Force balancing device, force balancing system and medical auxiliary system

Abstract

The invention discloses a force balancing device, a force balancing system and a surgical robot. A force balancing device for an apparatus having a rotational joint comprising a first part and a second part rotatable relative to the first part about a first axis of rotation. The force balancing device comprises an output mechanism and a linkage mechanism. The output mechanism is used for providing output force so as to compensate the torque of the bias force on the second part relative to the first rotating axis. The traction mechanism comprises a first connecting part, a second connecting part and a third connecting part connected with the first connecting part and the second connecting part, the first connecting part and the second connecting part are used for being connected with an output mechanism, and the first connecting part can apply first torque to the third connecting part under the action of output force; the second connecting part can apply second torque to the third connecting part under the action of the output force, the first torque and the second torque are opposite in direction, and the third connecting part is used for being connected with a second component, so that the first torque and the second torque can be transmitted to the second component.

Description

Technical Field

[0001] The present application relates to the technical field of force balancing devices, and in particular to a force balancing device, a force balancing system having the same, and a medical assistance system having the force balancing system. Background Art

[0002] As a medical assistance system, surgical robots offer significant advantages, such as reducing incisions and improving surgical success rates, and are increasingly being used in clinical medicine. A surgical robot has multiple robotic arms connected in series. Before or during surgery, the robotic arms' postures need to be adjusted to achieve the target state to accommodate the surgery. This requires the joints to have a high dynamic response and a sufficiently low resistance torque during manual adjustment. For example, a pitching motion of a robotic arm is subject to gravity, which generates a corresponding gravitational torque on the driven joints. Different postures also have different gravitational torques on the driven joints. To reduce the load on the driven joints, achieve torque balance in robotic arms with different postures, and improve safety and reliability, a torque compensation mechanism is required to compensate for the torques generated by the different postures of the robotic arm in real time. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially address the above-mentioned problems, the present application provides, in a first aspect, a force balancing device for use with a device having a revolute joint, wherein the revolute joint comprises a first component and a second component, the second component being rotatable relative to the first component about a first rotation axis, the force balancing device comprising:

[0005] an output mechanism for providing an output force in a first direction, wherein the output force is used to compensate for a moment of the biasing force on the second component relative to the first rotation axis; and

[0006] The linkage mechanism includes a first connection part, a second connection part and a third connection part, the third connection part is connected to the first connection part and the second connection part respectively, the first connection part and the second connection part are used to be connected to the output mechanism so that the output force is transmitted to the first connection part or the second connection part, the first connection part can apply a first torque to the third connection part under the action of the output force, and the second connection part can apply a second torque to the third connection part under the action of the output force, the directions of the first torque and the second torque are opposite, and the third connection part is used to be connected to the second component so that the first torque or the second torque is transmitted to the second component.

[0007] Optionally, the third connecting portion is rotatable relative to the first component about a second rotation axis and is capable of being in a first position and a second position relative to the first component.

[0008] When the third connection part is in the first position, the output mechanism transmits the output force to the first connection part, so that the first connection part applies the first torque to the third connection part;

[0009] When the third connection part is in the second position, the output mechanism transmits the output force to the second connection part, so that the second connection part applies the second torque to the third connection part.

[0010] Optionally,

[0011] The first connection portion includes a first flexible member, one end of the first flexible member is used to be connected to the output mechanism, the other end of the first flexible member is connected to the third connection portion, and the first flexible member is partially wrapped around the third connection portion;

[0012] The second connecting portion includes a second flexible member, one end of the second flexible member is used to be connected to the output mechanism, the other end of the second flexible member is connected to the third connecting portion, and the second flexible member is partially wrapped around the third connecting portion;

[0013] Wherein, the winding direction of the second flexible member on the third connection portion is opposite to the winding direction of the first flexible member on the third connection portion.

[0014] Optionally, the linkage mechanism further includes a first steering member,

[0015] The first flexible member is partially wound around the first steering member, and the winding direction of the first flexible member on the first steering member is opposite to the winding direction of the first flexible member on the third connecting portion, and

[0016] The second flexible member is partially wound around the first steering member, and a winding direction of the second flexible member around the first steering member is opposite to a winding direction of the second flexible member around the third connecting portion.

