Gravity compensation device, vertical joint, mechanical arm system and surgical robot

Abstract

The invention discloses a gravity compensation device, a vertical joint, a mechanical arm system and a surgical robot. The gravity compensation device comprises a first fixing part, a second fixing part, a to-be-compensated object, a transmission assembly, an output assembly and a traction cable. Wherein the position of the second fixing part is fixed relative to the first fixing part. The object to be compensated has a tendency to move along a first direction and can move along the first direction and a second direction opposite to the first direction relative to the first fixing part and the second fixing part. The transmission assembly is connected with an object to be compensated, and the transmission assembly is provided with a rotatable rotating part. The force output assembly is arranged on the first fixing part and used for providing approximately constant output force. The traction cable bypasses the rotating part, and the two ends of the traction cable are connected to the load end of the force output assembly and the second fixing part correspondingly. According to the gravity compensation device, the bearing force of the force output assembly is halved by utilizing the principle of the movable pulley, so that the compensable force is doubled.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a gravity compensation device, a vertical joint, a mechanical arm system and a surgical robot. BACKGROUND

[0002] The existing gravity compensation device adopts a single constant force spring, and the size of the compensation force is limited. When the output force exceeds a certain range, multiple constant force springs are arranged in parallel. However, the constant force spring is not truly constant in elasticity, but only has a small range of elasticity change.

[0003] The above-mentioned arrangement of multiple constant force springs amplifies the elasticity change range, making it difficult to maintain constant gravity compensation.

[0004] Therefore, there is a need for a gravity compensation device, a vertical joint, a mechanical arm system and a surgical robot to at least partially solve the above problems. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and essential technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0006] To at least partially solve the above problems, the first aspect of the present application provides a gravity compensation device, comprising:

[0007] A first fixed part and a second fixed part, wherein the position of the second fixed part is fixed relative to the first fixed part;

[0008] A to-be-compensated object, which has a tendency to move in a first direction and can move in the first direction and a second direction opposite to the first direction relative to the first fixed part and the second fixed part;

[0009] A transmission assembly connected with the to-be-compensated object, and the transmission assembly has a rotatable rotating part;

[0010] An output assembly arranged in the first fixed part, for providing a substantially constant output force;

[0011] A traction cable arranged around the rotating part, and two ends of the traction cable are respectively connected to a load end of the output assembly and the second fixed part.

[0012] According to the gravity compensation device, the load bearing of the output assembly is halved by using the principle of the movable pulley, so that the compensable force is doubled, and in the case of compensating the same force, the maximum output force of the output assembly is reduced.

[0013] Optionally, the gravity compensation device further comprises a driving device capable of driving the object to be compensated to move in the first direction. According to the above arrangement, the driving device is used to supplement the output assembly to offset the output force variation range of the output assembly, so that the compensating force received by the object to be compensated can be maintained constant.

[0014] Optionally, the driving device is configured to apply a driving force to the rotating part according to instructions to control the movement of the object to be compensated in the first direction and the second direction. According to the above arrangement, the movement of the object to be compensated is controlled by the driving device, which realizes automation and saves manpower.

[0015] Optionally, the transmission assembly is arranged on the object to be compensated, and the driving device is arranged on the transmission assembly. According to the above arrangement, the driving device has no direct connection relationship with the output assembly, which avoids the adverse effects of the shell of the output assembly on the driving device, and avoids the damage of the driving device to the output assembly.

[0016] Optionally, the driving device is coupled with the transmission assembly, and the driving device is used to apply a driving force to the rotating part to make the rotating part have a tendency to rotate, and the rotation of the rotating part can drive the object to be compensated to move in the first direction. According to the scheme, the driving device and the transmission assembly are combined, which can make the driving device realize the constant of the compensating force with smaller driving force, and the heat dissipation pressure of the driving device is smaller.

