Reaction force balancing device

Abstract

The invention provides a counter-acting force balancing device. The counter-acting force balancing device comprises a vertical supporting assembly, a horizontal supporting assembly, an angle sensor, a first pull wire sensor, a second pull wire sensor and a control unit. The horizontal supporting assembly comprises a horizontal supporting arm, a first sliding block and a sliding rod, the horizontal supporting arm is arranged on the vertical supporting assembly through the first sliding block, and the handheld electric tool is arranged on the horizontal supporting arm through the sliding rod; the angle sensor is arranged on the vertical supporting assembly, the first stay wire sensor is arranged on the vertical supporting assembly, and the second stay wire sensor is arranged on the horizontal supporting arm. The control unit obtains the real-time position of the handheld electric tool according to detection signals of the angle sensor, the first pull wire sensor and the second pull wire sensor and sends an enable signal to the handheld electric tool when the handheld electric tool reaches a preset position. According to the invention, the operation process of the handheld electric tool can be conveniently controlled.

Description

Technical Field

[0001] The present invention relates to the field of mechanical manufacturing, and more specifically, to a reaction force balancing device. Background Art

[0002] In many industrial production and mechanical operation scenarios, such as screwing and drilling operations on automated assembly lines, a large number of power tools are required. These power tools not only have a certain weight, but also generate reaction torque when working. Long-term operation will make operators fatigued and reduce work efficiency. Although the existing balance arm device can offset the weight and reaction force of the power tool to a certain extent, when using these power tools for mechanical operations, it is impossible to restrict the operation process (such as operation sequence, operation position, etc.), which makes it easy for operation quality problems to occur, such as screws not being locked. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a reaction force balancing device to address the problem that the above-mentioned balancing arm device cannot limit the operation process of the electric tool.

[0004] The technical solution of the present invention to solve the above technical problems is to provide a reaction force balancing device for assisting a handheld electric tool in mechanical operation, characterized in that the reaction force balancing device comprises a vertical support assembly, a horizontal support assembly, an angle sensor, a first pull-wire sensor, a second pull-wire sensor and a control unit; the horizontal support assembly comprises a horizontal support arm, a first slider and a slide bar, and the horizontal support arm is mounted to the vertical support assembly through the first slider, and slides along the length direction of the vertical support assembly and rotates around the vertical support assembly through the first slider, and the handheld electric tool is mounted to the horizontal support arm through the slide bar, and slides along the length direction of the horizontal support arm through the slide bar;

[0005] The angle sensor is mounted on the vertical support assembly and generates a first detection signal according to the angle at which the horizontal support arm rotates around the vertical support assembly, the first wire sensor is mounted on the vertical support assembly and generates a second detection signal according to the distance that the horizontal support arm slides along the length direction of the vertical support assembly, and the second wire sensor is mounted on the horizontal support arm and generates a third detection signal according to the distance that the handheld power tool slides along the length direction of the horizontal support arm;

[0006] The control unit is respectively connected to the angle sensor, the first pull-wire sensor, the second pull-wire sensor and the handheld power tool signal, and obtains the real-time position of the handheld power tool according to the first detection signal, the second detection signal and the third detection signal, and the control unit sends an enable signal to the handheld power tool when the handheld power tool reaches a preset position.

[0007] As a further improvement of the present invention, the vertical support assembly includes a main support shaft, a secondary support shaft, a bearing and a connecting block, the main support shaft is vertically arranged, the connecting block is mounted on the main support shaft through a bearing, and the secondary support shaft is fixed to the connecting block in a manner parallel to the main support shaft; the angle sensor includes a main body and a rotating shaft, and the main body of the angle sensor is fixed on the connecting block, and the rotating shaft is fixedly connected to the main support shaft;

[0008] The horizontal support arm is mounted on the main support shaft through a first slider, and drives the auxiliary support shaft and the connecting block to rotate synchronously when rotating around the main support shaft, thereby driving the main body of the angle sensor to rotate relative to the rotating shaft.

