Motor system

Abstract

Embodiments of the present invention provide a motion system comprising a first connecting disk, a second connecting disk, and a first motion module, a second motion module, and a rotary assembly installed between the first and second connecting disks. The first and second motion modules are installed opposite each other and are both connected to the rotary assembly. The first motion module comprises a first member and a second member connected to each other, with one of the opposing ends of the first member rotatably connected to the second connecting disk, the other rotatably connected to one end of the second member, and the end of the second member away from the first member rotatably connected to the rotary assembly. The second motion module comprises a third member and a fourth member connected to each other, with one of the opposing ends of the third member rotatably connected to the second connecting disk, the other rotatably connected to one end of the fourth member, and the end of the fourth member away from the third member rotatably connected to the rotary assembly. The technical solution of the present application allows for the distribution of loads from the supported material in two directions, thereby reducing stress on the first motion module and on the first motion module.

Description

Technical Field

[0001] This application relates to the technical field of motion systems, and particularly to rotational motion systems.

Background Art

[0002] A universal joint is a pivot support structure that enables an object to rotate around an axis. A set of three universal joints are mounted one on top of the other in sequence, have pivots orthogonal to each other, and enable an object attached to the innermost universal joint to maintain a rotating state independently of the support of the universal joint. In FIG. 19, a conventional universal joint has rotational axes X, Y, and Z of a platform. Rotation of the platform around the X, Y, and Z axes is realized by rotations A, B, and C of three mutually orthogonal universal joints. This is a conventional orthogonal universal joint.

[0003] However, due to the long universal joint arms, the payload weight of the orthogonal universal joint is limited. Further, as shown in FIG. 20, in some platform directions, the universal joint may block the field of view of the payload on the platform in relation to applications such as radar, video cameras, cameras, etc.

[0004] An object of the present invention is to provide a universal joint having a non-orthogonal universal joint axis with an angle α between 0° and 90°, as shown in FIG. 21, in order to mitigate these drawbacks. The angle α is defined as the angle between the rotational axes A and B of the universal joint and the vertical axis C. An angle α of 90° corresponds to a conventional orthogonal universal joint. Rotation of the platform around the X and Y axes is realized by the combined rotations A and B of the non-orthogonal universal joint arms. A and B can rotate at any angle, but the rotation angles of the platform around the X and Y axes do not exceed twice the angle α.

[0005] In many applications, high positional accuracy, range of motion control, and payload weight and volume are more important than range of motion, making non-orthogonal universal joints preferred over conventional orthogonal universal joints. Shorter universal joint arms allow for higher payload weight and volume capabilities.

[0006] The non-orthogonal universal joint described in Japanese Patent PCT / CN2022 / 082279 (WO2023040229A1) is an evolution of a rotary joint having two rotating parts that enable sliding at an angle α. The payload rotates around an origin O in accordance with the controlled rotation of the rotating parts, as shown in Figure 22a. The virtual rotation origin O is defined as the intersection of the rotation axes of the two rotating parts. The configuration of the rotation axes of the rotating parts can be changed as shown in Figure 22b. Figure 22c is substantially identical to Figure 22b, except that the rotating parts are replaced with arms and joints. Figure 22c shows a non-orthogonal universal joint at an angle α.

[0007] Patent US11346495B2 describes a control system for a non-orthogonal universal joint that functions as a stabilization system for cameras and video equipment. However, non-orthogonal universal joints remain rare in other applications. [Overview of the project]

[0008] To solve one or more of the above-mentioned technical problems in the prior art, embodiments of the present application provide a motion system.

[0009] To achieve the objectives of the present invention, the technical means employed by the present invention to solve its technical problems are as follows. The present invention provides a motion system comprising a first connecting disk, a second connecting disk, and a first motion module, a second motion module, and a rotational assembly provided between the first and second connecting disks. The first motion module and the second motion module are arranged opposite 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, wherein one of the opposing ends of the first member is rotatably connected to the second connecting disk, the other end is rotatably connected to one end of the second member, 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, wherein one of the opposing ends of the third member is rotatably connected to the second connecting disk, the other is rotatably connected to one end of the fourth member, and the end of the fourth member away from the third member is rotatably connected to the rotation assembly.

[0010] In one specific embodiment, the rotating assembly includes a first connecting shaft and a first pillow block bearing and a second pillow block bearing fitted to the first connecting shaft. The first connecting disc is fitted onto the first connecting shaft and is positioned on the first pillow block bearing and the second pillow block bearing. One end of the second member, away from the first member, is fitted onto the first connecting shaft and connected to the outer ring of the first pillow block bearing. One end of the fourth member, away from the third member, is fitted onto the first connecting shaft and connected to the outer ring of the second pillow block bearing.

[0011] In a specific embodiment, the first motion module further includes a first coupling mechanism, the first coupling mechanism including a second coupling shaft, and a third pillow block bearing and a fourth pillow block bearing fitted to the second coupling shaft. One end of the second member closest to the first member is fitted onto the second connecting shaft and connected to the outer ring of the third pillow block bearing. One end of the first member closest to the second member is fitted onto the second connecting shaft and connected to the outer ring of the fourth pillow block bearing.

[0012] In a specific embodiment, the first motion module further includes a second coupling mechanism, the second coupling mechanism including a third coupling shaft and a fifth pillow block bearing fitted to the third coupling shaft. One end of the first member, away from the second member, is fitted onto the third connecting shaft and connected to the outer ring of the fifth pillow block bearing. One end of the second connecting disk closest to the first member is fitted onto the third connecting shaft.

[0013] In a specific embodiment, the second motion module further includes a third coupling mechanism, the third coupling mechanism including a fourth coupling shaft, and a sixth pillow block bearing and a seventh pillow block bearing fitted to the fourth coupling shaft. One end of the fourth member closest to the third member is fitted onto the fourth connecting shaft and connected to the outer ring of the sixth pillow block bearing. One end of the third member closest to the fourth member is fitted onto the fourth connecting shaft and connected to the outer ring of the seventh pillow block bearing.

[0014] In a specific embodiment, the second motion module further includes a fourth coupling mechanism, the fourth coupling mechanism including a fifth coupling shaft and an eighth pillow block bearing fitted to the fifth coupling shaft. The end of the third member that is not attached to the fourth member is fitted onto the fifth connecting shaft and connected to the outer ring of the eighth pillow block bearing. One end of the second connecting disk closest to the third member is fitted onto the fifth connecting shaft.

[0015] In a specific embodiment, the rotating assembly includes a gear assembly and a first bearing assembly that are interconnected. One end of the second member, away from the first member, is fitted inside the first bearing assembly and in contact with the gear assembly. One end of the fourth member away from the third member is sleeved outside the first bearing assembly and abuts against the gear assembly.

[0016] 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. An external gear wheel meshing with the gear is provided at one end of the second member abutting against the gear assembly. An internal gear wheel meshing with the gear is provided at one end of the fourth member abutting against the gear assembly.

[0017] 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. One end of the second member away from the first member is fitted inside the inner ring of the first bearing. One end of the fourth member away from the third member is sleeved outside the outer ring of the second bearing. The gear is connected to both the outer ring of the first bearing and the inner ring of the second bearing through the connecting member.

[0018] In a specific embodiment, the first connecting disk is connected to both the outer ring of the first bearing and the inner ring of the second bearing.

[0019] In a specific embodiment, the first motion module further includes a first connecting mechanism, and the first connecting mechanism includes a second bearing assembly. One end of the second member close to the first member is fitted inside the second bearing assembly. One end of the first member close to the second member is sleeved outside the second bearing assembly.

[0020] In a specific embodiment, the first connecting mechanism further includes a first elastic member, and the first elastic member is installed between the second member and the second bearing assembly.

[0021] In a specific embodiment, the first motion module further includes a second connecting mechanism, and the second connecting mechanism includes a third bearing assembly. One end of the first member away from the second member is sleeved outside the third bearing assembly. One end of the second connecting disk close to the first member is fitted inside the third bearing assembly.

[0022] In a specific embodiment, the second connecting mechanism further includes a second elastic member, and the second elastic member is installed between the second connecting disk and the third bearing assembly.

[0023] In a specific embodiment, the second motion module further includes a third connecting mechanism, and the third connecting mechanism includes a fourth bearing assembly. One end of the fourth member close to the third member is fitted inside the fourth bearing assembly. One end of the third member close to the fourth member is sleeved outside the fourth bearing assembly.

[0024] In a specific embodiment, the third connecting mechanism further includes a third elastic member, and the third elastic member is installed between the fourth member and the third bearing assembly.