[0017] Optionally, the gravity compensation device further comprises a transmission member, and the driving device is arranged on the first fixed part or the second fixed part, and the driving device is coupled with the rotating part through the transmission member. In this way, the driving device can be arranged more flexibly and the driving force is more stable.

[0018] Optionally, the first direction is vertical, the object to be compensated comprises a mounting part for connecting a load, and the transmission assembly is arranged at the bottom end of the mounting part. According to the scheme, the gravity of the object to be compensated can be compensated, so that the gravity is offset when the object to be compensated moves up and down.

[0019] Optionally, the transmission assembly is configured as a movable pulley assembly, the movable pulley assembly comprises a pulley seat and a movable pulley, the movable pulley is rotatably arranged on the pulley seat, the pulley seat is fixedly arranged on the object to be compensated, and the output end of the driving device is connected to the rotating shaft of the movable pulley. The present scheme provides a specific structure of installation arrangement, which is simple and saves space.

[0020] Optionally, the output assembly comprises an elastic member capable of providing a substantially constant elastic force, one end of the elastic member being connected to the first fixed part, the other end of the elastic member being connected to the traction cable.

[0021] Optionally, the elastic member comprises a constant force spring and / or an air spring.

[0022] The second aspect of the present application provides a vertical joint having the gravity compensation device of the first aspect described above;

[0023] The vertical joint comprises:

[0024] A first part comprising the first fixed part and the second fixed part,

[0025] A second part vertically movable relative to the first part, the second part comprising the object to be compensated.

[0026] According to the vertical joint of the present application, the gravity compensation of the vertical joint moving up and down can be achieved, and the technical effects similar to the gravity compensation device of the first aspect described above are achieved.

[0027] The third aspect of the present application provides a mechanical arm system comprising the vertical joint of the second aspect described above.

[0028] According to the mechanical arm system of the present application, the technical effects similar to the gravity compensation device of the first aspect and the vertical joint of the second aspect described above are achieved.

[0029] Optionally, the mechanical arm system comprises:

[0030] A base provided with a column, the column comprising the first part;

[0031] A mechanical arm comprising the second part.

[0032] Optionally, the mechanical arm system comprises a base, a support assembly and a mechanical arm, the base being provided with a column, the support assembly being provided on the column in a liftable manner, the mechanical arm being provided on the support assembly in a rotatable manner, the mechanical arm comprising:

[0033] An adjusting arm comprising a vertical fixed arm and a vertical movable arm, wherein the vertical movable arm is vertically movable relative to the vertical fixed arm, the vertical fixed arm comprising the first part, the vertical movable arm comprising the second part;

[0034] An operating arm provided on the vertical movable arm, the operating arm being provided with an end effector.

[0035] The fourth aspect of the present application provides a surgical robot including the robot arm system described in the third aspect.

[0036] According to the surgical robot of the present application, similar technical effects to those of the gravity compensation device of the first aspect, the vertical joint of the second aspect, and the robot arm system of the third aspect are obtained. BRIEF DESCRIPTION OF DRAWINGS

[0037] The following drawings for the present application are hereby incorporated in the present application as part of the present application for the purpose of understanding the present application. The embodiments of the present application and its description shown in the drawings are used to explain the principles of the present application.

[0038] In the drawings:

[0039] Figure 1 A schematic diagram of a gravity compensation device according to an embodiment of the present application;

[0040] Figure 2 Another schematic diagram of a gravity compensation device according to an embodiment of the present application; and

[0041] Figure 3 A schematic diagram of a gravity compensation device according to another embodiment of the present application.

[0042] Figure 4 A schematic diagram of a surgical robot system according to an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a robot arm system according to an embodiment of the present application; and

[0044] Figure 6 A schematic diagram of a robot arm system according to another embodiment of the present application.

