fourth member 420a closest to the third member 410a is sleeved onto the fourth connecting shaft 431a through a through-hole and connected to the outer ring of the sixth seat bearing 433a. The end of the second connecting plate 200a closest to the first member 310a is sleeved onto the third connecting shaft 341a, and the end of the second connecting plate 200a closest to the third member 410a is sleeved onto the fifth connecting shaft 441a.

[0147] It will be appreciated that, through the above connection method, the end of the first member 310a proximal to the second member 320a and the end of the second member 320a proximal to the first member 310a can rotate relative to the second connecting shaft 331a via the fourth seat bearing 334a and the third seat bearing 333a, respectively. The end of the first member 310a distal to the second member 320a can rotate relative to the third connecting shaft 341a via the fifth seat bearing 343a, respectively. The end of the second member 320a distal to the first member 310a and the end of the fourth member 420a distal to the third member 410a can rotate relative to the first connecting shaft 510a via the first seat bearing 520a and the second seat bearing 520a, respectively. The end of the third member 410a proximal to the fourth member 420a and the end of the fourth member 420a proximal to the third member 410a can rotate relative to the fourth connecting shaft 431a via the seventh seat bearing 434a and the sixth seat bearing 433a, respectively. One end of the third member 410 a away from the fourth member 420 a is rotatable relative to the fifth connecting shaft 441 a via the eighth seated bearing 443 a .

[0148] Example 2

[0149] As shown in FIG3 , the motion system provided in the embodiment of the present application generally includes a first connection plate 100b, a second connection plate 200b, a first motion module 300b, a second motion module 400b, and a rotation assembly 500b. The first motion module 300b, the second motion module 400b, and the rotation assembly 500b are all disposed between the first connection plate 100b and the second connection plate 200b. The first motion module 300b and the second motion module 400b are connected to one side of the first connection plate 100b via the rotation assembly 500b. The other side of the first connection plate 100b is used to connect to a supported object, and the side of the second connection plate 200b away from the first connection plate 100b is used to connect to a supporting device. It should be noted that the embodiment of the present application does not impose specific restrictions on the support connection and the supporting device. As an illustrative and non-restrictive explanation, the supported object can be a chair seat, and correspondingly, the supporting device can be a chair leg.

[0150] As a preferred embodiment, in the embodiment of the present application, the first motion module 300b and the second motion module 400b are arranged opposite each other. The motion directions (primarily the rotational directions) of the first motion module 300b and the second motion module 400b are opposite, and the first motion module 300b and the second motion module 400b have opposite, asymmetric ranges of motion. Therefore, the motion system can distribute the load from the supported object in two directions, thereby reducing the stress on the first motion module 300b and the first motion module 400b.

[0151] 3 and 4 , the first motion module 300b includes a first member 310b, a second member 320b, a first connecting mechanism 330b, and a second connecting mechanism 340b. Opposite ends of the first member 310b are rotatably connected to the second connecting disk 200b via the second connecting mechanism 340b, and are rotatably connected to one end of the second member 320b via the first connecting mechanism 330b. An end of the second member 320b remote from the first member 310b is rotatably connected to the rotation assembly 500b. Correspondingly, the second motion module 400b includes a third member 410b, a fourth member 420b, a third connecting mechanism 430b, and a fourth connecting mechanism 440b. Opposite ends of the third member 410b are rotatably connected to the second connecting disk 200b via the fourth connecting mechanism 440b, and are rotatably connected to one end of the fourth member 420b via the third connecting mechanism 430b. An end of the fourth member 420b remote from the third member 410b is rotatably connected to the rotation assembly 500b.

[0152] The difference from the first embodiment is that, further referring to FIG4 , in this embodiment, the rotating assembly 500b includes a gear assembly 510b and a first bearing assembly 520b connected to each other. The end of the second member 320b, which is remote from the first member 310b, is embedded in the first bearing assembly 520b and abuts against the gear assembly 510b. The end of the fourth member 420b, which is remote from the third member 410b, is sleeved outside the first bearing assembly 520b and abuts against the gear assembly 510b.

[0153] As a preferred embodiment, in the embodiment of the present application, the gear assembly 510b includes gears 511b and 512b. The first bearing assembly 520b includes a first bearing 521b, a second bearing 522b, a first annular member 523b, a second annular member 524b, and a third annular member 525b. It is understood that the first bearing 521b and the second bearing 522b each include an inner ring and an outer ring, and the inner and outer rings are rotatable relative to each other. The second bearing 522b is sleeved on the outer ring of the first bearing 521b, and the first annular member 523b is disposed between the first and second bearings 521b, 522b, and is fixedly connected to the outer ring of the first bearing 521b and the inner ring of the second bearing 522b, respectively. The end of the second member 320b facing away from the first member 310b is embedded in the inner race of the first bearing 521b, and the end of the fourth member 420b facing away from the third member 410b is sleeved outside the outer race of the second bearing 522b. This allows the end of the second member 320b facing away from the first member 310b and the end of the fourth member 420b facing away from the third member 410b to rotate in opposite directions via the first bearing 521b and the second bearing 522b. The gear 511b is connected to the first annular member 523b via the connector 512b and the second annular member 524b, thereby connecting the gear 511b to both the outer race of the first bearing 521b and the inner race of the second bearing 522b. The first connecting plate 100b is connected to the first annular member 523b via the third annular member 525b, thereby connecting the first connecting plate 100b to both the outer race of the first bearing 521b and the inner race of the second bearing 522b.