[0025] In a specific embodiment, the second motion module further includes a fourth connecting mechanism, and the fourth connecting mechanism includes a fifth bearing assembly. One end of the third member away from the fourth member is sleeved outside the fifth bearing assembly. One end of the second connecting disk close to the third member is fitted inside the fifth bearing assembly.

[0026] In a specific embodiment, the fourth connecting mechanism further includes a fourth elastic member, and the fourth elastic member is installed between the second connecting disk and the fifth bearing assembly.

[0027] In specific embodiments, the first elastic member, the second elastic member, the third elastic member, and / or the fourth elastic member include a spring or a rubber block.

[0028] In a specific embodiment, the rotating assembly includes a gear assembly and a first bearing assembly that are interconnected. The end of the second member that is not attached to the first member is fitted inside the first bearing assembly. One end of the fourth member, away from the third member, is fitted to the outside of the first bearing assembly and connected to the gear assembly.

[0029] In a specific embodiment, the gear assembly includes an internal gear wheel, a gear system that meshes with the internal gear wheel, and a connecting member. The gear system is connected to the first bearing assembly via the connecting member. The internal gear wheel is fixedly connected to the fourth member.

[0030] In a specific embodiment, the gear system includes a sun gear and a plurality of planetary gears that mesh with the sun gear.

[0031] In a specific embodiment, the first bearing assembly includes a first bearing and a second bearing fitted to the outer ring of the first bearing. The end of the second member that is not adjacent to the first member is fitted into the inner ring of the first bearing. The end of the fourth member that is away from the third member is fitted to the outside of the outer ring of the second bearing. One of the gears in the gear system is connected to both the outer ring of the first bearing and the inner ring of the second bearing via the connecting member.

[0032] In a specific embodiment, the rotating assembly includes a gear assembly and a first bearing assembly that are interconnected. The end of the second member that is not adjacent to the first member is fitted inside the first bearing assembly and connected to the gear assembly. One end of the fourth member, away from the third member, is fitted to the outside of the first bearing assembly and connected to the gear assembly.

[0033] In a specific embodiment, the gear assembly includes a first internal gear wheel, a second internal gear wheel, a gear system that meshes with the first internal gear wheel and the second internal gear wheel, and a connecting member. At least one gear of the gear system is connected to the first bearing assembly via the connecting member. The first internal gear wheel is fixedly connected to the second member and meshes with one of the gears in the gear system. The second internal gear wheel is fixedly connected to the fourth member and meshes with the other gears in the gear system.

[0034] In a specific embodiment, the first bearing assembly includes a first bearing and a second bearing fitted to the outer ring of the first bearing. The end of the second member that is not adjacent to the first member is fitted into the inner ring of the first bearing. The end of the fourth member that is away from the third member is fitted to the outside of the outer ring of the second bearing. At least one gear of the gear system is connected to the outer ring of the first bearing and the inner ring of the second bearing via the connecting member.

[0035] In a specific embodiment, the first connecting disk is connected to the first bearing assembly.

[0036] In a specific embodiment, the rotating assembly includes a gear assembly and two first bearing assemblies. One end of the second member, away from the first member, is fitted to the outside of one of the first bearing assemblies. The end of the fourth member that is away from the third member is fitted to the outside of the other first bearing assembly. The end of the second member away from the first member and the end of the fourth member away from the third member are in contact with each other via the gear assembly.

[0037] In a specific embodiment, the gear assembly includes a first external gear wheel installed at one end of the second member away from the first member, and a second external gear wheel installed at one end of the fourth member away from the third member. The first external gear wheel meshes with the second external gear wheel.

[0038] In a specific embodiment, each of the first bearing assemblies includes a connecting column, a first bearing, and a second bearing. The first bearing and the second bearing are fitted onto 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 member away from the first member, or one end of the fourth member away from the third member, is fitted to the outside of the first and second bearings and connected to the outer rings of the first and second bearings.

[0039] In a specific embodiment, the first connecting disk is connected to the first bearing assembly.

[0040] In a specific embodiment, the motion system further includes a first link assembly, a second link assembly, and a rotational transmission disk. The axis of rotation on which the first member and the second member rotate relative to each other is installed coaxially with the rotation transmission disk, and the rotation transmission disk is rotatable relative to the first member and the second member. One end of the first link assembly is connected to the rotation transmission disk by a ball joint, and the position of the other end of the first link assembly with respect to the rotation axis between the first member and the second connecting disk is controlled. One end of the second link assembly is connected to the rotation transmission disk by a ball joint, and the other end of the second link assembly is connected to the rotation assembly by a ball joint.

[0041] In a specific embodiment, the other end of the second link assembly is fixed to the second connecting disk.

[0042] In a specific embodiment, the motion system further includes a drive disk. The axis of rotation on which the first member and the second connecting disk rotate relative to each other is installed coaxially with the drive disk, the drive disk is rotatable relative to the first member and the second connecting disk, and the drive disk can be controlled to rotate around its own axis of rotation.

[0043] The beneficial effects of the technical solutions provided by embodiments of the present invention are as follows: An embodiment of the present invention provides a motion system comprising a first connecting disk, a second connecting disk, and a first motion module, a second motion module, and a rotational assembly, which are installed between the first and second connecting disks. The first and second motion modules are positioned opposite each other and are both connected to the rotational assembly. The first motion module includes a first member and a second member connected to each other, wherein one of the opposing ends of the first member is rotatably connected to the second connecting disk, the other is rotatably connected to one end of the second member, and the end of the second member away from the first member is rotatably connected to the rotational assembly. The second motion module includes a third member and a fourth member connected to each other, wherein one of the opposing ends of the third member is rotatably connected to the second connecting disk, the other is rotatably connected to one end of the fourth member, and the end of the fourth member away from the third member is rotatably connected to the rotational assembly. The present invention provides the first and second motion modules with asymmetrical motion ranges in opposite directions by arranging two opposing first and second motion modules, thereby enabling the motion system to distribute the load from the supported object in two directions, thereby reducing stress on the first motion module and its surface. The motion system of the present invention has shorter arms compared to conventional orthogonal universal joint rotation systems, thus improving the payload weight and volume capacity, which is particularly advantageous when volume or operating space is limited. In other respects, it offers high positioning accuracy and reduced motor load due to external loads and vibrations.

[0044] Not all embodiments of this application necessarily possess all of the effects described above. The motion systems provided by the present invention can be used with non-orthogonal universal joints, and in particular can be used for rotational or support applications, which include, but are not limited to, pan / tilt heads, chairs, video cameras, entertainment equipment, exercise or rehabilitation training equipment, household appliances, industrial robots, automobiles, and solar energy tracking systems. [Brief explanation of the drawing]

[0045] To more clearly illustrate the technology in the embodiments of this application, the accompanying drawings necessary for describing the embodiments are briefly presented below. It is evident that the accompanying drawings in the following description show only a portion of the embodiments of this application, and that those skilled in the art can obtain other drawings without any creative effort. [Figure 1] This is a schematic diagram of the motion system provided in Embodiment 1 of the present invention. [Figure 2] This is an exploded view of the motion system provided in Embodiment 1 of the present application. [Figure 3] This is a schematic diagram of the motion system provided in Embodiment 2 of the present invention. [Figure 4] This is an exploded view of the motion system provided in Embodiment 2 of the present application. [Figure 5] This is a schematic diagram of the motion system provided in Embodiment 3 of the present invention. [Figure 6] This is a partial diagram of the motion system provided in Embodiment 3 of the present application. [Figure 7] This is an exploded view of the motion system provided in Embodiment 3 of the present application. [Figure 8] This is a schematic diagram of the motion system provided in Embodiment 4 of the present invention. [Figure 9] This is a partial diagram of the motion system provided in Embodiment 4 of the present application. [Figure 10] This is an exploded view of the motion system provided in Embodiment 4 of the present application. [Figure 11] This is a schematic diagram of the motion system provided in Embodiment 5 of the present application. [Figure 12] This is an exploded view of the motion system provided in Embodiment 5 of the present application. [Figure 13] This is a partial configuration diagram of the active system provided in Embodiment 6 of the present application. [Figure 14] This is another partial diagram of the active system provided in Embodiment 6 of the present application. [Figure 15] This is a cross-sectional view of the active system provided in Embodiment 6 of the present application. [Figure 16] This is a schematic diagram of the active system provided in Embodiment 6 of the present application. [Figure 17] This is a partial configuration diagram of the active system provided in Embodiment 6 of the present application. [Figure 18] This is a partial configuration diagram of the passive system provided in Embodiment 6 of the present application. [Figure 19] This diagram shows the structure of a conventional 90° orthogonal universal joint. [Figure 20] This is a schematic diagram illustrating the field of view occlusion caused by a conventional 90° orthogonal universal joint. [Figure 21] This figure shows the structure of a non-orthogonal universal joint at angle α. [Figure 22] This is a schematic diagram of a universal joint in which the arm and joint replace the rotating member. [Modes for carrying out the invention]

[0046] To further clarify the purpose, technical solutions, and advantages of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below, along with drawings of the embodiments. It is clear that the embodiments described are only a part of the embodiments of the present application, and not all embodiments. All other embodiments that can be obtained by a person skilled in the art without creative work based on the embodiments of the present application are within the scope of the protection of the present application.

