Reaction force balancing device

Abstract

The application provides a counterforce balancing device, which 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 sliding block and a sliding rod, the horizontal support arm is installed to the vertical support assembly through the first sliding block, and the handheld electric tool is installed to the horizontal support arm through the sliding rod; the angle sensor is installed on the vertical support assembly, the first pull wire sensor is installed on the vertical support assembly, and the second pull wire sensor is installed on the horizontal support arm; the control unit obtains the real-time position of the handheld electric tool according to the detection signals of the angle sensor, the first pull wire sensor and the second pull wire sensor, and sends an enabling signal to the handheld electric tool when the handheld electric tool reaches a preset position. The application is convenient for controlling the operation process of the handheld electric tool.

Description

Technical Field

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

[0002] In many industrial production and machinery operation scenarios, such as screw tightening and drilling on automated production lines, a large number of power tools are required. These power tools not only have their own weight, but also generate reaction torque during operation. Prolonged use can cause operator fatigue and reduce work efficiency. Although existing balancing arm devices can offset the weight and reaction force of power tools to some extent, the operation process (such as the order and position of operation) cannot be restricted when using these power tools for machinery operations. This can easily lead to work quality problems, such as missing screws. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a reaction force balancing device, which addresses the problem that the above-mentioned balancing arm device cannot restrict the operation of power tools.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is to provide a reaction force balancing device for assisting handheld power tools in mechanical operation. 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 rod. The horizontal support arm is mounted to the vertical support assembly via the first slider and slides along the length direction of the vertical support assembly and rotates around the vertical support assembly via the first slider. The handheld power tool is mounted to the horizontal support arm via the slide rod and slides along the length direction of the horizontal support arm via the slide rod.

[0005] The angle sensor is mounted on the vertical support assembly and generates a first detection signal based on the angle of rotation of the horizontal support arm around the vertical support assembly. The first pull-wire sensor is mounted on the vertical support assembly and generates a second detection signal based on the distance the horizontal support arm slides along the length direction of the vertical support assembly. The second pull-wire sensor is mounted on the horizontal support arm and generates a third detection signal based on the distance the handheld power tool slides along the length direction of the horizontal support arm.

[0006] The control unit is connected to the angle sensor, the first pull cable sensor, the second pull cable sensor and the handheld power tool respectively, 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. When the handheld power tool reaches the preset position, the control unit sends an enable signal to the handheld power tool.

[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 arranged vertically, and the connecting block is mounted on the main support shaft via the bearing. 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. The rotating shaft is fixedly connected to the main support shaft.

[0008] The horizontal support arm is mounted on the main support shaft via a first slider, and when it rotates around the main support shaft, it drives the secondary support shaft and the connecting block to rotate synchronously, thereby causing 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 including 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 having at least one second linear bearing having a second vertical shaft hole, and the auxiliary support shaft passing through the second shaft hole of the second linear bearing;

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

[0011] As a further improvement of the present invention, the main support shaft has two limiting parts, the two limiting parts are distributed along the axial direction of the main support shaft, and the first slider is located between the two limiting parts 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 connecting block is mounted on the top of the main support shaft via a bearing, and the other connecting block is mounted on the bottom of the main support shaft via another bearing. The two ends of the secondary support shaft are respectively fixed to the two connecting blocks.

[0014] As a further improvement of the present invention, the horizontal support arm includes a first sidewall and a second sidewall facing away from each other, and the horizontal support arm is fixed to the first slider in such a way that the first sidewall is attached to the first slider; a fixing box is installed on the first sidewall; the fixing box has a horizontal through hole, the slide rod passes through the horizontal through hole and is installed on the fixing box, and the handheld power tool is fixed to 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. The pull-wire is pulled by the internal elastic element to assist the handheld power tool in resetting.

[0016] As a further improvement of the present invention, the fixing box includes two horizontal through holes with their center lines 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 shaft hole, the slide rod includes two horizontal rods, the two horizontal rods respectively pass through the horizontal shaft 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 a vertical connecting rod, and the handheld power tool is fixed on one of the vertical connecting rods.