[0154] 4 , in specific implementation, one end of the second member 320b and one end of the fourth member 420b abut against the gear 511b, the end of the second member 320b abutting against the gear 511b is provided with an outer ring gear 321b matching the gear 511b, and the end of the fourth member 420b abutting against the gear 511b is provided with an inner ring gear 421b matching the gear 511, thereby achieving meshing of the outer ring gear 321b, the inner ring gear 421b and the gear 511b.

[0155] As further shown in Figure 4 , the first connecting mechanism 330b includes a second bearing assembly and a first elastic member 331b. The second connecting mechanism includes a third bearing assembly and a second elastic member. The third connecting mechanism includes a fourth bearing assembly and a third elastic member. The fourth connecting mechanism includes a fifth bearing assembly and a fourth elastic member. The end of the second member proximal to the first member is embedded within the second bearing assembly. The end of the first member proximal to the second member is sleeved outside the second bearing assembly. The first elastic member is disposed between the second member and the second bearing assembly. The end of the first member distal to the second member is sleeved outside the third bearing assembly. The end of the second connecting plate proximal to the first member is embedded within the third bearing assembly. The second elastic member is disposed between the second connecting plate and the third bearing assembly. The end of the fourth member proximal to the third member is embedded within the fourth bearing assembly. The end of the third member proximal to the fourth member is sleeved outside the fourth bearing assembly. The third elastic member is disposed between the fourth member and the third bearing assembly. The end of the third member distal to the fourth member is sleeved outside the fifth bearing assembly. The end of the second connecting plate proximal to the third member is embedded inside the fifth bearing assembly. The fourth elastic member is disposed between the second connecting plate and the fifth bearing assembly.

[0156] Taking the first connecting mechanism as an example, in a specific implementation, the second bearing assembly includes a third bearing 332b, a mounting base 333b, and optionally also includes a mounting gasket 334b, a first washer 335b, and a second washer 336b. The second connecting mechanism 340b includes a third bearing assembly and a second elastic member. The structure and components of the third bearing assembly are identical to those of the second bearing assembly and are not further described here. The first member 310b has first and second mounting holes 311b and 312b at opposite ends, respectively, and the second member 320b has first and second protrusions 322b and 323b at opposite ends. The second bearing assembly is disposed within the first mounting hole 311b, and the second connecting mechanism 340b is disposed within the second mounting hole 312b. Specifically, taking the second bearing assembly as an example, the mounting base 333b is arranged at the bottom of the first mounting hole 311b, on which the mounting gasket 334b, the third bearing 332b, the first washer 335b and the second washer 336b are arranged in sequence, and the first elastic member 331b is arranged inside the inner ring of the third bearing 332b.

[0157] In specific implementation, the end of the second member 320b proximal to the first member 310b is embedded within the inner race of the third bearing 332b, while the end of the first member 310b proximal to the second member 320b is sleeved onto the outer race of the third bearing 332b. This allows the end of the second member 320b proximal to the first member 310b and the end of the first member 310b proximal to the second member 320b to rotate relative to each other via the third bearing 332b. The end of the first member 310b distal to the second member 320b is sleeved onto the exterior of the third bearing assembly. The end of the second connecting plate 200b proximal to the first member 310b is embedded within the interior of the third bearing assembly. This allows the first member 310b and the second connecting plate 200b to rotate relative to each other via the third bearing assembly.

[0158] As an optional embodiment, in the embodiment of the present application, the first elastic member 331b and the second elastic member are springs. It will be appreciated that when the first elastic member 331b and the second elastic member are springs, the mounting base 333b is provided with a boss to allow the spring to be mounted thereon. The provision of the first elastic member 331b can provide the necessary resistance to maintain the center of motion of the motion system.

[0159] As another optional embodiment, in the embodiment of the present application, the first elastic member 331b and the second elastic member are rubber blocks. It is understood that when the first elastic member 331b and the second elastic member are rubber blocks, they can also provide the necessary resistance to maintain the center of motion of the motion system.

[0160] As a preferred implementation, in the embodiment of the present application, the third connecting mechanism and the fourth connecting mechanism of the second motion module have the same structure and components as the first connecting mechanism and the second connecting mechanism of the first motion module, and the structure of the third component is exactly the same as that of the first component. The relevant content can be referred to as described above, and will not be repeated here.

[0161] It is understood that the end of the fourth member 420b proximal to the third member 410b is embedded within the fourth bearing assembly, while the end of the third member 410b proximal to the fourth member 420b is sleeved onto the exterior of the fourth bearing assembly, thereby enabling relative rotation between the end of the fourth member 420b proximal to the third member 410b and the end of the third member 410b proximal to the fourth member 420b via the fourth bearing assembly. The end of the third member 410b distal to the fourth member 420b is sleeved onto the exterior of the fifth bearing assembly, while the end of the second connecting plate 200b proximal to the third member 410b is embedded within the fifth bearing assembly, thereby enabling relative rotation between the third member 410b and the second connecting plate 200b via the fifth bearing assembly.