[0009] As a further improvement of the present invention, the first slider has a plurality of coaxial first linear bearings, each of the first linear bearings includes a first vertical shaft hole, and the main support shaft passes through the first vertical shaft hole of the first linear bearing; the horizontal support assembly includes a second slider fixed to the first slider, the second slider has at least one second linear bearing with a second vertical shaft hole, and the secondary support shaft passes through the second shaft hole of the second linear bearing;

[0010] The first pull-wire sensor is fixed on the connecting block, a cable of the first pull-wire sensor is fixed on the first sliding block, and the first pull-wire sensor pulls the cable through an internal elastic member to assist the first sliding block in resetting.

[0011] As a further improvement of the present invention, the main support shaft has two limiting portions, the two limiting portions are distributed along the axial direction of the main support shaft, and the first sliding block is located between the two limiting portions on the main support shaft.

[0012] As a further improvement of the present invention, the reaction force balancing device includes a base, the control unit is installed in the base, and the bottom of the main support shaft is fixed on the base;

[0013] The vertical support assembly includes two bearings and two connecting blocks, one of which is installed on the top of the main support shaft through a bearing, and the other is installed on the bottom of the main support shaft through another bearing, and the two ends of the secondary support shaft are respectively fixed on the two connecting blocks.

[0014] As a further improvement of the present invention, the horizontal support arm comprises a first side wall and a second side wall facing away from each other, and the horizontal support arm is fixed on the first slider in a manner that the first side wall is in contact with the first slider; a fixing box is installed on the first side wall; the fixing box has a horizontal through hole, the slide rod is installed on the fixing box through the horizontal through hole, and the handheld power tool is fixed on one end of the slide rod;

[0015] The second pull-wire sensor is fixed on the second side wall, and the cable of the second pull-wire sensor is directly or indirectly connected to the handheld power tool, and the pull wire is pulled by the internal elastic member to assist in resetting the handheld power tool.

[0016] As a further improvement of the present invention, the fixed box includes two horizontal through holes whose center lines are located in a vertical plane, and at least one third linear bearing is fixed in each of the horizontal through holes; each of the third linear bearings includes a horizontal axial hole, and the sliding rod includes two horizontal rods, the two horizontal rods respectively pass through the horizontal axial holes of the third linear bearings in the two horizontal through holes, and the two ends of the two horizontal rods are respectively connected by vertical connecting rods, and the handheld power tool is fixed on one of the vertical connecting rods.

[0017] As a further improvement of the present invention, an accommodating cavity is formed between the two horizontal through holes, and a pulley block is arranged in the accommodating cavity. The cable of the second wire sensor passes through the pulley block and is fixed to a vertical connecting rod to which the handheld power tool is fixed.

[0018] As a further improvement of the present invention, the reaction force balancing device includes a spring crane, which is fixed on the connecting block, and a pull rope of the spring crane is connected to the first sliding block or the horizontal support arm.

[0019] As a further improvement of the present invention, the handheld power tool is a handheld electric screwdriver; the reaction force balancing device includes a display and an input device, the display and the input device are respectively connected to the control unit, and the control unit creates one or more preset positions according to the input of the input device.

[0020] The present invention has the following beneficial effects: a detection signal is generated by an angle sensor, a first pull-wire sensor, and a second pull-wire sensor, and a control unit generates a real-time position of a handheld power tool according to the detection signal and generates an enable signal after the handheld power tool reaches a preset position, thereby facilitating the control of the operation process of the handheld power tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of a reaction force balancing device provided in an embodiment of the present invention.

[0022] Figure 2 is another schematic diagram of the reaction force balancing device provided in an embodiment of the present invention.

[0023] Figure 3 It is a schematic diagram of the connection structure between the vertical support assembly and the horizontal support assembly in the reaction force balancing device provided in an embodiment of the present invention.

[0024] Figure 4 It is a schematic diagram of the exploded structure of the angle sensor and the first wire sensor installed on the vertical support assembly in the reaction force balancing device provided by an embodiment of the present invention.

[0025] Figure 5 It is a schematic cross-sectional structure diagram of an angle sensor and a first wire sensor in a reaction force balancing device provided in an embodiment of the present invention installed on a vertical support assembly.

[0026] Figure 6 It is a schematic diagram of the exploded structure of the horizontal support assembly in the reaction force balancing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] like Figure 1 As shown, it is a structural schematic diagram of the reaction force balancing device provided in an embodiment of the present invention. The reaction force balancing device is used to assist handheld power tools (such as handheld electric screwdrivers, handheld drilling machines, etc.) in mechanical operations. The handheld power tools can be assembled on the reaction force balancing device, so that the reaction force balancing device can bear the gravity of the handheld power tool and the torque during the working process.