[0045] REFERENCE NUMERALS:

[0046] 1: Surgical robot system 20: Surgeon console

[0047] 30: Imaging system 10 / 10A: Robot arm system

[0048] 11: Base 12: Handle

[0049] 13 / 13A: Column 13A1: Fixed column

[0050] 13A2: Lifting column 14 / 14A: Robot arm

[0051] 15 / 15A: Adjusting arm portion 15A1: Vertical fixed arm

[0052] 15A2: Vertical moving arm 16: Operating arm portion

[0053] 17: connecting arm 18A: support assembly

[0054] 18A1: fixed cantilever 18A2: telescopic cantilever

[0055] 18A3: orientation portion 19: mounting block

[0056] 100 / 200: gravity compensation device 110: first fixed portion

[0057] 111: second fixed portion 120: object to be compensated

[0058] 130: transmission assembly 131: rotating portion

[0059] 132: pulley seat 131: movable pulley

[0060] 140: output assembly 150: traction cable

[0061] 160: driving device 270: transmission member

[0062] D1: first direction D2: second direction DETAILED DESCRIPTION

[0063] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, it will be apparent to one skilled in the art that the application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the application.

[0064] It is also to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0065] Numerical ordinals such as "first" and "second" as used in this application are merely identifiers and do not have any other meaning, such as a particular order. Also, for example, the term "first component" does not by itself imply the existence of a "second component", nor does the term "second component" by itself imply the existence of a "first component". It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and similar terms are used for explanation only and are not limiting.

[0066] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.

[0067] Gravity compensation device

[0068] Reference Figure 1 And Figure 2 The first aspect of the present application provides a gravity compensation device 100, which comprises a first fixed part 110, a second fixed part 111, a to-be-compensated object 120, a transmission assembly 130, an output assembly 140 and a traction cable 150. The position of the second fixed part 111 is fixed relative to the first fixed part 110. The to-be-compensated object 120 has a tendency to move in a first direction D1 and is capable of moving in the first direction D1 and a second direction D2 opposite to the first direction D1 relative to the first fixed part 110 and the second fixed part 111. The transmission assembly 130 is connected to the to-be-compensated object 120, and the transmission assembly 130 has a rotatable rotating part 131. The output assembly 140 is arranged on the first fixed part 110 and is used to provide a substantially constant output force. The traction cable 150 is arranged around the rotating part 131, and two ends of the traction cable 150 are respectively connected to a load end of a constant force spring assembly and the second fixed part 111.

[0069] According to the gravity compensation device 100 of the present application, the principle of the movable pulley 131 is used, so that the bearing force of the output assembly 140 is halved, so that the compensable force is doubled. In the case of compensating the same force, the maximum output force of the output assembly 140 is reduced.

[0070] The first fixed part 110 and the second fixed part 111 described above can be relatively independent components, or can be two different parts of a large member. The first direction D1 and the second direction D2 described above can be vertical, for example, the first direction D1 is upward, and the second direction D2 is downward. The to-be-compensated object 120 includes a mounting part for connecting a load, and the transmission assembly 130 is arranged at the bottom end of the mounting part. In this way, the gravity of the to-be-compensated object 120 can be compensated, so that the gravity is offset when the to-be-compensated object 120 moves up and down.

[0071] The output assembly 140 includes an elastic member capable of providing a substantially constant elastic force, one end of the elastic member is connected to the first fixed part 110, and the other end is connected to the traction cable 150. Exemplarily, the elastic member can include a constant force spring and / or an air spring.

[0072] In the present application, the "substantially constant output force" refers to the fluctuation of the output force of the output assembly 140 does not exceed a certain threshold. For example, the threshold can be 0.5%, it can be understood that the absolute value of the difference between any two of the maximum output force, the minimum output force and the average output force of the output assembly 140 and the ratio of any one of the maximum output force, the minimum output force and the average output force of the output assembly 140 is less than or equal to 0.5%.

[0073] In some cases, the fluctuation of the output force of the output assembly 140 within the threshold described above can be ignored for the effect on the gravity compensation device 100. In some situations that require precise manipulation, it is necessary to maintain the compensation force as constant as possible, in which case the fluctuation of the output force of the output assembly 140 cannot be ignored.