[0047] The following describes specific examples of this embodiment, along with the attached drawings. (Embodiment 1) As shown with reference to Figures 1 and 2, the motion system provided by this embodiment generally comprises a first connecting disk 100a, a second connecting disk 200a, a first motion module 300a, a second motion module 400a, and a rotating assembly 500a. Of these, the first motion module 300a, the second motion module 400a, and the rotating assembly 500a are all provided between the first connecting disk 100a and the second connecting disk 200a. The first motion module 300a and the second motion module 400a are connected to one side of the first connecting disk 100a via the rotating assembly 500a, and the other side of the first connecting disk 100a is used to connect to a support. The side of the second connecting disk 200a away from the first connecting disk 100a is used to connect to a support device. In this embodiment, the connection to the support and the support device are not particularly limited and are illustrative examples only, but the support may be the seat of a chair, and the support device may be the legs of a chair.

[0048] In a preferred embodiment, the first motion module 300a is positioned opposite the second motion module 400a. The first motion module 300a and the second motion module 400a move in opposite directions (primarily referring to the rotational direction), and have asymmetrical ranges of motion in opposite directions. This allows the motion system to distribute the load from the supported material in two directions, reducing stress on the first motion module 300a and the second motion module 400a.

[0049] Referring further to Figure 1, the first motion module 300a comprises a first member 310a, a second member 320a, a first connecting mechanism 330a, and a second connecting mechanism 340a. One of the opposing ends of the first member 310a is rotatably connected to the second connecting disk 200a via the second connecting mechanism 340a, the other end is rotatably connected to one end of the second member 320a via the first connecting mechanism 330a, and the end of the second member 320a away from the first member 310a is rotatably connected to the rotating assembly 500a. In response to this, the second motion module 400a comprises a third member 410a, a fourth member 420a, a third connecting mechanism 430a, and a fourth connecting mechanism 440a. One of the opposing ends of the third member 410a is rotatably connected to the second connecting disk 200a via the fourth connecting mechanism 440a, the other end is rotatably connected to one end of the fourth member 420a via the third connecting mechanism 430a, and the end of the fourth member 420a away from the third member 410a is rotatably connected to the rotation assembly 500a.

[0050] Referring further to Figure 2, the rotating assembly 500a comprises a first connecting shaft 510a, a first pillow block bearing 520a, and a second pillow block bearing 530a. Of these, the first connecting disc 200a, the first pillow block bearing 520a, and the second pillow block bearing 530a are all provided with through holes, and the first connecting disc 200a, the first pillow block bearing 520a, and the second pillow block bearing 530a are fitted onto the first connecting shaft 510a sequentially from top to bottom through these through holes. A male thread (not shown) is provided at one end of the first connecting shaft 510a away from the first connecting disc 200a, and a nut is screwed onto the end of the first connecting shaft 510a where the male thread is provided, thereby constraining the first connecting disc 200a, the first pillow block bearing 520a, and the second pillow block bearing 530a on the first connecting shaft 510a.

[0051] Selectively, the rotating assembly 500a may be further provided with a number of spacers 540a depending on the actual requirements, preferably between the first connecting disc 200a and the first pillow block bearing 520a, between the first pillow block bearing 520a and the second pillow block bearing 530a, and between the second pillow block bearing 530a and the nut. The spacers provide spacing between the bearings, thereby allowing the bearings to rotate while increasing the force-bearing area between the members, and preventing damage and deformation to the surfaces of the first connecting disc 200a, the first pillow block bearing 520a, and the second pillow block bearing 530a.

[0052] It should be understood that both the first pillow block bearing 520a and the second pillow block bearing 530a include an inner ring and an outer ring, and that the inner ring and the outer ring are rotatable relative to each other. The first pillow block bearing 520a and the second pillow block bearing 530a are fitted onto the first connecting shaft 510a by their inner rings, and the inner rings of both are fixedly connected to the first connecting shaft 510a, so that the outer rings of the first pillow block bearing 520a and the second pillow block bearing 530a are rotatable relative to the first connecting shaft 510a.

[0053] The first connecting mechanism 330a, further referring to Figure 2, includes a second connecting shaft 331a, a first nut 332a, a third pillow block bearing 333a, and a fourth pillow block bearing 334a. The third pillow block bearing 333a and the fourth pillow block bearing 334a are fitted onto the second connecting shaft 331a, and the first nut 332a is used in cooperation with the second connecting shaft 331a to restrain the third pillow block bearing 333a and the fourth pillow block bearing 334a on the second connecting shaft 331a.

[0054] Optionally, the second connecting shaft 331a may include a thread. Preferably, a spacer may be provided between the first nut 332a and the third pillow block bearing 333a, and between the third pillow block bearing 333a and the fourth pillow block bearing 334a.

[0055] It should be understood that both the third pillow block bearing 333a and the fourth pillow block bearing 334a include an inner ring and an outer ring, and that the inner ring and outer ring are rotatable relative to each other. The third pillow block bearing 333a and the fourth pillow block bearing 334a are fitted onto the second connecting shaft 331a by their inner rings, and the inner rings of both are fixedly connected to the second connecting shaft 331a, so that the outer rings of the third pillow block bearing 333a and the fourth pillow block bearing 334a are rotatable relative to the second connecting shaft 331a.

[0056] Referring further to Figure 2, the second connecting mechanism 340a includes a third connecting shaft 341a, a second nut 342a, and a fifth pillow block bearing 343a. The fifth pillow block bearing 343a is fitted onto the third connecting shaft 341a, and the second nut 342a works in cooperation with the third connecting shaft 341a to restrain the fifth pillow block bearing 343a on the third connecting shaft 341a.

[0057] Selectively, the third connecting shaft 341a may include a thread. Preferably, a spacer may be provided between the head of the third connecting shaft 341a and the fifth pillow block bearing 343a.

[0058] It should be understood that the fifth pillow block bearing 343a includes an inner ring and an outer ring, and that the inner ring and outer ring are rotatable relative to each other. The fifth pillow block bearing 343a is fitted onto the third connecting shaft 341a by its inner ring, and the inner ring is fixedly connected to the third connecting shaft 341a, so that the outer ring of the fifth pillow block bearing 343a is rotatable relative to the third connecting shaft 341a.

[0059] Referring further to Figure 2, the third connecting mechanism 430a includes a fourth connecting shaft 431a, a third nut 432a, a sixth pillow block bearing 433a, and a seventh pillow block bearing 434a. The sixth pillow block bearing 433a and the seventh pillow block bearing 434a are fitted onto the fourth connecting shaft 431a, and the third nut 432a works in cooperation with the fourth connecting shaft 431a to restrain the sixth pillow block bearing 433a and the seventh pillow block bearing 434a on the fourth connecting shaft 431a.

[0060] Preferably, a spacer may be provided between the third nut 432a and the sixth pillow block bearing 433a, and between the sixth pillow block bearing 433a and the seventh pillow block bearing 434a. This increases the force-bearing area between the members and prevents damage and deformation of the surfaces of the sixth pillow block bearing 433a and the seventh pillow block bearing 434a.

[0061] It should be understood that both the sixth pillow block bearing 433a and the seventh pillow block bearing 434a include an inner ring and an outer ring, and that the inner ring and outer ring are rotatable relative to each other. The sixth pillow block bearing 433a and the seventh pillow block bearing 434a are fitted onto the fourth connecting shaft 431a by their inner rings, and the inner rings of both are fixedly connected to the fourth connecting shaft 431a, so that the outer rings of the sixth pillow block bearing 433a and the seventh pillow block bearing 434a are rotatable relative to the fourth connecting shaft 431a.

[0062] Referring further to Figure 2, the fourth connecting mechanism 440a comprises a fifth connecting shaft 441a, a fourth nut 442a, and an eighth pillow block bearing 443a. The eighth pillow block bearing 443a is fitted onto the fifth connecting shaft 441a, and the fourth nut 442a works in cooperation with the fifth connecting shaft 441a to restrain the eighth pillow block bearing 443a on the fifth connecting shaft 441a.

[0063] The fifth connecting shaft 441a may include a screw. Preferably, a spacer may be provided between the head of the fifth connecting shaft 441a and the eighth pillow block bearing 443a. This increases the force-bearing area between the members and prevents damage and deformation of the surface of the eighth pillow block bearing 443a.