[0029] Combination Figure 1 , Figure 2 , Figure 4As shown, the reaction force balancing device in this embodiment includes a vertical support assembly 10, a horizontal support assembly 20, an angle sensor 31, a first wire sensor 32, a second wire sensor 33 and a control unit (not shown in the figure). The main part of the vertical support assembly 10 is composed of a rigid material (such as metal or hard polymer material, etc.) and is vertically arranged (for example, fixed on the operating platform or mounted above the operating platform), and the horizontal support assembly 20 is installed on the vertical support assembly 10, and the main part of the horizontal support assembly 20 is also composed of a rigid material (such as metal or hard polymer material, etc.) and is arranged in the horizontal direction, that is, the horizontal support assembly 20 and the vertical support assembly 10 are assembled together in a vertically intersecting manner. The handheld power tool 60 is fixed on the horizontal support assembly 20, that is, the bracket composed of the vertical support assembly 10 and the horizontal support assembly 20 provides support for the manual power tool 60, and the movement of the handheld power tool 60 on the cylindrical surface is realized by the movement of the horizontal support assembly 20 relative to the vertical support assembly 10.

[0030] The horizontal support assembly 20 includes a first slider 21, a horizontal support arm 22 and a slide bar 23. The horizontal support arm 22 may be in the shape of a strip plate, and the horizontal support arm 22 is mounted to the vertical support assembly 10 through the first slider 21, and slides along the length direction (i.e., vertical direction) of the vertical support assembly 10 and rotates around the vertical support assembly 10 through the first slider 21. That is, the first slider 21 is mounted on the vertical support assembly 10, and can move axially relative to the vertical support assembly 10 and rotate around the vertical support assembly 10, and the horizontal support arm 22 is fixed on the first slider 21, and follows the first slider 21 to make vertical linear movement or horizontal rotation movement, and the horizontal support arm 22 remains horizontal during the movement of the first slider 21. In particular, the horizontal support arm 22 may have multiple groups of mounting holes, and the horizontal support arm 22 may be fixed to the first slider 21 through any group of mounting holes, so that the specific mounting position can be adjusted according to the weight, type, etc. of the handheld power tool 60.

[0031] The handheld power tool 60 is mounted on the horizontal support arm 22 through the slide bar 23, and slides along the length direction (i.e., horizontal direction) of the horizontal support arm 22 through the slide bar 23. That is, the slide bar 23 is mounted on the horizontal support arm 22 and can slide horizontally relative to the horizontal support arm 22, and the handheld power tool 60 is directly or indirectly fixed on the slide bar 23, so that when the slide bar 23 moves horizontally relative to the horizontal support arm 22, the handheld power tool 60 also moves horizontally following the slide bar 23. In this way, the user (operator of the handheld power tool) can drive the handheld power tool 60 to move in three-dimensional space, and during the movement, the bracket composed of the vertical support assembly 10 and the horizontal support assembly 20 always provides support for the handheld power tool 60 to ensure that the user can easily operate the handheld power tool 60.

[0032] The angle sensor 31 is mounted on the vertical support assembly 10 and generates a first detection signal according to the angle at which the horizontal support arm 22 rotates around the vertical support assembly 10. The first wire sensor 32 is mounted on the vertical support assembly 10 and generates a second detection signal according to the distance that the horizontal support arm 22 slides along the length direction of the vertical support assembly 10. The second wire sensor 33 is mounted on the horizontal support arm 22 and generates a third detection signal according to the distance that the handheld power tool 60 slides along the length direction of the horizontal support arm 22. That is, when the handheld power tool 60 is driven by the user to move in a three-dimensional space, the angle sensor 31, the first wire sensor 32, and the second wire sensor 33 generate corresponding detection signals in real time. The above-mentioned angle sensor 31 can adopt an existing angle detection device, such as an encoder, etc.; the first wire sensor 32 and the second wire sensor 33 can both adopt conventional structures in the field, which will not be repeated here.