[0074] Preferably, the gravity compensation device 100 further comprises a driving device 160 for applying a driving force to the movable pulley 131 assembly to make the rotating part 131 have a tendency to rotate, so as to offset the output force variation range of the output assembly 140, so that the compensation force received by the object to be compensated 120 can be maintained constant. For example, a sensor can be provided to sense the tension value received by the object to be compensated 120 in real time, and then the control device issues an instruction to the driving device 160 to adjust the torque of the driving device 160, so that the tension value received by the object to be compensated 120 can be maintained constant.

[0075] It is worth mentioning that according to the gravity compensation device 100 of the present application, the principle of the movable pulley 131 is used to double the tension applied by the output assembly 140 to the object to be compensated 120, which can effectively reduce the driving torque applied by the driving device 160 to maintain the tension constant, can reduce the load of the driving device 160, and reduce the possibility of damage of the driving device 160.

[0076] In addition, the driving device 160 can also be configured to apply driving force to the rotating part 131 according to the instruction to control the movement of the object to be compensated 120 along the first direction D1 and the second direction D2. Specifically, as an optional embodiment, the output shaft of the driving device 160 rotates clockwise, the direction of the traction force / friction force and the like applied by the rotating part 131 to the traction cable 150 is the same as the direction of the output force applied by the output assembly 140 to the object to be compensated 120, so that the total pulling force of the traction cable 150 on the object to be compensated 120 increases, the output assembly 140 contracts, and the object to be compensated 120 moves along the first direction D1 (upward); the output shaft of the driving device 160 rotates counterclockwise, the direction of the traction force / friction force and the like applied by the rotating part 131 to the traction cable 150 is opposite to the direction of the output force applied by the output assembly 140 to the object to be compensated 120, so that the total pulling force of the traction cable 150 on the object to be compensated 120 decreases, the output assembly 140 stretches, and the object to be compensated 120 moves along the second direction D2 (downward). According to the above arrangement, the movement of the object to be compensated 120 is controlled by the driving device 160, which realizes automation and saves manpower.

[0077] As an optional embodiment, the transmission assembly 130 is configured as a movable pulley 131 assembly, whereby the rotating part 131 is configured as a movable pulley 131, and the traction cable 150 can be a rope or the like. Alternatively, in other optional embodiments, the rotating part 131 can be a gear, and the traction cable 150 can be a steel belt or a chain or the like. When the transmission assembly 130 is configured as a movable pulley 131 assembly, the movable pulley 131 assembly further includes a pulley seat 132, the movable pulley 131 is rotatably arranged on the pulley seat 132, and the pulley seat 132 is fixedly arranged on the object to be compensated 120.

[0078] Since the driving device 160 generates heat when it is working, for example, when the driving device 160 is a permanent magnet motor, in some unexpected or special situations, the overheating of the driving device 160 can cause the demagnetization of the permanent magnet, and further cause the motor to burn out due to thermal failure. In order to avoid the burning of the driving device 160 and the output assembly 140 caused by the extreme situation, it is preferred to mechanically decouple the driving device 160 and the output assembly 140. For example, the transmission assembly 130 is arranged on the object to be compensated 120, and the driving device 160 is arranged on the transmission assembly 130. In this way, the driving device 160 has no direct connection relationship with the output assembly 140, and the damage of the driving device 160 can be avoided from affecting the output assembly 140. Especially when the output assembly 140 includes a constant force spring, the constant force spring is generally arranged in a plastic sleeve, which is more likely to burn out. The mechanical decoupling arrangement can effectively improve the safety of the constant force spring.