[0064] The eighth pillow block bearing 443a includes an inner ring and an outer ring, and the inner ring and outer ring are rotatable relative to each other. The eighth pillow block bearing 443a is fitted onto the fifth connecting shaft 441a by its inner ring, and the inner ring is fixedly connected to the fifth connecting shaft 441a, so that the outer ring of the eighth pillow block bearing 443a is rotatable relative to the fifth connecting shaft 441a.

[0065] Referring further to Figure 2, through holes are provided at both ends of the first member 310a, the second member 320a, the third member 410a, and the fourth member 420a. Preferably, there are two of each of the first member 310a and the third member 410a.

[0066] One end of the first member 310a closest to the second member 320a is fitted onto the second connecting shaft 331a through a through hole provided therein and connected to the outer ring of the fourth pillow block bearing 334a, and the other end of the first member 310a furthest from the second member 320a is fitted onto the third connecting shaft 341a through a through hole provided therein and connected to the outer ring of the fifth pillow block bearing 343a. One end of the second member 320a furthest from the first member 310a is fitted onto the first connecting shaft 510a through a through hole provided therein and connected to the outer ring of the first pillow block bearing 520a, and the other end of the second member 320a closest to the first member 310a is fitted onto the second connecting shaft 331a through a through hole provided therein and connected to the outer ring of the third pillow block bearing 333a. One end of the third member 410a closest to the fourth member 420a is fitted onto the fourth connecting shaft 431a through a through hole provided therein and connected to the outer ring of the seventh pillow block bearing 434a. The other end of the third member 410a furthest from the fourth member 420a is fitted onto the fifth connecting shaft 441a through a through hole provided therein and connected to the outer ring of the eighth pillow block bearing 443a. The other end of the fourth member 420a furthest from the third member 410a is fitted onto the first connecting shaft 510a through a through hole provided therein and connected to the outer ring of the second pillow block bearing 520a. The other end of the fourth member 420a closest to the third member 410a is fitted onto the fourth connecting shaft 431a through a through hole provided therein and connected to the outer ring of the sixth pillow block bearing 433a. One end of the second connecting disk 200a, closer to the first member 310a, is fitted onto the third connecting shaft 341a, and the other end of the second connecting disk 200a, closer to the third member 410a, is fitted onto the fifth connecting shaft 441a.

[0067] With this connection method, one end of the first member 310a closest to the second member 320a and the other end of the second member 320a closest to the first member 310a are rotatable relative to the second connecting shaft 331a by the fourth pillow block bearing 334a and the third pillow block bearing 333a, respectively. The other end of the first member 310a furthest from the second member 320a is rotatable relative to the third connecting shaft 341a by the fifth pillow block bearing 343a. The other end of the second member 320a furthest from the first member 310a and the other end of the fourth member 420a furthest from the third member 410a are rotatable relative to the first connecting shaft 510a by the first pillow block bearing 520a and the second pillow block bearing 520a, respectively. The end of the third member 410a closest to the fourth member 420a and the end of the fourth member 420a closest to the third member 410a are rotatable relative to the fourth connecting shaft 431a by the seventh pillow block bearing 434a and the sixth pillow block bearing 433a, respectively. The end of the third member 410a furthest from the fourth member 420a is rotatable relative to the fifth connecting shaft 441a by the eighth pillow block bearing 443a.

[0068] (Embodiment 2) As shown in Figure 3, the motion system provided by this embodiment generally comprises a first connecting disk 100b, a second connecting disk 200b, a first motion module 300b, a second motion module 400b, and a rotating assembly 500b. Of these, the first motion module 300b, the second motion module 400b, and the rotating assembly 500b are all provided between the first connecting disk 100b and the second connecting disk 200b. The first motion module 300b and the second motion module 400b are connected to one side of the first connecting disk 100b via the rotating assembly 500b, and the other side of the first connecting disk 100b is used to connect to a support. The side of the second connecting disk 200b away from the first connecting disk 100b is used to connect to a support device. In this embodiment, the connection to the support and the support device are not particularly limited and are illustrative examples only, but the support may be the seat of a chair, and the support device may be the legs of a chair.

[0069] In a preferred embodiment, the first motion module 300b is positioned opposite the second motion module 400b. The first motion module 300b and the second motion module 400b move in opposite directions (primarily in the rotational direction), and have asymmetrical ranges of motion in opposite directions. This allows the motion system to distribute the load from the supported object in two directions, reducing stress on the first motion module 300b and the first motion module 400b.

[0070] Referring further to Figures 3 and 4, the first motion module 300b comprises a first member 310b, a second member 320b, a first connecting mechanism 330b, and a second connecting mechanism 340b. One of the opposing ends of the first member 310b is rotatably connected to the second connecting disk 200b via the second connecting mechanism 340b, the other end is rotatably connected to one end of the second member 320b via the first connecting mechanism 330b, and the end of the second member 320b away from the first member 310b is rotatably connected to the rotating assembly 500b. Correspondingly, the second motion module 400b comprises a third member 410b, a fourth member 420b, a third connecting mechanism 430b, and a fourth connecting mechanism 440b, wherein one of the opposing ends of the third member 410b is rotatably connected to the second connecting disk 200b via the fourth connecting mechanism 440b, the other end is rotatably connected to one end of the fourth member 420b via the third connecting mechanism 430b, and the end of the fourth member 420b away from the third member 410b is rotatably connected to the rotation assembly 500b.

[0071] In this embodiment, the rotating assembly 500b differs from Embodiment 1 in that, with further reference to Figure 4, it includes a gear assembly 510b and a first bearing assembly 520b connected to each other. One end of the second member 320b, away from the first member 310b, is fitted inside the first bearing assembly 520b and abuts against the gear assembly 510b. One end of the fourth member 420b, away from the third member 410b, is fitted outside the first bearing assembly 520b and abuts against the gear assembly 510b.

[0072] In a preferred embodiment, the gear assembly 510b may include a gear 511b and a connecting member 512b. The first bearing assembly 520b includes a first bearing 521b, a second bearing 522b, a first ring member 523b, a second ring member 524b, and a third ring member 525b. It should be understood that both the first bearing 521b and the second bearing 522b include an inner ring and an outer ring, and that the inner ring and outer ring are rotatable relative to each other. The second bearing 522b is fitted onto the outer ring of the first bearing 521b, and the first ring member 523b is positioned between the first bearing 521b and the second bearing 522b and is fixedly connected to the outer ring of the first bearing 521b and the inner ring of the second bearing 522b, respectively. One end of the second member 320b, away from the first member 310b, is fitted onto the inner ring of the first bearing 521b, and one end of the fourth member 420b, away from the third member 410b, is fitted to the outside of the outer ring of the second bearing 522b. This allows the end of the second member 320b away from the first member 310b and the end of the fourth member 420b 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 ring member 523b via a connecting member 512b and a second ring member 524b, thereby connecting the gear 511b to the outer ring of the first bearing 521b and the inner ring of the second bearing 522b. The first connecting disc 100b is connected to the first ring member 523b via the third ring member 525b, thereby connecting the first connecting disc 100b to the outer ring of the first bearing 521b and the inner ring of the second bearing 522b.

[0073] Referring further to Figure 4, one end of the second member 320b and one end of the fourth member 420b abut against the gear 511b. An external gear wheel 321b corresponding to the gear 511b is provided on the end of the second member 320b that abuts against the gear 511b, and an internal gear wheel 421b corresponding to the gear 511 is provided on the end of the fourth member 420b that abuts against the gear 511b, thereby achieving meshing between the external gear wheel 321b and the internal gear wheel 421b and the gear 511b.

[0074] Referring further to 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, and the fourth connecting mechanism includes a fifth bearing assembly and a fourth elastic member. One end of the second member closer to the first member is fitted inside the second bearing assembly, the other end of the first member closer to the second member is fitted outside the second bearing assembly, and the first elastic member is provided between the second member and the second bearing assembly. The other end of the first member further from the second member is fitted outside the third bearing assembly, the other end of the second connecting disc closer to the first member is fitted inside the third bearing assembly, and the second elastic member is provided between the second connecting disc and the third bearing assembly. One end of the fourth member closest to the third member is fitted inside the fourth bearing assembly, and the other end of the third member closest to the fourth member is fitted outside the fourth bearing assembly. The third elastic member is provided between the fourth member and the third bearing assembly. The other end of the third member furthest from the fourth member is fitted outside the fifth bearing assembly. The other end of the second connecting disc closest to the third member is fitted inside the fifth bearing assembly. The fourth elastic member is provided between the second connecting disc and the fifth bearing assembly.