[0017] As a further improvement of the present invention, a receiving cavity is formed between the two horizontal through holes, and a pulley group is provided in the receiving cavity. The cable of the second pull-wire sensor passes through the pulley group and is fixed to the vertical connecting rod of the handheld power tool.

[0018] As a further improvement of the present invention, the reaction force balancing device includes a spring-loaded trolley, which is fixed on the connecting block, and the pull rope of the spring-loaded trolley is connected to the first slider 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 advantages: a detection signal is generated by an angle sensor, a first pull wire sensor, and a second pull wire sensor, and the control unit generates the real-time position of the handheld power tool based on the detection signal and generates an enable signal after the handheld power tool reaches the preset position, thereby facilitating the control of the operation process of the handheld power tool. Attached Figure Description

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

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

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

[0024] Figure 4 This is an exploded structural diagram of the angle sensor and the first pull wire sensor installed on the vertical support assembly in the reaction force balancing device provided in the embodiment of the present invention.

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

[0026] Figure 6 This is an exploded structural diagram of the horizontal support component in the reaction force balancing device provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] like Figure 1 The diagram shown is a structural schematic 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 operation. The handheld power tools can be mounted on the reaction force balancing device, so that the reaction force balancing device can bear the weight of the handheld power tools and the torque during operation.

[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 pull wire sensor 32, a second pull wire sensor 33, and a control unit (not shown in the figure). The main body of the vertical support assembly 10 is made of a rigid material (e.g., metal or hard polymer material) and is vertically arranged (e.g., fixed to the operating platform or hung above the operating platform). The horizontal support assembly 20 is mounted on the vertical support assembly 10, and the main body of the horizontal support assembly 20 is also made of a rigid material (e.g., metal or hard polymer material) and is arranged horizontally. 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 handheld 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 aforementioned horizontal support assembly 20 includes a first slider 21, a horizontal support arm 22, and a sliding rod 23. The horizontal support arm 22 may be a strip-shaped plate, and it is mounted to the vertical support assembly 10 via the first slider 21. The horizontal support arm 22 slides along the length direction (i.e., vertically) of the vertical support assembly 10 and rotates around it via the first slider 21. In other words, the first slider 21 is mounted on the vertical support assembly 10 and can move axially relative to and rotate around the vertical support assembly 10. The horizontal support arm 22 is fixed to the first slider 21 and follows the first slider 21 in vertical linear movement or horizontal rotational movement, remaining horizontal during the movement. Specifically, the horizontal support arm 22 may have multiple sets of mounting holes, and it can be fixed to the first slider 21 through any set of mounting holes, thereby allowing adjustment of the specific mounting position according to the weight and type of the handheld power tool 60.

[0031] The handheld power tool 60 is mounted on the horizontal support arm 22 via a slide bar 23, and slides along the length (i.e., horizontally) of the horizontal support arm 22 via the slide bar 23. In other words, the slide bar 23 is mounted on the horizontal support arm 22 and can slide horizontally relative to it. The handheld power tool 60 is directly or indirectly fixed to 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 along with the slide bar 23. In this way, the user (the operator of the handheld power tool) can move the handheld power tool 60 in three-dimensional space, and during the movement, the support frame composed of the vertical support component 10 and the horizontal support component 20 always provides support for the handheld power tool 60, ensuring that the user can easily operate the handheld power tool 60.

[0032] An angle sensor 31 is mounted on the vertical support assembly 10 and generates a first detection signal based on the angle of rotation of the horizontal support arm 22 around the vertical support assembly 10. A first pull-wire sensor 32 is mounted on the vertical support assembly 10 and generates a second detection signal based on the distance the horizontal support arm 22 slides along the length of the vertical support assembly 10. A second pull-wire sensor 33 is mounted on the horizontal support arm 22 and generates a third detection signal based on the distance the handheld power tool 60 slides along the length of the horizontal support arm 22. That is, as the handheld power tool 60 is moved in three-dimensional space by the user, the angle sensor 31, the first pull-wire sensor 32, and the second pull-wire sensor 33 generate corresponding detection signals in real time. The angle sensor 31 can be an existing angle detection device, such as an encoder; the first pull-wire sensor 32 and the second pull-wire sensor 33 can both adopt conventional structures in the art, which will not be described in detail here.