[0079] Continuing to refer to Figure 1 and Figure 2The driving device 160 is coupled with the transmission assembly 130. As shown, the driving device 160 is directly arranged on the transmission assembly 130. Specifically, the driving device 160 is arranged on the rotating part 131, and an output shaft of the driving device 160 is preferably connected to the rotating part 131 to directly drive the rotating part 131 to rotate. Thus, the driving device 160 is combined with the transmission assembly 130, and the driving device 160 can realize constant compensation force with smaller driving force, and the heat dissipation pressure of the driving device 160 is smaller.

[0080] As another optional implementation, referring to Figure 3 The driving device 160 is arranged on the first fixed part 110 or the second fixed part 111, and the gravity compensation device 100 further includes a transmission member 270, and the driving device 160 is coupled with the transmission assembly 130 through the transmission member 270. Thus, the driving device 160 can be arranged more flexibly, and the driving force is more stable. For example, the transmission member 270 can be a screw transmission mechanism or a transmission mechanism such as a rope, a steel belt, etc., and the driving device 160 drives the transmission member 270 to drive the object 120 to be compensated to rise and fall.

[0081] Vertical joint

[0082] The second aspect of the present application provides a vertical joint, which has the gravity compensation device 100 of the first aspect.

[0083] Specifically, the vertical joint includes a first part and a second part, the first part can be kept fixed, and the second part is vertically movable relative to the first part. In other words, the second part is the part to be compensated. Therefore, the first part can include the first fixed part 110 and the second fixed part 111, and the second part includes the object 120 to be compensated.

[0084] As an implementation form, the first part and the second part can be connected in a sleeved manner. Alternatively, the first part and the second part can be connected through a sliding rail to realize the lifting of the second part.

[0085] According to the vertical joint of the present application, the gravity compensation of the vertical joint moving up and down can be realized, and the vertical joint has similar technical effects to the gravity compensation device 100 of the first aspect.

[0086] Surgical robot system and mechanical arm system

[0087] Referring to Figure 4 According to the surgical robot system 1 of the present application, the surgical robot system 1 is a robot that can be remotely controlled to complete surgery, which can include a control system (also referred to as a doctor control console 20), a mechanical arm system 10 (a patient-side mechanical arm system 10), and an imaging system 30.

[0088] The control system is provided with a display unit for displaying the environment of the surgical instrument, a doctor operation control mechanism and a handrail, etc. The display unit is provided with an observation window for the doctor to observe, the doctor operation control mechanism is configured to correspond to the movement of the surgical instrument, and the handrail is used for placing the doctor's arms. In addition, the doctor control console 20 is also provided with other control switches which are convenient for the hands or feet to touch or press to perform various function operations and complete human-computer interaction.

[0089] The patient-side robotic arm system 10 includes a plurality of robotic arms 14, each of which has a plurality of jointed arms 17 or links. Adjacent two jointed arms 17 are relatively movable in a certain degree of freedom, so that the end of the robotic arm 14 can reach a multi-degree of freedom (such as 7 degrees of freedom, which may be different according to different instruments) movement. The end of the robotic arm 14 is provided with an instrument driver, and a surgical instrument or an endoscope is detachably mounted on the instrument driver.

[0090] The surgical instrument includes three parts: a rear end mechanism, a main tube extending from the rear end mechanism to a front end, and an end effector including a wrist mechanism at the front end of the main tube. The rear end mechanism is usually driven by the instrument driver to drive the wrist mechanism through the movement of a plurality of cables in the main tube. During surgery, part of the main tube and the wrist mechanism of the surgical instrument are inserted through the chest, abdominal wall and other tissues to replace the human hand to perform surgery.

[0091] The imaging system 30 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0092] The patient-side robotic arm system 10 includes a movable base 11 and a column 13, and the robotic arm 14 is movable up and down on the column 13, Figure 5 Only one robotic arm 14 is shown. The base 11 can also be provided with a handle 12, and the operator can assist the movement of the base 11 through the handle 12. The lifting of the robotic arm 14 on the column 13 can be driven by a lifting device. The robotic arm 14 in the vertical direction increases the load of the power device due to gravity, and there is an unsafe problem in movement. Therefore, a gravity compensation device 100 is preferably provided to provide a relatively constant force when the robotic arm 14 moves, so as to compensate and offset the gravity.