[0162] Example 3

[0163] As shown in FIG5 , the motion system provided in the embodiment of the present application generally includes a first connection plate 100c, a second connection plate 200c, a first motion module 300c, a second motion module 400c, and a rotation assembly 500c. The first motion module 300c, the second motion module 400c, and the rotation assembly 500c are all disposed between the first connection plate 100c and the second connection plate 200c. The first motion module 300c and the second motion module 400c are connected to one side of the first connection plate 100c via the rotation assembly 500c. The other side of the first connection plate 100c is used to connect to a supported object, and the side of the second connection plate 200c away from the first connection plate 100c is used to connect to a supporting device. It should be noted that the embodiment of the present application does not impose specific restrictions on the support connection and the supporting device. As an illustrative and non-restrictive explanation, the supported object can be a chair seat, and correspondingly, the supporting device can be a chair leg.

[0164] As a preferred embodiment, in the embodiment of the present application, the first motion module 300c and the second motion module 400c are arranged opposite each other. The motion directions (primarily the rotational directions) of the first motion module 300c and the second motion module 400c are opposite, and the first motion module 300c and the second motion module 400c have opposite, asymmetric motion ranges. Therefore, the motion system can distribute the load from the supported object in two directions, thereby reducing the stress on the first motion module 300c and the first motion module 400c.

[0165] 5 and 6 , the first motion module 300c includes a first member 310c, a second member 320c, a first connecting mechanism 330c, and a second connecting mechanism 340c. Opposite ends of the first member 310c are rotatably connected to the second connecting disk 200c via the second connecting mechanism 340c, and are rotatably connected to one end of the second member 320c via the first connecting mechanism 330c. An end of the second member 320c remote from the first member 310c is rotatably connected to the rotation assembly 500c. Correspondingly, the second motion module 400c includes a third member 410c, a fourth member 420c, a third connecting mechanism 430c, and a fourth connecting mechanism 440c. Opposite ends of the third member 410c are rotatably connected to the second connecting disk 200c via the fourth connecting mechanism 440c, and are rotatably connected to one end of the fourth member 420c via the third connecting mechanism 430c. An end of the fourth member 420c remote from the third member 410c is rotatably connected to the rotation assembly 500c.

[0166] The difference from the second embodiment is that the end of the second component 320c away from the first component 310c is no longer provided with an outer gear ring, and the end of the fourth component 420c away from the third component 410c is no longer provided with an inner gear ring.

[0167] 6 and 7 , in this embodiment, the rotating assembly 500c includes a gear assembly 510c and a first bearing assembly 520c connected to each other. The end of the second member 320c facing away from the first member 310c is embedded within the first bearing assembly 520c, and the end of the fourth member 420c facing away from the third member 410c is sleeved outside the first bearing assembly 520c.

[0168] As a preferred embodiment, in the present embodiment, the gear assembly 510c includes an inner ring gear 511c, a gear train 512c, a connector 513c, and a mounting sleeve 514c. The inner ring gear 511c meshes with the gear train 512c, which is connected to the first bearing assembly 520c via the connector 513c. The mounting sleeve 514c is mounted on the outside of the gear train 512c. The first connecting plate 100c is connected to the mounting sleeve 514c. The first bearing assembly 520c includes a first bearing 521c, a second bearing 522c, and an annular member 523c. It is understood that both the first bearing 521c and the second bearing 522c include an inner ring and an outer ring, and the inner and outer rings are rotatable relative to each other. The second bearing 522c is sleeved onto the outer ring of the first bearing 521c. The annular member 523c is disposed between the first and second bearings 521c and fixedly connected to the outer ring of the first bearing 521c and the inner ring of the second bearing 522c, respectively. The end of the second member 320c facing away from the first member 310c is embedded within the inner ring of the first bearing 521c. The end of the fourth member 420c facing away from the third member 410c is sleeved outside the outer ring of the second bearing 522c. This allows the end of the second member 320c facing away from the first member 310c and the end of the fourth member 420c facing away from the third member 410c to rotate in opposite directions via the first and second bearings 521c, 522c. The gear train 512c is connected to the annular member 523c via the connector 513c, thereby connecting the gear train 512c to both the outer ring of the first bearing 521c and the inner ring of the second bearing 522c.

[0169] 7 , the gear train 512c includes a center gear 512c′ and at least one planetary gear 512c″ meshing with the center gear. Exemplarily, the number of planetary gears 512c″ is three. The sidewall of the mounting sleeve 514c is provided with openings 514c′ corresponding to the planetary gears 512c″ so that the planetary gears 512c″ mesh with the inner gear ring 511c. Those skilled in the art will appreciate that one or more planetary gears may achieve the same function as in this exemplary embodiment.

[0170] Preferably, the connecting member 513c includes a first connecting member 513c′ and a second connecting member 513c″ that cooperate with each other. The first connecting member 513c′ has a connecting hole (not shown) at one end, and the end of the first connecting member 513c′ with the connecting hole is embedded in the star wheel 512c″, and the second connecting member 513c″ is embedded in the annular member 523c, and the connecting hole of the first connecting member 513c′ is sleeved on one end of the second connecting member 513c″ to achieve connection.