[0033] The control unit may be a personal computer, an industrial computer or a similar computing device with data processing capabilities. The control unit is respectively connected to the angle sensor 31, the first wire sensor 32, the second wire sensor 33 and the handheld power tool 60 (for example, through a signal line, wireless communication, etc.), and calculates and generates the real-time position of the handheld power tool 60 according to the first detection signal generated by the angle sensor 31, the second detection signal generated by the first wire sensor 32 and the third detection signal generated by the second wire sensor 33. The control unit sends an enable signal to the handheld power tool when the handheld power tool 60 reaches a preset position. The handheld power tool 60 can only start running when the above-mentioned enable signal is obtained, and the handheld power tool 60 cannot start when it does not receive the enable signal from the control unit. In actual applications, the real-time position generated by the control unit may have a certain deviation from the preset position, so as to avoid inoperability due to the position error of the workpiece itself.

[0034] The above reaction force balancing device generates detection signals through the angle sensor 31, the first wire sensor 32, and the second wire sensor 33, and the control unit generates the real-time position of the handheld power tool 60 according to the detection signal and generates an enable signal after the handheld power tool 60 reaches the preset position. When the handheld power tool 60 does not reach the preset position, it cannot be started, so that the operation process of the handheld power tool can be controlled. In addition, the accuracy of the first wire sensor 32 and the second wire sensor 33 themselves is relatively low, and they will not be easily damaged during frequent operations, and are particularly suitable for positioning handheld power tools 60 with relatively low accuracy requirements.

[0035] Specifically, the control unit has a memory, and the preset position is input in advance and stored in the memory of the control unit. In addition, the memory can store multiple preset positions arranged in a preset order, and the control unit reads the multiple preset positions in sequence, and reads the next preset position after the current preset position operation is completed to perform the next operation. In this way, the user can only use the handheld power tool 60 to operate various points of the workpiece in the preset order, and cannot skip any preset position to operate, which can effectively avoid missing operations at certain points.

[0036] Combination Figure 2 , Figure 4 , Figure 5 As shown, in one embodiment of the present invention, the vertical support assembly 10 includes a main support shaft 11, a secondary support shaft 12, a bearing 13 and a connecting block 14, wherein the main support shaft 11 and the secondary support shaft 12 are both cylindrical and vertically arranged, and the connecting block 14 is mounted on the main support shaft 11 through the bearing 13. Specifically, the bearing 13 can be a common rotary bearing, and the inner ring of the bearing 13 is sleeved on the main support shaft 11, and the outer ring of the bearing 13 is fixed to the connecting block 14, so that the connecting block 14 can rotate relative to the main support shaft 11. The secondary support shaft 12 is fixed to the connecting block 14 in a manner parallel to the main support shaft 11, that is, the secondary support shaft 12 can rotate relative to the main support shaft 11 following the connecting block 14.

[0037] The angle sensor 31 includes a main body 311 and a rotating shaft 312, and the main body 311 of the angle sensor 31 is fixed on the connecting block 14, and the rotating shaft 312 is fixedly connected to the main support shaft 11, that is, when the connecting block 14 rotates relative to the main support shaft 11, the main body 311 of the angle sensor 31 rotates accordingly, while the rotating shaft 312 remains stationary, so that the main body 311 of the angle sensor 31 rotates relative to the rotating shaft 312, thereby generating a corresponding first detection signal. Specifically, the rotating shaft 312 can be connected through a coupling 16, the outer wall of the coupling 16 is tightly matched with the inner ring of the bearing 13, the rotating shaft 312 is fixed to the head end of the coupling 16, and the tail end of the coupling 16 passes through the inner ring of the bearing 13 and is fixed to the main support shaft 11. The horizontal support arm 22 is installed on the main support shaft 11 through the first slider 21, and drives the secondary support shaft 12 and the connecting block 14 to rotate synchronously when rotating around the main support shaft 11, thereby driving the main part 311 of the angle sensor 31 to rotate relative to the rotating shaft 312, and causing the angle sensor 31 to generate a corresponding first detection signal.

[0038] The above structure can achieve vertical support while enabling the angle sensor 31 to generate a corresponding first detection signal.