[0093] The part where the robotic arm 14 is connected to the column 13 forms the vertical joint of the second aspect, and the vertical joint includes the gravity compensation device 100. Exemplarily, the column 13 can include a first part, and the robotic arm 14 can include a second part, or the robotic arm 14 can be part of the object to be compensated 120 or the load. In this embodiment, the front end of the robotic arm 14 can be connected to a mounting block 19, which is movably arranged on the column 13. For example, the mounting block 19 is arranged on the track of the column 13 in a lifting manner.

[0094] The robot arm 14 can generally include an adjustment arm portion 15 and an operation arm portion 16. The end of the operation arm portion 16 is used to mount an instrument operation arm for mounting a surgical instrument or an endoscope. An instrument driving device 160 can also be provided on the instrument operation arm to drive the surgical instrument to perform actions such as insertion and clamping. Before the robot is operated to perform surgery, the adjustment arm portion 15 needs to be operated to move the surgical instrument mounted at the end of the operation arm portion 16 to a designated position, and then the joints of the adjustment arm portion 15 are locked. During the surgery, the operation arm portion 16 is controlled remotely to perform the surgical operation, while the joints of the adjustment arm portion 15 are kept locked to prevent relative movement between the links or connecting arms 17 of the adjustment arm portion 15 during the surgery.

[0095] As another alternative embodiment, the vertical joint described above can also be applied to the adjustment arm portion 15A. For example, referring to Figure 6 In the embodiment, the robot arm system 10A includes a movable base 11 and a column 13A. The column 13A includes a fixed column 13A1 and a lifting column 13A2, and the lifting column 13A2 is connected to the fixed column 13A1 in a lifting manner. In the illustrated embodiment, the lifting column 13A2 can be telescopic relative to the fixed column 13A1. Moreover, the lifting column 13A2 and the fixed column 13A1 can constitute the vertical joint of the second aspect described above, for example, the fixed column 13A1 is configured as the first portion, and the lifting column 13A2 is configured as the second portion.

[0096] The top end of the lifting column 13A2 is provided with a support assembly 18A, which includes a fixed cantilever 18A1 fixedly arranged at the top of the lifting column 13A2 and a telescopic cantilever 18A2 telescopically arranged in the fixed cantilever 18A1. As shown in the figure, the fixed cantilever 18A1 and the telescopic cantilever 18A2 are connected by a linear joint, and can realize relative telescopic movement in the horizontal direction. The telescopic cantilever 18A2 can be provided with a screw mechanism inside for telescopic movement, or can be provided with a pneumatic mechanism or a hydraulic mechanism for telescopic movement.

[0097] The telescopic cantilever 18A2 is provided with a directional portion 18A3, which can be arranged as a ring-shaped component or a component with a ring structure. A plurality of robot arms 14A can be independently connected to the directional portion 18A3 and can rotate relative to the directional portion 18A3, and the positions of the robot arms 14A are adjusted by rotating around the directional portion 18A3.

[0098] In Figure 6In the shown embodiment, the robot arm 14A can also comprise an adjustment arm portion 15A and an operating arm portion 16, the end of which is used to mount an instrument operating arm. The adjustment arm portion 15A comprises a vertical fixed arm 15A1 and a vertical movable arm 15A2, wherein the vertical movable arm 15A2 is vertically movable relative to the vertical fixed arm 15A1, for example also in a telescopic manner.

[0099] The vertical fixed arm 15A1 and the vertical movable arm 15A2 can also apply the vertical joint of the second aspect described above, for example the vertical fixed arm 15A1 comprises the first part described above and the vertical movable arm 15A2 comprises the second part described above. The operating arm portion 16 is configured to compensate for the load of the object 120.

[0100] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The features described in one embodiment can be applied to another embodiment, unless the features are not applicable or are otherwise stated otherwise.