[0171] Referring further to FIG. 7 , in the embodiment of the present application, the second connection plate 200c is provided with two connection bases. The connection bases include a base 210c connected to the second connection plate 200c and a protrusion 220c extending from the base 210c away from the second connection plate 200c. The protrusion 220c is provided with a mounting groove 230c. The end of the third member 410 facing away from the fourth member 420 and the end of the first member 310 facing away from the second member 320 are sleeved onto the protrusion 220c, and the first and second elastic members are disposed within the mounting grooves 230c. Those skilled in the art will appreciate that the protrusion 220c can also be mounted and connected using other conventional methods or readily conceivable variations.

[0172] As a preferred embodiment, in the embodiment of the present application, the first connecting mechanism, the second connecting mechanism, the third connecting mechanism and the fourth connecting mechanism have the same structure and components as the first connecting mechanism, the second connecting mechanism, the third connecting mechanism and the fourth connecting mechanism in Example 2, and the structure of the first component and the third component are exactly the same as the structure of the first component and the third component in Example 2. The relevant content can be referred to the above description, and will not be repeated here one by one.

[0173] Example 4

[0174] As shown in FIG8 , the motion system provided in the embodiment of the present application generally includes a first connection plate 100d, a second connection plate 200d, a first motion module 300d, a second motion module 400d, and a rotation assembly 500d. The first motion module 300d, the second motion module 400d, and the rotation assembly 500d are all disposed between the first connection plate 100d and the second connection plate 200d. The first motion module 300d and the second motion module 400d are connected to one side of the first connection plate 100d via the rotation assembly 500d. The other side of the first connection plate 100d is used to connect to a supported object, and the side of the second connection plate 200d away from the first connection plate 100d is used to connect to a supporting device. It should be noted that the embodiment of the present application does not impose specific restrictions on the support connection and the supporting device. As an illustrative and non-restrictive explanation, the supported object can be a chair seat, and correspondingly, the supporting device can be a chair leg.

[0175] As a preferred embodiment, in the embodiment of the present application, the first motion module 300d and the second motion module 400d are arranged opposite each other. The motion directions (primarily the rotational directions) of the first motion module 300d and the second motion module 400d are opposite, and the first motion module 300d and the second motion module 400d have opposite, asymmetric motion ranges. Therefore, the motion system can distribute the load from the supported object in two directions, thereby reducing the stress on the first motion module 300d and the first motion module 400d.

[0176] 8 and 9 , the first motion module 300d includes a first member 310d, a second member 320d, a first connecting mechanism 330d, and a second connecting mechanism 340d. Opposite ends of the first member 310d are rotatably connected to the second connecting disk 200d via the second connecting mechanism 340d, and are rotatably connected to one end of the second member 320d via the first connecting mechanism 330d. An end of the second member 320d remote from the first member 310d is rotatably connected to the rotation assembly 500d. Correspondingly, the second motion module 400d includes a third member 410d, a fourth member 420d, a third connecting mechanism 430d, and a fourth connecting mechanism 440d. Opposite ends of the third member 410d are rotatably connected to the second connecting disk 200d via the fourth connecting mechanism 440d, and are rotatably connected to one end of the fourth member 420d via the third connecting mechanism 430d. An end of the fourth member 420d remote from the third member 410d is rotatably connected to the rotation assembly 500d.

[0177] The difference from the third embodiment is that, further referring to Figures 9 and 10, in this embodiment, the rotating assembly 500d includes a gear assembly 510d and a first bearing assembly 520d connected to each other. The end of the second member 320d remote from the first member 310d is embedded in the first bearing assembly 520d, and the end of the fourth member 420d remote from the third member 410d is sleeved outside the first bearing assembly 520d.

[0178] As a preferred embodiment, in the present embodiment, the gear assembly 510d includes a first inner ring gear 511d, a second inner ring gear 512d, a gear train 513d, and a connector 514d. Both the first inner ring gear 511d and the second inner ring gear 512d mesh with the gear train 513d, which is connected to the first bearing assembly 520d via the connector 514d. The first bearing assembly 520d includes a first bearing 521d, a second bearing 522d, and an annular member 523d. The structure of the first bearing assembly 520d is identical to that of the first bearing assembly 520c in Example 3. The relevant details can be found in the previous section and will not be elaborated upon here. The end of the second member 320d facing away from the first member 310d is embedded in the inner race of the first bearing 521d, and the end of the fourth member 420d facing away from the third member 410d is sleeved outside the outer race of the second bearing 522d. This allows the end of the second member 320d facing away from the first member 310d and the end of the fourth member 420d facing away from the third member 410d to rotate in opposite directions via the first bearing 521d and the second bearing 522d. The gear train 513d is connected to the annular member 523d ​​via a connector 514d, thereby connecting the gear train 513d to both the outer race of the first bearing 521d and the inner race of the second bearing 522d.

[0179] 10, the gear train 513d includes two meshing gears, the two gears are respectively meshed with the first inner ring gear 511d and the second inner ring gear 512d, wherein the first inner ring gear 511d is fixedly connected to the second member 320d, and the second inner ring gear 512d is fixedly connected to the fourth member 420d.

[0180] As a preferred embodiment, in the embodiment of the present application, the second connecting disk, the first connecting mechanism, the second connecting mechanism, the third connecting mechanism and the fourth connecting mechanism are respectively the same in structure and components as the second connecting disk, the first connecting mechanism, the second connecting mechanism, the third connecting mechanism and the fourth connecting mechanism in Example 2, and the structures of the first component and the third component are exactly the same as the structures of the first component and the third component in Example 2. The relevant contents can be referred to the above description and will not be repeated here.