[0075] As an example, the first coupling mechanism will be described. Specifically, the second bearing assembly includes a third bearing 332b and a mounting base 333b, and optionally further includes a mounting spacer 334b, a first washer 335b, and a second washer 336b. As an example, the second coupling mechanism 340b includes a third bearing assembly and a second elastic member, but the structure and components of the third bearing assembly are the same as those of the second bearing assembly and will not be described here. Here, the first member 310b has first mounting holes 311b and second mounting holes 312b at opposite ends, and the second member 320b has first projections 322b and second projections 323b at opposite ends. The second bearing assembly is placed in the first mounting hole 311b, and the second coupling mechanism 340b is placed in the second mounting hole 312b. Specifically, using the second bearing assembly as an example, the mounting base 333b is provided at the bottom of the first mounting hole 311b, and on top of it, the mounting spacer 334b, the third bearing 332b, the first washer 335b, and the second washer 336b are provided in order, and the first elastic member 331b is provided on the inside of the inner ring of the third bearing 332b.

[0076] Specifically, one end of the second member 320b closest to the first member 310b is fitted inside the inner ring of the third bearing 332b, and the other end of the first member 310b closest to the second member 320b is fitted outside the outer ring of the third bearing 332b, so that one end of the second member 320b closest to the first member 310b and the other end of the first member 310b closest to the second member 320b can rotate relative to each other via the third bearing 332b. The other end of the first member 310b furthest from the second member 320b is fitted outside the third bearing assembly, and the other end of the second connecting disc 200b closest to the first member 310b is fitted inside the third bearing assembly, so that the first member 310b and the second connecting disc 200b can rotate relative to each other via the third bearing assembly.

[0077] In this embodiment, the first elastic member 331b and the second elastic member may be springs. When the first elastic member 331b and the second elastic member are springs, the mounting base 333b is provided with a projection on which the springs can be attached. The provision of the first elastic member 331b provides the resistance force necessary to maintain the center of motion of the motion system.

[0078] In this embodiment, the first elastic member 331b and the second elastic member may be rubber blocks. Even when the first elastic member 331b and the second elastic member are rubber blocks, the same resistance force necessary to maintain the center of motion of the motion system is obtained.

[0079] In a preferred embodiment, the third and fourth connecting mechanisms of the second motion module have the same structure and components as the first and second connecting mechanisms of the first motion module, and the structure of the third member is completely identical to that of the first member; therefore, it is omitted here, as it is based on the description above.

[0080] However, one end of the fourth member 420b closest to the third member 410b is fitted into the fourth bearing assembly, and the other end of the third member 410b closest to the fourth member 420b is fitted outside the fourth bearing assembly, so that the end of the fourth member 420b closest to the third member 410b and the other end of the third member 410b closest to the fourth member 420b can rotate relative to each other via the fourth bearing assembly. The other end of the third member 410b furthest from the fourth member 420b is fitted outside the fifth bearing assembly, and the other end of the second connecting disk 200b closest to the third member 410b is fitted inside the fifth bearing assembly, so that the third member 410b and the second connecting disk 200b can rotate relative to each other via the fifth bearing assembly.

[0081] (Embodiment 3) Referring to Figure 5, the motion system provided by this embodiment generally comprises a first connecting disk 100c, a second connecting disk 200c, a first motion module 300c, a second motion module 400c, and a rotating assembly 500c. Of these, the first motion module 300c, the second motion module 400c, and the rotating assembly 500c are all provided between the first connecting disk 100c and the second connecting disk 200c. The first motion module 300c and the second motion module 400c are connected to one side of the first connecting disk 100c via the rotating assembly 500c, and the other side of the first connecting disk 100c is used to connect to a support. The side of the second connecting disk 200c away from the first connecting disk 100c is used to connect to a support device. In this embodiment, the connection to the support and the support device are not particularly limited and are illustrative examples only, but the support may be the seat of a chair, and the support device may be the legs of a chair.

[0082] In a preferred embodiment, the first motion module 300c is positioned opposite the second motion module 400c. The first motion module 300c and the second motion module 400c move in opposite directions (primarily in the rotational direction), and have asymmetrical ranges of motion in opposite directions. This allows the motion system to distribute the load from the supported object in two directions, reducing stress on the first motion module 300c and the first motion module 400c.

[0083] Referring further to Figures 5 and 6, the first motion module 300c comprises a first member 310c, a second member 320c, a first connecting mechanism 330c, and a second connecting mechanism 340c. One of the opposing ends of the first member 310c is rotatably connected to the second connecting disk 200c via the second connecting mechanism 340c, the other end is rotatably connected to one end of the second member 320c via the first connecting mechanism 330c, and the end of the second member 320c away from the first member 310c is rotatably connected to the rotating assembly 500c. Correspondingly, the second motion module 400c comprises a third member 410c, a fourth member 420c, a third connecting mechanism 430c, and a fourth connecting mechanism 440c. One of the opposing ends of the third member 410c is rotatably connected to the second connecting disk 200c via the fourth connecting mechanism 440c, the other end is rotatably connected to one end of the fourth member 420c via the third connecting mechanism 430c, and the end of the fourth member 420c that is away from the third member 410c is rotatably connected to the rotating assembly 500c.

[0084] Unlike Embodiment 2, the second member 320c does not have an external gear wheel on one end away from the first member 310c, and the fourth member 420c does not have an internal gear wheel on one end away from the third member 410c.

[0085] Referring further to Figures 6 and 7, in this embodiment, the rotating assembly 500c includes a gear assembly 510c and a first bearing assembly 520c that are connected to each other. One end of the second member 320c, away from the first member 310c, is fitted inside the first bearing assembly 520c, and the other end of the fourth member 420c, away from the third member 410c, is fitted outside the first bearing assembly 520c.

[0086] In a preferred embodiment, the gear assembly 510c includes an internal gear wheel 511c, a gear system 512c, a connecting member 513c, and a mounting sleeve 514c. The internal gear wheel 511c meshes with the gear system 512c, the gear system 512c is connected to the first bearing assembly 520c via the connecting member 513c, and the mounting sleeve 514c is fitted to the outside of the gear system 512c. The first connecting disc 100c is connected to the mounting sleeve 514c. The first bearing assembly 520c includes a first bearing 521c, a second bearing 522c, and a ring member 523c. Both the first bearing 521c and the second bearing 522c include an inner ring and an outer ring, and the inner ring and outer ring are rotatable relative to each other. The second bearing 522c is fitted onto the outer ring of the first bearing 521c, and the ring member 523c is positioned between the first bearing 521c and the second bearing 522c, and is fixedly connected to the outer ring of the first bearing 521c and the inner ring of the second bearing 522c, respectively. One end of the second member 320c, away from the first member 310c, is fitted onto the inner ring of the first bearing 521c, and one end of the fourth member 420c, away from the third member 410c, is fitted onto the outside of the outer ring of the second bearing 522c, so that one end of the second member 320c away from the first member 310c and one end of the fourth member 420c away from the third member 410c are rotatable in opposite directions via the first bearing 521c and the second bearing 522c. The gear system 512c is connected to the ring member 523c via the connecting member 513c, thereby connecting the gear system 512c to the outer ring of the first bearing 521c and the inner ring of the second bearing 522c.

[0087] The gear system 512c, as further shown with reference to Figure 7, comprises a sun gear 512c' and at least one planetary gear 512c'' meshing with it. The number of planetary gears 512c'' is exemplary three. The side wall of the mounting sleeve 514c is provided with an opening 514c' corresponding to the planetary gear 512c'', so that the planetary gear 512c'' meshes with the internal gear wheel 511c. Those skilled in the art will understand that one or more planetary gears may achieve the same function as in this exemplary embodiment.

[0088] Preferably, the connecting member 513c includes a first connecting member 513c' and a second connecting member 513c'' that cooperate with each other. A connecting hole (not shown) is provided at one end of the first connecting member 513c', the end of the first connecting member 513c' having the connecting hole is fitted into the planetary gear 512c'', the second connecting member 513c'' is fitted into the ring member 523c, and the connecting hole of the first connecting member 513c' fits into one end of the second connecting member 513c'', thereby achieving connection.

[0089] Referring further to Figure 7, in this embodiment, the second connecting disk 200c is provided with two connecting bases: a base 210c connected to the second connecting disk 200c, and a protrusion 220c formed extending along the base 210c in a direction away from the second connecting disk 200c. The protrusion 220c is provided with a mounting groove 230c. One end of the third member 410c away from the fourth member 420c and one end of the first member 310c away from the second member 320c are fitted into the protrusion 220c, and a first elastic member and a second elastic member are arranged in the mounting groove 230c. Those skilled in the art will see that the protrusion 220c can also be attached and connected by other conventional methods or easily conceivable modified methods.