[0033] The control unit can be a personal computer, industrial computer, or similar computing device with data processing capabilities. This control unit is connected to the angle sensor 31, the first draw wire sensor 32, the second draw wire sensor 33, and the handheld power tool 60 via signal lines or wireless communication. It calculates the real-time position of the handheld power tool 60 based on the first detection signal generated by the angle sensor 31, the second detection signal generated by the first draw wire sensor 32, and the third detection signal generated by the second draw wire sensor 33. When the handheld power tool 60 reaches a preset position, the control unit sends an enable signal to it. The handheld power tool 60 can only start operating upon receiving this enable signal; it cannot start if it does not receive the enable signal from the control unit. In practical applications, the real-time position generated by the control unit may deviate slightly from the preset position to avoid inoperability due to workpiece position errors.

[0034] The aforementioned reaction force balancing device generates detection signals through angle sensor 31, first pull-wire sensor 32, and second pull-wire sensor 33. The control unit then generates the real-time position of the handheld power tool 60 based on these signals and generates an enable signal when the handheld power tool 60 reaches a preset position. The handheld power tool 60 cannot start operation if it has not reached the preset position, thus controlling the operation of the handheld power tool. Furthermore, the first pull-wire sensor 32 and second pull-wire sensor 33 themselves have relatively low precision and are not easily damaged during frequent operation, making them particularly suitable for positioning handheld power tools 60 where precision requirements are relatively low.

[0035] Specifically, the control unit has a memory where preset positions are pre-input and stored. Furthermore, the memory can store multiple preset positions arranged in a preset order. The control unit sequentially reads these preset positions, and after completing the operation at the current preset position, it reads the next preset position to perform the next operation. In this way, the user can only use the handheld power tool 60 to operate on each point of the workpiece in a preset order, and cannot skip any preset positions, effectively preventing missed 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. Both the main support shaft 11 and the secondary support shaft 12 are cylindrical and vertically arranged. The connecting block 14 is mounted on the main support shaft 11 via the bearing 13. Specifically, the bearing 13 can be a common rotary bearing, with its inner ring fitted onto the main support shaft 11 and its outer ring fixed to the connecting block 14, allowing the connecting block 14 to 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, meaning the secondary support shaft 12 can rotate with the connecting block 14 relative to the main support shaft 11.

[0037] The angle sensor 31 includes a main body 311 and a rotating shaft 312. The main body 311 is fixed to the connecting block 14, while 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. Thus, 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 via a coupling 16. The outer wall of the coupling 16 is tightly fitted with the inner ring of the bearing 13. The rotating shaft 312 is fixed to the first 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 mounted on the main support shaft 11 via the first slider 21. When it rotates around the main support shaft 11, it drives the secondary support shaft 12 and the connecting block 14 to rotate synchronously, thereby driving the main body 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 provide 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 first linear bearing including a first vertical shaft hole, and the main support shaft 11 passing through the first vertical shaft 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) inside the second slider 25. The second linear bearing has a second vertical shaft hole, and the secondary support shaft 12 passes through the second shaft hole of the second linear bearing. Thus, when the first slider 21 moves axially along the main support shaft 11, the second slider 25 moves axially along the secondary support shaft 12; when the first slider 21 rotates about the axis of the main support shaft 11, the second slider 25 drives the secondary support shaft 12 to rotate also about 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 to the connecting block 14, and the cable 321 of the first pull-wire sensor 32 is fixed to the first slider 21. Thus, 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, thereby generating a corresponding second detection signal from the first pull-wire sensor 32. Furthermore, the first pull-wire sensor 32 contains an elastic element (e.g., a torsion spring). After the first slider 21 moves axially, the first pull-wire sensor 32 can use the internal elastic element to pull its cable 321 to assist the first slider 21 in resetting. This structure not only allows the horizontal support assembly 20 to move smoothly relative to the vertical support assembly 10, but also facilitates the generation of the second detection signal by the first pull-wire sensor 32, and simultaneously facilitates the vertical resetting of the horizontal support assembly 20 (reducing the force required by the user when vertically resetting the handheld power tool 60).