[0181] Example 5

[0182] As shown in FIG11 , the motion system provided in the embodiments of the present application generally includes a first connection plate 100e, a second connection plate 200e, a first motion module 300e, a second motion module 400e, and a rotation assembly 500e. The first motion module 300e, the second motion module 400e, and the rotation assembly 500e are all disposed between the first connection plate 100e and the second connection plate 200e. The first motion module 300e and the second motion module 400e are connected to one side of the first connection plate 100e via the rotation assembly 500e. The other side of the first connection plate 100e is configured to connect to a supported object, and the side of the second connection plate 200e, away from the first connection plate 100e, is configured to connect to a supporting device. It should be noted that the embodiments of the present application do not impose specific limitations on the support connection and the supporting device. As an illustrative, non-restrictive, explanation, the supported object may be a chair seat, and the supporting device may be a chair leg.

[0183] As a preferred embodiment, in the embodiment of the present application, the first motion module 300e and the second motion module 400e are arranged opposite each other. The motion directions (primarily the rotational directions) of the first motion module 300e and the second motion module 400e are opposite, and the first motion module 300e and the second motion module 400e have opposite, asymmetric motion ranges. Therefore, the motion system can distribute the load from the supported object in two directions, thereby reducing the stress on the first motion module 300e and the first motion module 400e.

[0184] Further referring to Figures 11 and 12, the first motion module 300e includes a first component 310e, a second component 320e, a first connecting mechanism 330e and a second connecting mechanism 340e. The opposite ends of the first component 310e are rotatably connected to the second connecting disk 200e through the second connecting mechanism 340e and are rotatably connected to one end of the second component 320e through the first connecting mechanism 330e. The end of the second component 320e away from the first component 310e is rotatably connected to the rotating assembly 500e. Correspondingly, the second motion module 400e includes a third component 410e, a fourth component 420e, a third connecting mechanism 430e and a fourth connecting mechanism 440e. The opposite ends of the third component 410e are rotatably connected to the second connecting disk 200e through the fourth connecting mechanism 440e and are rotatably connected to one end of the fourth component 420e through the third connecting mechanism 430e. The end of the fourth component 420e away from the third component 410e is rotatably connected to the rotating assembly 500e.

[0185] The difference from the third embodiment is that, as further shown in Figures 11 and 12, in this embodiment, the rotating assembly 500e includes a gear assembly and two first bearing assemblies 520e. The end of the second member 320e facing away from the first member 310e is sleeved onto the exterior of one of the first bearing assemblies 520e, and the end of the fourth member 420e facing away from the third member 410e is sleeved onto the exterior of the other first bearing assembly 520e. The end of the second member 320e facing away from the first member 310e and the end of the fourth member 420e facing away from the third member 410e are abutted via the gear assembly.

[0186] As a preferred embodiment, in this embodiment of the present application, the gear assembly includes a first outer ring gear 511e and a second outer ring gear 512e. The first outer ring gear 511e and the second outer ring gear 512e mesh with each other. The first outer ring gear 511e is disposed on the end of the second member 320e distal from the first member 310e, while the second outer ring gear 512e is disposed on the end of the fourth member 420e distal from the third member 410e. The arrangement of the first outer ring gear 511e and the second outer ring gear 512e further limits the range of motion of the first and second motion modules.

[0187] Referring further to Figure 12 , each first bearing assembly 520e includes a connecting post 521e, a first bearing 522e, a second bearing 523e, a first spacer 524e, and a second spacer 525e. The first and second bearings 522e, 523e are sleeved onto the connecting post 521e, with the first and second spacers 524e, 525e cooperating to restrain the first and second bearings 522e, 523e on the connecting post 521e. It will be appreciated that both the first and second bearings 522e, 523e include an inner ring and an outer ring, which are rotatable relative to each other. The first bearing 522e and the second bearing 523e are respectively mounted on the connecting column 521e through their inner rings, and the inner rings are fixedly connected to the connecting column 521e, so that the outer rings of the first bearing 522e and the second bearing 523e can rotate relative to the connecting column 521e. Furthermore, the second component and the fourth component mounted outside the first bearing assembly can rotate relative to the connecting column 521e.

[0188] Referring further to FIG. 12 , in this embodiment of the present application, the motion system further includes a mounting member 600e. The mounting member 600e includes two support columns 610e and two limit plates 620e. The two first bearing assemblies 520e and the two support columns 610e are fixed between the two limit plates 620e, with the two first bearing assemblies 520e located at two opposing corners of the limit plates 620e, and the two support columns 610e located at two other opposing corners of the limit plates 620e. The two limit plates are connected to the first connecting plate 100e and the second connecting plate 200e on the side away from the first bearing assemblies 520e, respectively.

[0189] As a preferred implementation, in the embodiment of the present application, the first connecting mechanism 330e, the second connecting mechanism 340e, the third connecting mechanism 430e and the fourth connecting mechanism 440e are all composed of a bearing. The connection method between each connecting mechanism and each component can be referred to the relevant content described above, and will not be repeated here.

[0190] Example 6

[0191] 13 to 18 , the sixth embodiment of the present application is described. The sixth embodiment is a variation of the first or second embodiment, and components with the same or similar structures or functions as those in the first or second embodiment are marked with the same or similar reference numerals, and detailed descriptions of these components are omitted.