[0090] In a preferred embodiment, the first, second, third, and fourth connecting mechanisms in this embodiment have the same structure and components as the first, second, third, and fourth connecting mechanisms in Embodiment 2, and the structures of the first and third members are completely identical to those of the first and third members in Embodiment 2, so no further explanation is provided.

[0091] (Embodiment 4) As shown with reference to Figure 8, the motion system provided by this embodiment generally comprises a first connecting disk 100d, a second connecting disk 200d, a first motion module 300d, a second motion module 400d, and a rotating assembly 500d. Of these, the first motion module 300d, the second motion module 400d, and the rotating assembly 500d are all provided between the first connecting disk 100d and the second connecting disk 200d. The first motion module 300d and the second motion module 400d are connected to one side of the first connecting disk 100d via the rotating assembly 500d, and the other side of the first connecting disk 100d is used for connection to a support. The side of the second connecting disk 200d away from the first connecting disk 100d is used for connection to a support device. In this embodiment, the connection to the support and the support device are not particularly limited and are illustrative examples only, but the support may be the seat of a chair, and the support device may be the legs of a chair.

[0092] In a preferred embodiment, the first motion module 300d is positioned opposite the second motion module 400d. The first motion module 300d and the second motion module 400d move in opposite directions (primarily in the rotational direction), and have asymmetrical ranges of motion in opposite directions. This allows the motion system to distribute the load from the supported material in two directions, reducing stress on the first motion module 300d and the first motion module 400d.

[0093] Referring further to Figures 8 and 9, the first motion module 300d comprises a first member 310d, a second member 320d, a first connecting mechanism 330d, and a second connecting mechanism 340d. One of the opposing ends of the first member 310d is rotatably connected to the second connecting disk 200d via the second connecting mechanism 340d, the other end is rotatably connected to one end of the second member 320d via the first connecting mechanism 330d, and the end of the second member 320d away from the first member 310d is rotatably connected to the rotating assembly 500d. Correspondingly, the second motion module 400d comprises a third member 410d, a fourth member 420d, a third connecting mechanism 430d, and a fourth connecting mechanism 440d. One of the opposing ends of the third member 410d is rotatably connected to the second connecting disk 200d via the fourth connecting mechanism 440d, the other end is rotatably connected to one end of the fourth member 420d via the third connecting mechanism 430d, and the end of the fourth member 420d that is away from the third member 410d is rotatably connected to the rotating assembly 500d.

[0094] This embodiment differs from Embodiment 3 in that the rotating assembly 500d includes a gear assembly 510d and a first bearing assembly 520d connected to each other, as further referenced in Figures 9 and 10. One end of the second member 320d, away from the first member 310d, is fitted inside the first bearing assembly 520d, and the other end of the fourth member 420d, away from the third member 410d, is fitted outside the first bearing assembly 520d.

[0095] In a preferred embodiment, the gear assembly 510d includes a first internal gear wheel 511d, a second internal gear wheel 512d, a gear system 513d, and a connecting member 514d. Both the first internal gear wheel 511d and the second internal gear wheel 512d mesh with the gear system 513d, and the gear system 513d is connected to the first bearing assembly 520d via the connecting member 514d. The first bearing assembly 520d includes a first bearing 521d, a second bearing 522d, and a ring member 523d. The structure of the first bearing assembly 520d is the same as that of the first bearing assembly 520c in Embodiment 3, so a description is omitted by referring to the preceding text. One end of the second member 320d, away from the first member 310d, is fitted onto the inner ring of the first bearing 521d, and one end of the fourth member 420d, away from the third member 410d, is fitted onto the outside of the outer ring of the second bearing 522d. This allows one end of the second member 320d away from the first member 310d and one end of the fourth member 420d away from the third member 410d to rotate in opposite directions via the first bearing 521d and the second bearing 522d. The gear system 513d is connected to the ring member 523d ​​via a connecting member 514d, thereby connecting the gear system 513d to the outer ring of the first bearing 521d and the inner ring of the second bearing 522d.

[0096] Referring further to Figure 10, the gear system 513d includes two gears that mesh with each other, the two gears mesh with the first internal gear wheel 511d and the second internal gear wheel 512d respectively, the first internal gear wheel 511d is fixedly connected to the second member 320d, and the second internal gear wheel 512d is fixedly connected to the fourth member 420d.

[0097] In a preferred embodiment, the second connecting disk, the first connecting mechanism, the second connecting mechanism, the third connecting mechanism, and the fourth connecting mechanism are identical in structure and components to the second connecting disk, the first connecting mechanism, the second connecting mechanism, the third connecting mechanism, and the fourth connecting mechanism in Embodiment 2, respectively. Furthermore, the structures of the first and third members are completely identical to those of the first and third members in Embodiment 2, so their description is omitted.

[0098] (Embodiment 5) Referring to Figure 11, the motion system provided by this embodiment generally comprises a first connecting disk 100e, a second connecting disk 200e, a first motion module 300e, a second motion module 400e, and a rotating assembly 500e. Of these, the first motion module 300e, the second motion module 400e, and the rotating assembly 500e are all provided between the first connecting disk 100e and the second connecting disk 200e. The first motion module 300e and the second motion module 400e are connected to one side of the first connecting disk 100e via the rotating assembly 500e, and the other side of the first connecting disk 100e is used to connect to a support. The side of the second connecting disk 200e away from the first connecting disk 100e is used to connect to a support device. In this embodiment, the connection to the support and the support device are not particularly limited and are illustrative examples only, but the support may be the seat of a chair, and the support device may be the legs of a chair.

[0099] In a preferred embodiment, the first motion module 300e is positioned opposite the second motion module 400e. The first motion module 300e and the second motion module 400e move in opposite directions (primarily referring to the rotational direction), and the first motion module 300e and the second motion module 400e have asymmetrical ranges of motion in opposite directions. This allows the motion system to distribute the load from the supported material in two directions, reducing stress on the first motion module 300e and the first motion module 400e.

[0100] The first motion module 300e further comprises a first member 310e, a second member 320e, a first connecting mechanism 330e, and a second connecting mechanism 340e, as shown in Figures 11 and 12. One of the opposing ends of the first member 310e is rotatably connected to the second connecting disk 200e via the second connecting mechanism 340e, the other end is rotatably connected to one end of the second member 320e via the first connecting mechanism 330e, and the end of the second member 320e away from the first member 310e is rotatably connected to the rotating assembly 500e. Correspondingly, the second motion module 400e comprises a third member 410e, a fourth member 420e, a third connecting mechanism 430e, and a fourth connecting mechanism 440e. One of the opposing ends of the third member 410e is rotatably connected to the second connecting disk 200e via the fourth connecting mechanism 440e, the other end is rotatably connected to one end of the fourth member 420e via the third connecting mechanism 430e, and the end of the fourth member 420e away from the third member 410e is rotatably connected to the rotating assembly 500e.

[0101] Unlike Embodiment 3, in this embodiment, the rotating assembly 500e comprises a gear assembly and two first bearing assemblies 520e, with further reference to Figures 11 and 12. One end of a second member 320e, away from the first member 310e, is fitted to the outside of one first bearing assembly 520e, and the other end of a fourth member 420e, away from the third member 410e, is fitted to the outside of the other first bearing assembly 520e. The end of the second member 320e away from the first member 310e and the end of the fourth member 420e away from the third member 410e are in contact with each other by the gear assembly.

[0102] In a preferred embodiment, the gear assembly comprises a first external gear wheel 511e and a second external gear wheel 512e. The first external gear wheel 511e and the second external gear wheel 512e mesh with each other. The first external gear wheel 511e is provided at one end of the second member 320e away from the first member 310e, and the second external gear wheel 512e is provided at one end of the fourth member 420e away from the third member 410e. The installation of the first external gear wheel 511e and the second external gear wheel 512e further limits the range of motion of the first and second motion modules.

[0103] Furthermore, as shown with reference to Figure 12, each first bearing assembly 520e includes a connecting column 521e, a first bearing 522e, a second bearing 523e, a first spacer 524e, and a second spacer 525e. The first bearing 522e and the second bearing 523e are fitted onto the connecting column 521e, and the first spacer 524e and the second spacer 525e cooperate with each other to restrain the first bearing 522e and the second bearing 523e to the connecting column 521e. Both the first bearing 522e and the second bearing 523e include an inner ring and an outer ring, and the inner ring and outer ring are rotatable relative to each other. The first bearing 522e and the second bearing 523e are fitted onto the connecting column 521e by their inner rings, and all of the inner rings are fixedly connected to the connecting column 521e. As a result, the outer rings of the first bearing 522e and the second bearing 523e can rotate relative to the connecting column 521e, and the second and fourth members fitted to the outside of the first bearing assembly can also rotate relative to the connecting column 521e.