[0101] The application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and illustration, the application is not limited to the above embodiments, and more kinds of variations and modifications can be made according to the teachings of the application, which all fall within the scope of the application claimed.

Claims

1. A gravity compensation device, characterized by, The gravity compensation device comprises: a first fixed part and a second fixed part, wherein the position of the second fixed part is fixed relative to the first fixed part; a to-be-compensated object, which has a tendency to move in a first direction and is capable of moving in the first direction and a second direction opposite to the first direction relative to the first fixed part and the second fixed part; a transmission assembly connected with the to-be-compensated object, and the transmission assembly has a rotatable rotating part; an output assembly arranged on the first fixed part, used for providing a substantially constant output force; a traction cable arranged around the rotating part, and two ends of the traction cable are respectively connected to a load end of the output assembly and the second fixed part.

2. The gravity compensation device of claim 1, wherein, The gravity compensation device further comprises a driving device capable of driving the to-be-compensated object to move in the first direction.

3. The gravity compensation device of claim 2, wherein, The driving device is configured to apply a driving force to the rotating part according to an instruction to control the movement of the to-be-compensated object in the first direction and the second direction.

4. The gravity compensation device of claim 2, wherein, The transmission assembly is arranged on the to-be-compensated object, and the driving device is arranged on the transmission assembly.

5. The gravity compensation device of claim 2, wherein, The driving device is coupled with the rotating part, and the driving device is used for applying a driving force to the rotating part to make the rotating part have a tendency to rotate, and the rotation of the rotating part can drive the to-be-compensated object to move in the first direction.

6. The gravity compensation device of claim 5, wherein, The gravity compensation device further comprises a transmission member, and the driving device is arranged on the first fixed part or the second fixed part, and the driving device is coupled with the rotating part through the transmission member.

7. The gravity compensation device of claim 1, wherein, The first direction is a vertical direction, the to-be-compensated object comprises a mounting part for connecting a load, and the transmission assembly is arranged at a bottom end of the mounting part.

8. The gravity compensation device of claim 2, wherein, The transmission assembly is configured as a movable pulley assembly, the movable pulley assembly comprises a pulley seat and a movable pulley, the movable pulley is rotatably arranged on the pulley seat, the pulley seat is fixedly arranged on the to-be-compensated object, and an output end of the driving device is connected to a rotating shaft of the movable pulley.

9. The gravity compensation device according to claim 1, characterized in that: The output assembly comprises an elastic member capable of providing a substantially constant elastic force, one end of the elastic member is connected to the first fixed part, and the other end of the elastic member is connected to the traction cable.

10. The gravity compensation device of claim 9, wherein, The elastic member comprises a constant force spring and / or an air spring.

11. A vertical joint, characterized by The vertical joint has the gravity compensation device according to any one of claims 1-10; The vertical joint comprises: a first part comprising the first fixed part and the second fixed part, a second part movable relative to the first part in a vertical direction, and the second part comprises the to-be-compensated object.

12. A robotic arm system, comprising: The mechanical arm system comprises:

13. The robotic arm system of claim 12, wherein, a base provided with a column, and the column comprises the first part; a mechanical arm comprising the second part. The mechanical arm system comprises a base, a support assembly and a mechanical arm, the base is provided with a column, the support assembly is arranged on the column in a liftable manner, the mechanical arm is rotatably arranged on the support assembly, and the mechanical arm comprises:

14. The robotic arm system of claim 12, wherein, ​ an adjustment arm, the adjustment arm comprising a vertical fixed arm and a vertical moving arm, wherein the vertical moving arm is vertically movable relative to the vertical fixed arm, the vertical fixed arm comprising the first part, the vertical moving arm comprising the second part; an operating arm, the operating arm being provided to the vertical moving arm, the operating arm being provided with an end effector.

15. A surgical robot, characterized in that, a robotic arm system comprising any of the claims 12-14.

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