[0192] The main difference between the sixth embodiment and the first embodiment is that the rotation of the first connecting disk 100f around its own axis in the ω direction is limited.

[0193] The main difference between the sixth embodiment and the second embodiment is that the restriction of the rotation of the first connecting plate 100f in the ω direction is achieved by relying on the connecting rod assembly, rather than relying on the gear assembly 510b as in the second embodiment.

[0194] It is worth noting that the so-called limited rotation of the first connecting disk 100f in the ω direction does not necessarily mean that the first connecting disk 100f cannot rotate in the ω direction. In a passive system (i.e., a system without a drive source), the first connecting disk 100f can usually be set to be unable to rotate in the ω direction. In an active system (or a system with a drive source), the limited rotation of the first connecting disk 100f in the ω direction can be manifested as the first connecting disk 100f rotating in the ω direction in a controlled manner, for example, the rotation of either the first motion module 300f or the second motion module 400f can be controlled to control the rotation of the first connecting disk 100f in the ω direction.

[0195] Figures 13 to 17 illustrate an active system. Taking the system shown in Example 1 as a basic system, this system further includes a deflection motor M, a drive gear G, a drive disk 800, a rotation transmission disk 700, a first connecting rod assembly 601, and a second connecting rod assembly 602.

[0196] The rotating transfer disk 700 is coaxially disposed with the first connecting member 330f and is capable of relative rotation with the first connecting member 330f and the second member 320f. For example, the rotating transfer disk 700 is sleeved around the outer periphery of the first connecting member 330f, and a bearing is provided between the rotating transfer disk 700 and the first connecting member 330f, so that rotation of the rotating transfer disk 700 does not cause rotation of the first connecting member 330f and the second member 320f.

[0197] The drive disk 800 is coaxially disposed with the second connecting member 340f, and the drive disk 800, the first member 310f, and the second connecting member 340f are capable of relative rotation. For example, the drive disk 800 is sleeved around the outer periphery of the second connecting member 340f, and a bearing is disposed between the drive disk 800 and the second connecting member 340f, so that rotation of the drive disk 800 does not cause rotation of the second connecting member 340f and the first member 310f.

[0198] One end of each of the first connecting rod assembly 601 and the second connecting rod assembly 602 is connected to the rotation transfer disk 700 , and the first connecting rod 601 , the second connecting rod 602 and the rotation transfer disk 700 form a synchronous rotation device.

[0199] The other end of the first connecting rod assembly 601 is connected to the drive disk 800, and the other end of the second connecting rod assembly 602 is connected to the rotating assembly 500f. Both ends of the first and second connecting rod assemblies 601 and 602 are ball joints. The lengths of the first and second connecting rod assemblies 601 and 602 are fixed. Through the chain connecting the drive disk 800, the first connecting rod assembly 601, the rotation transfer disk 700, the second connecting rod assembly 602, the rotating assembly 500f, and the first connecting disk 100f, the rotation of the drive disk 800 about its axis and the rotation of the first connecting disk 100f about its axis can be synchronized.

[0200] In this embodiment, the outer periphery of the drive disk 800 is provided with teeth that mesh with the drive gear G. The drive gear G is connected to the deflection motor M in a torque-proof manner (non-rotatable relative to the deflection motor M). The rotation of the deflection motor M is transmitted to the first connecting disk 100f, causing the first connecting disk 100f to rotate in a controlled manner.

[0201] It is worth noting that since the system is an active system, a first drive motor M1 for driving the first component 310f to rotate and a second drive motor M2 for driving the second component 320f to rotate can be provided to actively control the other two rotational degrees of freedom of 100f, namely tilt and roll.

[0202] It should be understood that to control the rotational freedom of the first connecting disk 100f about its own axis, the synchronous rotation device consisting of the first connecting rod 601, the second connecting rod 602, and the rotation transfer disk 700 only needs to be connected to either the first motion module 300f or the second motion module 400f. To control the pitch and roll freedom of the first connecting disk 100f, the first drive motor M1 and the second drive motor M2 only need to be connected to either the first motion module 300f or the second motion module 400f. Although in this embodiment, the synchronous rotation device, the first drive motor M1, and the second drive motor M2 are all connected to the first motion module 300f, this is not required. For example, in other possible embodiments, the synchronous rotation device can be connected to one of the first motion module 300f and the second motion module 400f, and the first drive motor M1 and the second drive motor M2 can be connected to the other of the first motion module 300f and the second motion module 400f.

[0203] FIG17 is a schematic diagram showing the connection relationship of the main components of the active system corresponding to FIG13.

[0204] Next, referring to the similar schematic diagram 18, it is described how the synchronous rotation device is set up in the passive system.

[0205] In the passive system, the first connecting plate 100f does not have rotational freedom, and the other end of the first connecting rod assembly 601 is directly connected to the second connecting plate 200f. That is, compared with the active system, the driving plate 800 is omitted in the passive system.

[0206] In the passive system, the rotation transmission disk 700 is still coaxially arranged with the first connecting member 330f, and the rotation transmission disk 700 and the first member 310f and the second member 320f can rotate relative to each other. The other end of the second connecting rod 602 is still connected to the rotating assembly 500f through a ball joint.

[0207] It should be understood that the above-mentioned embodiments and some aspects or features thereof may be appropriately combined.