[0104] Referring further to Figure 12, in this embodiment the motion system further includes a mounting member 600e. The mounting member 600e includes two support columns 610e and two stopper plates 620e. The two first bearing assemblies 520e and the two support columns 610e are all fixed between the two stopper plates 620e, and the two first bearing assemblies 520e are located at opposing corners of the stopper plates 620e, while the two support columns 610e are located at the other opposing corners of the stopper plates 620e. The sides of the two stopper plates away from the first bearing assemblies 520e are connected to a first connecting disk 100e and a second connecting disk 200e, respectively.

[0105] In a preferred embodiment, in this embodiment, 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 single bearing, and the method of connecting each connecting mechanism to each member is omitted here, as it is to be referred to in the above description.

[0106] (Embodiment 6) Embodiment 6 of the present invention will be described with reference to Figures 13 to 18. Embodiment 6 is a modified example of Embodiment 1 or Embodiment 2, and components that are identical or similar in structure or function to those of Embodiment 1 or Embodiment 2 are denoted by the same or similar reference numerals, and a detailed description of those components is omitted.

[0107] The main difference between Embodiment 6 and Embodiment 1 is that the rotation of the first linked disk 100f in the ω direction around its own axis is restricted.

[0108] The main difference between Embodiment 6 and Embodiment 2 is that the rotational restriction of the first linked disk 100f in the ω direction is achieved by the link assembly, rather than by the gear assembly 510b as in Embodiment 2.

[0109] In this specification, the term "restriction of rotation in the ω direction of the first linked disk 100f" does not necessarily mean that the first linked disk 100f cannot rotate in the ω direction. In a passive system (i.e., a system without a drive source), the first linked disk 100f may generally be set so that it cannot rotate in the ω direction. In an active system (a system with a drive source), the restriction of rotation in the ω direction of the first linked disk 100f can be expressed as a form in which the first linked disk 100f is controlled to rotate in the ω direction, for example, by controlling the rotation of either the first motion module 300f or the second motion module 400f.

[0110] Figures 13-17 show the active system. The system shown in Embodiment 1 is the base system, and in addition to the base system, the system further comprises a deflection motor M, a drive gear G, a drive disk 800, a rotation transmission disk 700, a first link assembly 601, and a second link assembly 602.

[0111] The rotational transmission disc 700 is arranged coaxially with the first connecting mechanism 330f and is rotatable relative to the first connecting mechanism 330f and the second member 320f. For example, the rotational transmission disc 700 is fitted around the outer circumference of the first connecting mechanism 330f, and a bearing is provided between the rotational transmission disc 700 and the first connecting mechanism 330f so that the rotation of the rotational transmission disc 700 does not cause the first connecting mechanism 330f and the second member 320f to rotate.

[0112] The drive disk 800 is arranged coaxially with the second connecting mechanism 340f and is rotatable relative to the first member 310f and the second connecting mechanism 340f. For example, the drive disk 800 is fitted around the outer circumference of the second connecting mechanism 340f, and a bearing is provided between the drive disk 800 and the second connecting mechanism 340f so that the rotation of the drive disk 800 does not cause the second connecting mechanism 340f and the first member 310f to rotate.

[0113] The first link assembly 601 and the second link assembly 602 are each connected at one end to the rotational transmission disk 700, and the first link assembly 601, the second link assembly 602, and the rotational transmission disk 700 constitute a synchronous rotation device.

[0114] The other end of the first link assembly 601 is connected to the drive disk 800, and the other end of the second link assembly 602 is connected to the rotation assembly 500f. Both ends of the first link assembly 601 and the second link assembly 602 are ball joints. The lengths of the first link assembly 601 and the second link assembly 602 are fixed. The connecting chain of drive disk 800—first link assembly 601—rotation transmission disk 700—second link assembly 602—rotation assembly 500f—first connecting disk 100f enables synchronization of the rotation of the drive disk 800 around its axis and the rotation of the first connecting disk 100f around its axis.

[0115] In this embodiment, the outer circumference of the drive disk 800 is provided with teeth that mesh with the drive gear G. The drive gear G is fixedly connected to the deflection motor M in the torsional direction (connected so as not to rotate relative to it), and the rotation of the deflection motor M is transmitted to the first connected disk 100f, causing the first connected disk 100f to rotate under control.

[0116] Furthermore, since this system is an active system, for example, a first drive motor M1 for rotating the first member 310f and a second drive motor M2 for rotating the second member 320f may be provided to actively control the other two rotational degrees of freedom of the first connecting disk 100f, namely tilt and roll.

[0117] Naturally, the synchronous rotation device, consisting of the first link assembly 601, the second link assembly 602, and the rotation transmission disk 700, only needs to be connected to either the first motion module 300f or the second motion module 400f in order to control the rotational degrees of freedom of the first connecting disk 100f around its own axis. To control the tilt and rolling degrees of 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. In this embodiment, the synchronous rotation device, the first drive motor M1 and the second drive motor M2 are each connected to the first motion module 300f, but this is not essential. For example, in other possible embodiments, the synchronous rotation device may be connected to either the first motion module 300f or the second motion module 400f, and the first drive motor M1 and the second drive motor M2 may be connected to the other of the first motion module 300f and the second motion module 400f.

[0118] Figure 17 is a schematic diagram showing the connection relationships of the main components of the active system corresponding to Figure 13.

[0119] Next, the arrangement of the synchronous rotating device in the passive system will be explained with reference to Figure 18. In the passive system, the first linked disk 100f has no rotational freedom, and the other end of the first link assembly 601 is directly connected to the second linked disk 200f. In other words, in the passive system, the drive disk 800 is omitted compared to the active system. In the passive system as well, the rotational transmission disk 700 is arranged coaxially with the first connecting mechanism 330f, and the rotational transmission disk 700 is rotatable relative to the first member 310f and the second member 320f. The other end of the second link assembly 602 is connected to the rotational assembly 500f by a ball joint.

[0120] It should be understood that some of the embodiments, aspects, or features described above can be combined as appropriate.

[0121] In this description, the directions or positional relationships indicated by the terms “vertical,” “parallel,” “up,” “down,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inside,” and “outside” are based on the directions or positional relationships shown in the drawings and are shown solely for the convenience and simplification of this description. They do not imply or limit that the referenced device or component has a particular orientation, or must be constructed or operate facing a particular orientation, and should therefore not be construed as limiting this description. Furthermore, the terms “first” and “second” are used solely for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical feature. Thus, features limited to “first” and “second” may explicitly or implicitly include one or more of these features. In this description, unless otherwise specified, “plural” means two or more.

[0122] In this description, the terms “installation,” “connection,” and “connection” should be interpreted broadly, unless otherwise expressly defined and limited, and may include, for example, fixed connections, detachable connections, or integrally connected connections. These may be mechanical or electrical connections. The connections may be direct, indirectly connected via an intermediate medium, or internal connections between two elements. The specific meanings of these terms in this description will be understood by those skilled in the art in accordance with the specific circumstances. The foregoing merely illustrates preferred embodiments of this application and does not limit it; any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should all be included within the scope of protection.

Claims

1. It is a motor system, The system includes a first connecting disk, a second connecting disk, and a first motion module, a second motion module, and a rotation assembly provided between the first and second connecting disks. The first motion module and the second motion module are arranged opposite 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, wherein one of the opposing ends of the first member is rotatably connected to the second connecting disk, the other end is rotatably connected to one end of the second member, and the end of the second member away from the first member is rotatably connected to the rotation assembly. The motion system is characterized in that the second motion module includes a third member and a fourth member connected to each other, one of the opposing ends of the third member is rotatably connected to the second connecting disk, the other end is rotatably connected to one end of the fourth member, and the end of the fourth member away from the third member is rotatably connected to the rotation assembly.

2. The rotating assembly includes a first connecting shaft, and a first pillow block bearing and a second pillow block bearing fitted to the first connecting shaft. The first connecting disc is fitted onto the first connecting shaft and is positioned on the first pillow block bearing and the second pillow block bearing. One end of the second member, away from the first member, is fitted onto the first connecting shaft and connected to the outer ring of the first pillow block bearing. The motion system according to claim 1, characterized in that one end of the fourth member, away from the third member, is fitted onto the first connecting shaft and connected to the outer ring of the second pillow block bearing.

3. The first motion module further includes a first coupling mechanism, The first connecting mechanism includes a second connecting shaft, and a third pillow block bearing and a fourth pillow block bearing fitted to the second connecting shaft. One end of the second member closest to the first member is fitted onto the second connecting shaft and connected to the outer ring of the third pillow block bearing. The motion system according to claim 1 or 2, characterized in that one end of the first member closest to the second member is fitted onto the second connecting shaft and connected to the outer ring of the fourth pillow block bearing.