[0039] like Figure 3 As shown, in one embodiment of the present invention, the first slider 21 has a plurality of coaxial first linear bearings (not shown in the figure), each of which includes a first vertical axial hole, and the main support shaft 11 passes through the first vertical axial hole of the first linear bearing. The horizontal support assembly 20 also includes a second slider 25, which is fixed to the side of the first slider 21, and has at least one second linear bearing (not shown in the figure) in the second slider 25. The second linear bearing has a second vertical axial hole, and the secondary support shaft 12 passes through the second axial hole of the second linear bearing. In this way, when the first slider 21 moves along the axial direction of the main support shaft 11, the second slider 25 moves along the axial direction of the secondary support shaft 12; when the first slider 21 rotates with the axis of the main support shaft 11, the second slider 25 drives the secondary support shaft 12 to rotate along the axis of the main support shaft 11, thereby driving the connecting block 14 and the main body 311 of the angle sensor 31 to rotate, and causing the angle sensor 31 to generate a corresponding first detection signal.

[0040] Combination Figure 1 , Figure 4 , Figure 5As shown, the first pull-wire sensor 32 is fixed on the connecting block 14, and the cable 321 of the first pull-wire sensor 32 is fixed on the first slider 21, so that when the first slider 21 moves axially along the main support shaft 11, the portion of the cable 321 extending outside its housing changes accordingly, so that the first pull-wire sensor 32 generates a corresponding second detection signal. In addition, the first pull-wire sensor 32 has an elastic member (such as a torsion spring, etc.), and after the first slider 21 moves axially, the first pull-wire sensor 32 can assist the first slider 21 in resetting by pulling its cable 321 through the internal elastic member. The above structure not only allows the horizontal support assembly 20 to move smoothly relative to the vertical support assembly 10, but also facilitates the first pull-wire sensor 32 to generate the second detection signal, and is also beneficial to the vertical resetting of the horizontal support assembly 20 (reducing the force exerted by the user when vertically resetting the handheld power tool 60).

[0041] In addition, the vertical connection assembly 10 may further include a protective cover 15 , which is disposed outside the angle sensor 31 and the first wire sensor 32 to provide protection for the angle sensor 31 and the first wire sensor 32 .

[0042] like Figure 2 As shown, in one embodiment of the present invention, two limiting portions 111 are provided on the main support shaft 11, and the two limiting portions 111 are distributed along the axial direction of the main support shaft 11, and the first slider 21 is located between the two limiting portions 111 on the main support shaft 11. The limiting portions 111 can prevent the first slider 21 from sliding too far along the axial direction of the main support shaft 11, thereby preventing the handheld power tool 60 from moving too far in the vertical direction, for example, preventing the handheld power tool 60 from affecting other tools on the workstation.

[0043] like Figure 1 , Figure 2 As shown, in one embodiment of the present invention, the reaction force balancing device further includes a base 40, the control unit is installed in the base 40, and the bottom of the main support shaft 11 is fixed on the base 40. In addition, the vertical support assembly 10 includes two bearings 13 and two connecting blocks 14, one of which is installed on the top of the main support shaft 11 through a bearing 13, and the other connecting block 14 is installed on the bottom of the main support shaft 11 through another bearing 13, and the two ends of the auxiliary support shaft 12 are respectively fixed on the two connecting blocks 14. Through this structure, the stability of the rotation of the auxiliary support shaft 12 can be improved, thereby improving the accuracy of the first detection signal of the angle sensor 31.

[0044] like Figure 6As shown, in one embodiment of the present invention, the horizontal support arm 22 includes a first side wall and a second side wall facing away from each other (the first side wall and the second side wall are both parallel to the vertical direction), and the horizontal support arm 22 is fixed on the first slider 21 in a manner that the first side wall is in contact with the first slider 21 (the surface of the first slider 21 in contact with the first side wall and the surface of the first slider 21 in contact with the second slider 25 are adjacent). A fixing box 24 is also installed on the first side wall of the horizontal support arm 22, and the fixing box 24 has a horizontal through hole 241, the slide bar 23 is installed on the fixing box 24 and passes through the horizontal through hole 241, and the handheld power tool 60 is fixed to one end of the slide bar 23. That is, the slide bar 23 slides along the horizontal through hole 241 of the fixing box 24, so that the handheld power tool 60 moves along the length direction of the horizontal support arm 22. The second pull-wire sensor 33 is fixed on the second side wall of the horizontal support arm 22, and the cable of the second pull-wire sensor 33 is directly or indirectly connected to the handheld power tool 60, so that when the slide bar 23 slides relative to the horizontal support arm 22, the handheld power tool 60 also moves relative to the horizontal support arm 22, and the size of the cable of the second pull-wire sensor 33 extending outside its main housing changes accordingly, thereby causing the second pull-wire sensor 33 to generate a corresponding third detection signal. At the same time, the second pull-wire sensor 33 has an elastic member inside, and after the cable of the second pull-wire sensor 33 is pulled out to the main housing, the elastic member will pull the handheld power tool 60 to assist in its reset (reducing the force exerted by the user when resetting the handheld power tool 60 horizontally).