[0208] In the description of the present application, it should be understood that the terms "vertical", "parallel", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0209] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A motion system, characterized in that: It includes a first connecting disk, a second connecting disk, and a first motion module, a second motion module and a rotating assembly arranged between the first connecting disk and the second connecting disk; The first motion module and the second motion module are arranged opposite to each other and are both connected to the rotating assembly; The first motion module includes a first component and a second component connected to each other, wherein opposite ends of the first component are rotatably connected to the second connecting plate and one end of the second component respectively, and an end of the second component away from the first component is rotatably connected to the rotating assembly; The second motion module includes a third component and a fourth component connected to each other, wherein opposite ends of the third component are rotatably connected to the second connecting disk and one end of the fourth component respectively, and one end of the fourth component away from the third component is rotatably connected to the rotating assembly.

2. The motion system according to claim 1, wherein: The rotating assembly includes a first connecting shaft and a first seat bearing and a second seat bearing sleeved on the first connecting shaft; The first connecting plate is sleeved on the first connecting shaft and is located above the first seat bearing and the second seat bearing; One end of the second member away from the first member is sleeved on the first connecting shaft and connected to the outer ring of the first seated bearing; One end of the fourth component away from the third component is sleeved on the first connecting shaft and connected to the outer ring of the second seat bearing.

3. The motion system according to claim 1 or 2, characterized in that The first motion module further includes a first connecting mechanism, the first connecting mechanism including a second connecting shaft and a third seat bearing and a fourth seat bearing sleeved on the second connecting shaft; One end of the second member close to the first member is sleeved on the second connecting shaft and connected to the outer ring of the third seated bearing; One end of the first component close to the second component is sleeved on the second connecting shaft and connected to the outer ring of the fourth seated bearing.

4. The motion system according to any one of claims 1 to 3, characterized in that The first motion module further includes a second connecting mechanism, wherein the second connecting mechanism includes a third connecting shaft and a fifth seat bearing sleeved on the third connecting shaft; One end of the first member away from the second member is sleeved on the third connecting shaft and is connected to the outer ring of the fifth seat bearing; One end of the second connecting disk close to the first component is sleeved on the third connecting shaft.

5. The motion system according to any one of claims 1 to 3, characterized in that The second motion module further includes a third connecting mechanism, the third connecting mechanism including a fourth connecting shaft and a sixth seat bearing and a seventh seat bearing sleeved on the fourth connecting shaft; One end of the fourth member close to the third member is sleeved on the fourth connecting shaft and connected to the outer ring of the sixth seat bearing; One end of the third component close to the fourth component is sleeved on the fourth connecting shaft and connected to the outer ring of the seventh seat bearing.

6. The motion system according to any one of claims 1 to 3, characterized in that The second motion module further includes a fourth connecting mechanism, the fourth connecting mechanism including a fifth connecting shaft and an eighth seated bearing sleeved on the fifth connecting shaft; One end of the third member away from the fourth member is sleeved on the fifth connecting shaft and connected to the outer ring of the eighth seat bearing; One end of the second connecting disk close to the third component is sleeved on the fifth connecting shaft.

7. The motion system according to claim 1, wherein: The rotating assembly includes a gear assembly and a first bearing assembly connected to each other; One end of the second member away from the first member is embedded in the first bearing assembly and abuts against the gear assembly; One end of the fourth component away from the third component is sleeved on the outside of the first bearing assembly and abuts against the gear assembly.

8. The motion system according to claim 7, wherein: The gear assembly includes a gear and a connecting member, and the gear is connected to the first bearing assembly through the connecting member; An end of the second member abutting against the gear assembly is provided with an outer gear ring matching the gear; An end of the fourth component abutting against the gear assembly is provided with an inner gear ring matching the gear.

9. The motion system according to claim 8, characterized in that The first bearing assembly includes a first bearing and a second bearing sleeved on the outer ring of the first bearing; One end of the second member away from the first member is embedded in the inner ring of the first bearing; One end of the fourth member away from the third member is sleeved on the outside of the outer ring of the second bearing; The gear is connected to the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

10. The motion system according to claim 9, characterized in that The first connecting plate is connected to both the outer ring of the first bearing and the inner ring of the second bearing.

11. The motion system according to claim 10, wherein: The first motion module further includes a first connection mechanism, wherein the first connection mechanism includes a second bearing assembly; One end of the second member close to the first member is embedded in the interior of the second bearing assembly; One end of the first component close to the second component is sleeved on the outside of the second bearing assembly.

12. The motion system according to claim 11, wherein: The first connecting mechanism further includes a first elastic member disposed between the second component and the second bearing assembly.

13. The motion system according to claim 12, wherein: The first motion module further includes a second connection mechanism, and the second connection mechanism includes a third bearing assembly; One end of the first member away from the second member is sleeved on the outside of the third bearing assembly; One end of the second connecting plate close to the first component is embedded in the interior of the third bearing assembly.

14. The motion system according to claim 13, wherein: The second connecting mechanism further includes a second elastic member, and the second elastic member is arranged between the second connecting plate and the third bearing assembly.

15. The exercise system according to claim 14, wherein: The second motion module further includes a third connection mechanism, and the third connection mechanism includes a fourth bearing assembly; One end of the fourth member close to the third member is embedded in the interior of the fourth bearing assembly; One end of the third component close to the fourth component is sleeved on the outside of the fourth bearing assembly.