[0041] In addition, the vertical connection assembly 10 may also include a protective cover 15, which covers the angle sensor 31 and the first pull wire sensor 32 to provide protection for the angle sensor 31 and the first pull 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. 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. By means of the limiting portions 111, the sliding distance of the first slider 21 along the axial direction of the main support shaft 11 can be avoided from being too large, thereby avoiding excessive vertical movement of the handheld power tool 60, for example, avoiding impact on other tools at 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, in which a control unit is installed, and the bottom of the main support shaft 11 is fixed to the base 40. Furthermore, the vertical support assembly 10 includes two bearings 13 and two connecting blocks 14. One connecting block 14 is mounted to the top of the main support shaft 11 via one bearing 13, and the other connecting block 14 is mounted to the bottom of the main support shaft 11 via the other bearing 13. The two ends of the secondary support shaft 12 are respectively fixed to the two connecting blocks 14. This structure improves the rotational stability of the secondary support shaft 12, thereby improving the accuracy of the first detection signal from the angle sensor 31.

[0044] like Figure 6As shown, in one embodiment of the present invention, the horizontal support arm 22 includes a first sidewall and a second sidewall facing away from each other (both the first sidewall and the second sidewall are parallel to the vertical direction), and the horizontal support arm 22 is fixed to the first slider 21 such that the first sidewall is attached to the first slider 21 (the surface of the first slider 21 that is attached to the first sidewall and the surface of the first slider 21 that is attached to the second slider 25 are adjacent). A fixing box 24 is also installed on the first sidewall of the horizontal support arm 22, and the fixing box 24 has a horizontal through hole 241. A slide rod 23 is installed on the fixing box 24 and passes through the horizontal through hole 241. A handheld power tool 60 is fixed to one end of the slide rod 23. That is, the slide rod 23 slides along the horizontal through hole 241 of the fixing box 24, causing the handheld power tool 60 to move along the length direction of the horizontal support arm 22. The second pull-wire sensor 33 is fixed to the second side wall of the horizontal support arm 22, and its cable is directly or indirectly connected to the handheld power tool 60. Thus, 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, causing a corresponding change in the length of the cable extending beyond its main housing. This results in the second pull-wire sensor 33 generating a corresponding third detection signal. Simultaneously, the second pull-wire sensor 33 contains an elastic element. After the cable of the second pull-wire sensor 33 is pulled out into the main housing, the elastic element pulls the handheld power tool 60 to assist in its reset (reducing the force required by the user to reset the handheld power tool 60 horizontally).

[0045] Furthermore, the aforementioned 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 slide bar 23 includes two horizontal bars, which pass through the horizontal shaft holes of the third linear bearings 242 in the two horizontal through holes 241, and the two ends of the two horizontal bars are connected by vertical connecting rods 232. The handheld power tool 60 is fixed to one of the vertical connecting rods 232. With the above structure, the handheld power tool 60 can slide more smoothly 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 fixing box 24, and a pulley assembly 26 is installed in the receiving cavity. The cable of the second pull-wire sensor 33 passes through the pulley assembly 26 and is fixed to the vertical connecting rod 232 on 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 assembly 26 can change the direction of force applied to the cable, thereby enabling the detection of the movement of the handheld power tool 60 relative to the horizontal support arm 22 in a relatively compact space. Furthermore, since 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 is more stable, reducing the probability of vertical swaying.

[0047] Combination Figure 2 , Figure 4 As shown, in one embodiment of the present invention, the reaction force balancing device includes a spring-loaded trolley 50, which is fixed to the connecting block 14 of the vertical support assembly 10, and the pull rope of the spring-loaded trolley 50 is connected to the first slider 21 or the horizontal support arm 22. Through the cooperation of the spring-loaded trolley 50 and the first pull-wire sensor 31, the horizontal support assembly 20 can be stopped at any working angle, preventing it from swaying and eliminating safety accidents caused by swaying, thus enhancing the safety of the entire device. The spring-loaded trolley 50 can adopt a conventional structure in the art, which will not be described in detail 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. The control unit creates one or more preset positions based on the input from the input device. The control unit can also graphically display the preset positions, the current preset position, and the real-time position of the handheld power tool obtained from calculations 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 enabling traceability.