4. The first motion module further includes a second coupling mechanism, The second connecting mechanism includes a third connecting shaft and a fifth pillow block bearing fitted to the third connecting shaft. One end of the first member, away from the second member, is fitted onto the third connecting shaft and connected to the outer ring of the fifth pillow block bearing. The motion system according to any one of claims 1 to 3, characterized in that one end of the second connecting disk closest to the first member is fitted onto the third connecting shaft.

5. The second motion module further includes a third coupling mechanism, The third coupling mechanism includes a fourth coupling shaft, and a sixth pillow block bearing and a seventh pillow block bearing fitted to the fourth coupling shaft. One end of the fourth member closest to the third member is fitted onto the fourth connecting shaft and connected to the outer ring of the sixth pillow block bearing. The motion system according to any one of claims 1 to 3, characterized in that one end of the third member closest to the fourth member is fitted onto the fourth connecting shaft and connected to the outer ring of the seventh pillow block bearing.

6. The second motion module further includes a fourth coupling mechanism, The fourth coupling mechanism includes a fifth coupling shaft and an eighth pillow block bearing fitted to the fifth coupling shaft. One end of the third member, away from the fourth member, is fitted onto the fifth connecting shaft and connected to the outer ring of the eighth pillow block bearing. The motion system according to any one of claims 1 to 3, characterized in that one end of the second connecting disk closest to the third member is fitted onto the fifth connecting shaft.

7. The rotating assembly includes a gear assembly and a first bearing assembly that are interconnected. One end of the second member, away from the first member, is fitted inside the first bearing assembly and in contact with the gear assembly. The motion system according to claim 1, characterized in that one end of the fourth member, away from the third member, is fitted to the outside of the first bearing assembly and is in contact with the gear assembly.

8. The gear assembly includes a gear and a connecting member, The gear is connected to the first bearing assembly via the connecting member, An external gear wheel that meshes with the gear is provided at one end of the second member that abuts against the gear assembly. The motion system according to claim 7, characterized in that one end of the fourth member that abuts against the gear assembly is provided with an internally geared wheel that meshes with the gear.

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

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

11. The first motion module further includes a first coupling mechanism, The first coupling mechanism includes a second bearing assembly, One end of the second member closest to the first member is fitted inside the second bearing assembly. The motion system according to claim 10, characterized in that one end of the first member closest to the second member is fitted to the outside of the second bearing assembly.

12. The first connecting mechanism further includes a first elastic member, The motion system according to claim 11, characterized in that the first elastic member is installed between the second member and the second bearing assembly.

13. The first motion module further includes a second coupling mechanism, The second coupling mechanism includes a third bearing assembly, One end of the first member, away from the second member, is fitted to the outside of the third bearing assembly. The motion system according to claim 12, characterized in that one end of the second connecting disc closest to the first member is fitted inside the third bearing assembly.

14. The second connecting mechanism further includes a second elastic member, The motion system according to claim 13, characterized in that the second elastic member is installed between the second connecting disk and the third bearing assembly.

15. The second motion module further includes a third coupling mechanism, The third coupling mechanism includes a fourth bearing assembly, The end of the fourth member closest to the third member is fitted inside the fourth bearing assembly. The motion system according to claim 14, characterized in that one end of the third member closest to the fourth member is fitted to the outside of the fourth bearing assembly.

16. The aforementioned third connecting mechanism further includes a third elastic member, The motion system according to claim 15, characterized in that the third elastic member is installed between the fourth member and the third bearing assembly.

17. The second motion module further includes a fourth coupling mechanism, The fourth coupling mechanism includes a fifth bearing assembly, The end of the third member that is away from the fourth member is fitted to the outside of the fifth bearing assembly. The motion system according to claim 18, characterized in that one end of the second connecting disk closest to the third member is fitted inside the fifth bearing assembly.

18. The fourth connecting mechanism further includes a fourth elastic member, The motion system according to claim 17, characterized in that the fourth elastic member is installed between the second connecting disk and the fifth bearing assembly.

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

20. The rotating assembly includes a gear assembly and a first bearing assembly that are interconnected. The end of the second member that is away from the first member is fitted inside the first bearing assembly. The motion system according to claim 1, characterized in that one end of the fourth member, away from the third member, is fitted to the outside of the first bearing assembly and connected to the gear assembly.

21. The gear assembly includes an internal gear wheel, a gear system that meshes with the internal gear wheel, and a connecting member. The gear system is connected to the first bearing assembly via the connecting member. The motion system according to claim 20, characterized in that the internal gear wheel is fixedly connected to the fourth member.

22. The motion system according to claim 21, characterized in that the gear system includes a sun gear and at least one planetary gear that meshes with the sun gear.

23. The first bearing assembly includes a first bearing and a second bearing fitted to the outer ring of the first bearing. One end of the second member, away from the first member, is fitted into the inner ring of the first bearing. One end of the fourth member, away from the third member, is fitted to the outside of the outer ring of the second bearing. The motion system according to claim 21, characterized in that at least one gear of the gear system is connected to both the outer ring of the first bearing and the inner ring of the second bearing via the connecting member.

24. The rotating assembly includes a gear assembly and a first bearing assembly that are interconnected. One end of the second member, away from the first member, is fitted inside the first bearing assembly and connected to the gear assembly. The motion system according to claim 1, characterized in that one end of the fourth member, away from the third member, is fitted to the outside of the first bearing assembly and connected to the gear assembly.

25. The gear assembly includes a first internal gear wheel, a second internal gear wheel, a gear system that meshes with the first internal gear wheel and the second internal gear wheel, and a connecting member. At least one gear of the gear system is connected to the first bearing assembly via the connecting member. The first internal gear wheel is fixedly connected to the second member and meshes with one of the gears in the gear system. The motion system according to claim 24, characterized in that the second internal gear wheel is fixedly connected to the fourth member and meshes with the other gears of the gear system.

26. The first bearing assembly includes a first bearing and a second bearing fitted to the outer ring of the first bearing. One end of the second member, away from the first member, is fitted into the inner ring of the first bearing. One end of the fourth member, away from the third member, is fitted to the outside of the outer ring of the second bearing. The motion system according to claim 24, characterized in that at least one gear of the gear system is connected to both the outer ring of the first bearing and the inner ring of the second bearing via the connecting member.

27. The motion system according to claim 26, characterized in that the first connecting disc is connected to the first bearing assembly.

28. The rotating assembly includes a gear assembly and two first bearing assemblies. One end of the second member, away from the first member, is fitted to the outside of one of the first bearing assemblies. One end of the fourth member, away from the third member, is fitted to the outside of the other first bearing assembly. The motion system according to claim 1, characterized in that one end of the second member away from the first member and one end of the fourth member away from the third member are in contact with each other via the gear assembly.

29. The gear assembly includes a first external gear wheel installed at one end of the second member away from the first member, and a second external gear wheel installed at one end of the fourth member away from the third member. The motion system according to claim 28, characterized in that the first external gear wheel meshes with the second external gear wheel.

30. Each of the first bearing assemblies includes a connecting column, a first bearing, and a second bearing. The first bearing and the second bearing are fitted onto the connecting column, and the inner rings of the first bearing and the second bearing are connected to the connecting column. The motion system according to claim 28, characterized in that one end of the second member away from the first member, or one end of the fourth member away from the third member, is fitted outside the first and second bearings and connected to the outer rings of the first and second bearings.

31. The motion system according to claim 30, characterized in that the first connecting disk is connected to the first bearing assembly.

32. The motion system further includes a first link assembly, a second link assembly, and a rotational transmission disk. The axis of rotation on which the first member and the second member rotate relative to each other is installed coaxially with the rotation transmission disk, and the rotation transmission disk is rotatable relative to the first member and the second member. One end of the first link assembly is connected to the rotation transmission disk by a ball joint, and the position of the other end of the first link assembly with respect to the rotation axis between the first member and the second connecting disk is controlled. The motion system according to any one of claims 1 to 6, characterized in that one end of the second link assembly is connected to the rotation transmission disk by a ball joint, and the other end of the second link assembly is connected to the rotation assembly by a ball joint.

33. The motion system according to claim 32, characterized in that the other end of the second link assembly is fixed to the second connecting disk.

34. The motion system further includes a drive disk, The motion system according to claim 32, characterized in that the axis of rotation on which the first member and the second connecting disk rotate relative to each other is installed coaxially with the drive disk, the drive disk is rotatable relative to the first member and the second connecting disk, and the drive disk can be controlled to rotate around its own axis of rotation.

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