16. The exercise system according to claim 15, wherein: The third connection mechanism further includes a third elastic member, and the third elastic member is disposed between the fourth component and the third bearing assembly.

17. The exercise system according to claim 18, wherein: The second motion module further includes a fourth connection mechanism, and the fourth connection mechanism includes a fifth bearing assembly; One end of the third member away from the fourth member is sleeved on the outside of the fifth bearing assembly; One end of the second connecting plate close to the third component is embedded in the interior of the fifth bearing assembly.

18. The exercise system according to claim 17, wherein: The fourth connecting mechanism further includes a fourth elastic member, and the fourth elastic member is arranged between the second connecting plate and the fifth bearing assembly.

19. The exercise system according to claim 18, wherein The first elastic member and / or the second elastic member and / or the third elastic member and / or the fourth elastic member include a spring or a rubber block.

20. The exercise system according to claim 1, wherein The rotating assembly includes a gear assembly and a first bearing assembly connected to each other; One end of the second member away from the first member is embedded in the first bearing assembly; One end of the fourth component away from the third component is sleeved on the outside of the first bearing assembly and connected to the gear assembly.

21. The exercise system according to claim 20, wherein: The gear assembly includes an inner ring gear, a gear train meshing with the inner ring gear, and a connecting member; The gear train is connected to the first bearing assembly via the connecting member; The inner ring gear is fixedly connected to the fourth component.

22. The exercise system according to claim 21, wherein The gear train includes a central gear and at least one planet gear meshing with the central gear.

23. The exercise system according to claim 21, wherein: The first bearing assembly includes a first bearing and a second bearing sleeved on the outer ring of the first bearing; One end of the second member away from the first member is embedded in the inner ring of the first bearing; One end of the fourth member away from the third member is sleeved on the outside of the outer ring of the second bearing; At least one gear in the gear train is connected to both the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

24. The exercise system according to claim 1, wherein The rotating assembly includes a gear assembly and a first bearing assembly connected to each other; One end of the second member away from the first member is embedded in the first bearing assembly and connected to the gear assembly; One end of the fourth component away from the third component is sleeved on the outside of the first bearing assembly and connected to the gear assembly.

25. The exercise system according to claim 24, wherein: The gear assembly includes a first inner ring gear, a second inner ring gear, a gear train meshing with the first inner ring gear and the second inner ring gear, and a connecting member; At least one gear in the gear train is connected to the first bearing assembly via the connecting member; The first internal gear ring is fixedly connected to the second member and meshes with one of the gears in the gear train; The second internal gear ring is fixedly connected to the fourth member and meshes with another gear in the gear train.

26. The exercise system according to claim 24, wherein: The first bearing assembly includes a first bearing and a second bearing sleeved on the outer ring of the first bearing; One end of the second member away from the first member is embedded in the inner ring of the first bearing; One end of the fourth member away from the third member is sleeved on the outside of the outer ring of the second bearing; One of the gears in the gear train is connected to both the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

27. The exercise system according to claim 26, wherein: The first connecting plate is connected to the first bearing assembly.

28. The exercise system according to claim 1, wherein The rotating assembly includes a gear assembly and two first bearing assemblies; One end of the second member away from the first member is sleeved on the outside of one of the first bearing assemblies; One end of the fourth member away from the third member is sleeved on the outside of another first bearing assembly; One end of the second member away from the first member abuts against one end of the fourth member away from the third member through the gear assembly.

29. The exercise system according to claim 28, wherein The gear assembly includes a first outer ring gear provided at an end of the second member away from the first member and a second outer ring gear provided at an end of the fourth member away from the third member; The first outer ring gear is meshed with the second outer ring gear.

30. The exercise system according to claim 28, wherein Each of the first bearing assemblies includes a connecting post, a first bearing, and a second bearing; The first bearing and the second bearing are sleeved on the connecting column, and the inner rings of the first bearing and the second bearing are connected to the connecting column; One end of the second component away from the first component or one end of the fourth component away from the third component is sleeved outside the first bearing and the second bearing and connected to the outer rings of the first bearing and the second bearing.

31. The exercise system according to claim 30, wherein: The first connecting plate is connected to the first bearing assembly.

32. The motion system according to any one of claims 1 to 6, characterized in that The motion system further includes a first connecting rod assembly, a second connecting rod assembly and a rotation transmission disk. The rotating shafts of the first and second components that rotate relative to each other are coaxially arranged with the rotation transmission disk, and the rotation transmission disk and the first and second components can rotate relative to each other. One end of the first connecting rod assembly is connected to the rotation transmission disk via a ball joint, and the position of the other end of the first connecting rod assembly relative to the rotation axis between the first member and the second connecting disk is controlled. One end of the second connecting rod assembly is connected to the rotation transfer disk through a ball joint, and the other end of the second connecting rod assembly is connected to the rotating assembly through a ball joint.

33. The exercise system according to claim 32, wherein: The other end of the second connecting rod assembly is fixed to the second connecting plate.

34. The exercise system according to claim 32, wherein: The motion system further comprises a drive disc, The rotation axes of the first component and the second connecting disk that rotate relative to each other are coaxially arranged with the driving disk. The driving disk can rotate relative to the first component and the second connecting disk. The driving disk can rotate around its own rotation axis in a controlled manner.

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