[0045] Furthermore, the fixing box 24 includes two horizontal through holes 241 whose center lines are located in a vertical plane, and at least one third linear bearing 242 is fixed in each horizontal through hole 241. Each third linear bearing 242 includes a horizontal shaft hole. Correspondingly, the sliding rod 23 includes two horizontal rods, which pass through the horizontal shaft holes of the third linear bearings 242 in the two horizontal through holes 241 respectively, and the two ends of the two horizontal rods are connected by vertical connecting rods 232 respectively, and the handheld power tool 60 is fixed on one of the vertical connecting rods 232. Through the above structure, the handheld power tool 60 can be made more stable when sliding along the length direction of the horizontal support arm 22.

[0046] In one embodiment of the present invention, a receiving cavity is formed between the two horizontal through holes 241 of the fixed box 24, and a pulley block 26 is installed in the receiving cavity. The cable of the second pull-wire sensor 33 passes through the pulley block 26 and is fixed to the vertical connecting rod 232 to which the handheld power tool 60 is fixed, that is, the cable of the second pull-wire sensor 33 is located between the two horizontal rods. The pulley block 26 can change the force direction of the cable, so that the movement of the handheld power tool 60 relative to the horizontal support arm 22 can be detected in a relatively compact space, and because the cable of the second pull-wire sensor 33 is located between the two horizontal rods, the horizontal movement of the handheld power tool 60 can be made more stable, reducing the probability of vertical swing.

[0047] Combination Figure 2 , Figure 4 As shown, in one embodiment of the present invention, the reaction force balancing device includes a spring crane 50, which is fixed on the connecting block 14 of the vertical support assembly 10, and the pull rope of the spring crane 50 is connected to the first slider 21 or the horizontal support arm 22. Through the cooperation between the spring crane 50 and the first pull wire sensor 31, the horizontal support assembly 20 can be stopped at any working angle to prevent it from shaking, thereby eliminating safety accidents caused by shaking and enhancing the safety of the entire device. The above-mentioned spring crane 50 can adopt the conventional structure in this field, which will not be repeated here.

[0048] In one embodiment of the present invention, the handheld power tool 60 is a handheld electric screwdriver. The reaction force balancing device includes a display and an input device, which are respectively connected to a control unit, and the control unit creates one or more preset positions according to input from the input device. The control unit can also graphically display the preset position, the current preset position, and the real-time position of the handheld power tool obtained by calculation on the display.

[0049] In practical applications, the control unit can also record relevant parameters of the handheld power tool 60 during operation, thereby facilitating management and monitoring and realizing traceability.

[0050] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A reaction force balancing device for assisting a handheld power tool in mechanical operation, characterized in that: The reaction force balancing device includes a vertical support assembly, a horizontal support assembly, an angle sensor, a first wire sensor, a second wire sensor and a control unit; the horizontal support assembly includes a horizontal support arm, a first slider and a slide bar, and the horizontal support arm is mounted to the vertical support assembly through the first slider, and slides along the length direction of the vertical support assembly and rotates around the vertical support assembly through the first slider, and the handheld power tool is mounted on the horizontal support arm through the slide bar, and slides along the length direction of the horizontal support arm through the slide bar; The angle sensor is mounted on the vertical support assembly and generates a first detection signal according to the angle at which the horizontal support arm rotates around the vertical support assembly, the first wire sensor is mounted on the vertical support assembly and generates a second detection signal according to the distance that the horizontal support arm slides along the length direction of the vertical support assembly, and the second wire sensor is mounted on the horizontal support arm and generates a third detection signal according to the distance that the handheld power tool slides along the length direction of the horizontal support arm; The control unit is respectively connected to the angle sensor, the first pull-wire sensor, the second pull-wire sensor and the handheld power tool signal, and obtains the real-time position of the handheld power tool according to the first detection signal, the second detection signal and the third detection signal, and the control unit sends an enable signal to the handheld power tool when the handheld power tool reaches a preset position.