[0050] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A reaction force balancing device for assisting handheld power tools 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 pull wire sensor, a second pull wire sensor, and a control unit; the horizontal support assembly includes a horizontal support arm, a first slider, and a slide rod, and the horizontal support arm is mounted to the vertical support assembly via the first slider, and slides along the length direction of the vertical support assembly and rotates around the vertical support assembly via the first slider; the handheld power tool is mounted to the horizontal support arm via the slide rod, and slides along the length direction of the horizontal support arm via the slide rod. The angle sensor is mounted on the vertical support assembly and generates a first detection signal based on the angle of rotation of the horizontal support arm around the vertical support assembly. The first pull-wire sensor is mounted on the vertical support assembly and generates a second detection signal based on the distance the horizontal support arm slides along the length direction of the vertical support assembly. The second pull-wire sensor is mounted on the horizontal support arm and generates a third detection signal based on the distance the handheld power tool slides along the length direction of the horizontal support arm. The control unit is connected to the angle sensor, the first cable sensor, the second cable sensor and the handheld power tool respectively, 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. When the handheld power tool reaches the preset position, the control unit sends an enable signal to the handheld power tool. The vertical support assembly includes a main support shaft, a secondary support shaft, bearings, and a connecting block. The main support shaft is vertically arranged, and the connecting block is mounted on the main support shaft via the bearings. 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. The main body of the angle sensor is fixed to 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 via a first slider, and when it rotates around the main support shaft, it drives the secondary support shaft and the connecting block to rotate synchronously, thereby causing the main body of the angle sensor to rotate relative to the rotating shaft.

2. The reaction force balancing device according to claim 1, characterized in that, The first slider has a plurality of coaxial first linear bearings, each of the first linear bearings including 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 having at least one second linear bearing having a second vertical shaft hole, and the auxiliary support shaft passing through the second shaft hole of the second linear bearing; The first pull-wire sensor is fixed to the connecting block, and the cable of the first pull-wire sensor is fixed to the first slider. The first pull-wire sensor pulls the cable through an internal elastic element to assist the first slider in resetting.

3. The reaction force balancing device according to claim 2, characterized in that, The main support shaft has two limiting parts, which are distributed along the axial direction of the main support shaft, and the first slider is located between the two limiting parts on the main support shaft.

4. The reaction force balancing device according to claim 1, characterized in that, The reaction force balancing device includes a base, the control unit is installed inside 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 connecting block is mounted on the top of the main support shaft via a bearing, and the other connecting block is mounted on the bottom of the main support shaft via another bearing. The two ends of the secondary support shaft are respectively fixed to the two connecting blocks.

5. The reaction force balancing device according to claim 1, characterized in that, The horizontal support arm includes a first sidewall and a second sidewall facing away from each other, and the horizontal support arm is fixed to the first slider in such a way that the first sidewall is attached to the first slider; a fixing box is installed on the first sidewall, the fixing box has a horizontal through hole, the slide rod passes through the horizontal through hole and is installed on the fixing box, and the handheld power tool is fixed to one end of the slide rod; 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. The pull-wire is pulled by the internal elastic element to assist the handheld power tool in resetting.

6. The reaction force balancing device according to claim 5, characterized in that, The fixing box includes two horizontal through holes with their center lines 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 shaft hole, the slide rod includes two horizontal rods, the two horizontal rods respectively pass through the horizontal shaft 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 a vertical connecting rod, and the handheld power tool is fixed on one of the vertical connecting rods.

7. The reaction force balancing device according to claim 6, characterized in that, A receiving cavity is formed between the two horizontal through holes, and a pulley assembly is provided in the receiving cavity. The cable of the second pull-wire sensor passes through the pulley assembly and is fixed to the vertical connecting rod of the handheld power tool.

8. The reaction force balancing device according to claim 1, characterized in that, The reaction force balancing device includes a spring-loaded trolley, which is fixed to the connecting block, and the pull rope of the spring-loaded trolley is connected to the first slider or the horizontal support arm.

9. 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, which are respectively connected to the control unit, and the control unit creates one or more preset positions based on the input from the input device.

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