2. The reaction force balancing device according to claim 1, characterized in that: The vertical support assembly includes a main support shaft, a secondary support shaft, a bearing and a connecting block, the main support shaft is vertically arranged, the connecting block is mounted on the main support shaft through a bearing, and the secondary support shaft is fixed to the connecting block in a manner parallel to the main support shaft; the angle sensor includes a main body and a rotating shaft, and the main body of the angle sensor is fixed on the connecting block, and the rotating shaft is fixedly connected to the main support shaft; The horizontal support arm is mounted on the main support shaft through a first slider, and drives the auxiliary support shaft and the connecting block to rotate synchronously when rotating around the main support shaft, thereby driving the main body of the angle sensor to rotate relative to the rotating shaft.

3. The reaction force balancing device according to claim 2, characterized in that: The first slider has a plurality of coaxial first linear bearings, each of the first linear bearings includes a first vertical shaft hole, and the main support shaft passes through the first vertical shaft hole of the first linear bearing; the horizontal support assembly includes a second slider fixed to the first slider, the second slider has at least one second linear bearing with a second vertical shaft hole, and the secondary support shaft passes through the second shaft hole of the second linear bearing; The first pull-wire sensor is fixed on the connecting block, a cable of the first pull-wire sensor is fixed on the first sliding block, and the first pull-wire sensor pulls the cable through an internal elastic member to assist the first sliding block in resetting.

4. The reaction force balancing device according to claim 3, characterized in that: The main support shaft is provided with two limiting parts, the two limiting parts are distributed along the axial direction of the main support shaft, and the first sliding block is located between the two limiting parts on the main support shaft.

5. The reaction force balancing device according to claim 2, characterized in that: The reaction force balancing device comprises a base, the control unit is installed in the base, and the bottom of the main support shaft is fixed on the base; The vertical support assembly includes two bearings and two connecting blocks, one of which is installed on the top of the main support shaft through a bearing, and the other is installed on the bottom of the main support shaft through another bearing, and the two ends of the secondary support shaft are respectively fixed on the two connecting blocks.

6. The reaction force balancing device according to claim 1, characterized in that: The horizontal support arm comprises a first side wall and a second side wall facing away from each other, and the horizontal support arm is fixed on the first slider in a manner that the first side wall is in contact with the first slider; a fixing box is installed on the first side wall, the fixing box has a horizontal through hole, the slide bar is installed on the fixing box through the horizontal through hole, and the handheld power tool is fixed on one end of the slide bar; The second pull-wire sensor is fixed on the second side wall, and the cable of the second pull-wire sensor is directly or indirectly connected to the handheld power tool, and the pull wire is pulled by the internal elastic member to assist in resetting the handheld power tool.

7. The reaction force balancing device according to claim 6, characterized in that: The fixed box includes two horizontal through holes whose center lines are located in a vertical plane, and at least one third linear bearing is fixed in each of the horizontal through holes; each of the third linear bearings includes a horizontal axial hole, and the sliding rod includes two horizontal rods, and the two horizontal rods respectively pass through the horizontal axial holes of the third linear bearings in the two horizontal through holes, and the two ends of the two horizontal rods are respectively connected by vertical connecting rods, and the handheld power tool is fixed on one of the vertical connecting rods.

8. The reaction force balancing device according to claim 7, characterized in that: An accommodating cavity is formed between the two horizontal through holes, and a pulley block is arranged in the accommodating cavity. The cable of the second wire sensor passes through the pulley block and is fixed to the vertical connecting rod to which the handheld electric tool is fixed.

9. The reaction force balancing device according to claim 2, characterized in that: The reaction force balancing device comprises a spring crane, which is fixed on the connecting block, and a pull rope of the spring crane is connected to the first sliding block or the horizontal supporting arm.

10. The reaction force balancing device according to claim 1, characterized in that: The handheld power tool is a handheld electric screwdriver; the reaction force balancing device includes a display and an input device, the display and the input device are respectively connected to the control unit, and the control unit creates one or more preset positions according to the input of the input device.

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