[0017] Optionally, the first diverter member comprises a pulley.

[0018] Optionally, the first connecting portion further includes a first acting member connected to the one end of the first flexible member, and the second connecting portion further includes a second acting member connected to the one end of the second flexible member.

[0019] When the third connecting portion is in the first position, the first acting member acts on the output mechanism, and the second acting member is separated from the output mechanism; when the third connecting portion is in the second position, the second acting member acts on the output mechanism, and the first acting member is separated from the output mechanism.

[0020] Optionally, the rotation of the third connecting portion can drive the first acting member and the second acting member to move in opposite directions relative to the third connecting portion;

[0021] The output mechanism includes an action surface, the direction of the action surface is the same as the first direction, and the action surface is used to interfere with the first action member or the second action member.

[0022] Optionally, the output mechanism further includes a first elastic member and a traction member, the first elastic member is connected to the traction member, the traction member can move relative to the third connection part to deform the first elastic member, the output force is at least partially generated by the deformation of the first elastic member, and the traction member includes the action surface.

[0023] Optionally, the linkage mechanism further includes a second steering member and a third flexible member, one end of the third flexible member is connected to the first connecting portion, the other end of the third flexible member is connected to the second connecting portion, and the third flexible member is partially wrapped around the second steering member.

[0024] Optionally, the second diverter comprises a pulley.

[0025] Optionally,

[0026] The force balancing device further includes a second elastic member;

[0027] The second steering member is connected to the second elastic member. The second steering member can translate relative to the third connecting portion under the action of the second elastic member, so that the third flexible member is tensioned.

[0028] Optionally, the second elastic member is configured as a spring, and the force balancing device further comprises:

[0029] a guide shaft, wherein the second elastic member is movably sleeved on the guide shaft; and

[0030] An auxiliary sliding member is movably sleeved on the guide shaft and connected to the end of the second elastic member, and the second steering member is mounted on the auxiliary sliding member.

[0031] Optionally, the third connecting portion is configured as a profile cam.

[0032] Optionally,

[0033] The output mechanism includes at least one first elastic member, the free end of the first elastic member is used to connect to the involvement mechanism, and the output force is at least partially generated by deformation of the first elastic member; or

[0034] The output mechanism includes a counterweight block and a fourth flexible transmission member, the fourth flexible transmission member connects the counterweight block and the involvement mechanism, and the output force is at least partially generated by the gravity of the counterweight block.

[0035] Optionally, the first elastic member is configured as one of a compression spring, a tension spring and a coil spring.

[0036] Optionally, the output mechanism includes a plurality of coil springs, and the plurality of coil springs are connected in series.

[0037] Optionally, the output mechanism further includes a guide rail and a connecting assembly, the guide rail is fixed relative to the third connecting portion, two adjacent coil springs are connected via the connecting assembly, and the connecting assembly is movably disposed on the guide rail.

[0038] Optionally, the connecting assembly includes a first support member and a second support member, the first support member is movably arranged on the guide rail, the first support member is used to abut one of the two adjacent coil springs, the second support member is rotatable relative to the first support member around the axis of the coil spring, and the second support member is used to abut the other of the two adjacent coil springs.

[0039] Optionally, the first supporting member includes an annular portion, the second supporting member includes a shaft portion, the annular portion is sleeved on the shaft portion, and the shaft portion and the annular portion are connected via a bearing.

[0040] A second aspect of the present application provides a force balancing device for use with a device having a revolute joint, wherein the revolute joint comprises a first component and a second component, the second component being rotatably connected to the first component about a first rotation axis, the force balancing device comprising:

[0041] a first elastic member, one end of which is fixed relative to the first component; and

[0042] a third connecting portion, the third connecting portion being configured to be connected to the second component, the third connecting portion being rotatable relative to the first component about a second rotation axis;

[0043] a first flexible member, one end of the first flexible member being connected to the other end of the first elastic member, the other end of the first flexible member being connected to the third connecting portion, and the first flexible member being partially wound around the third connecting portion; and

[0044] a second flexible member, one end of the second flexible member being connected to the other end of the first elastic member, the other end of the second flexible member being connected to the third connecting portion, and the second flexible member being partially wound around the third connecting portion;

[0045] Wherein, the winding direction of the second flexible member on the third connection portion is opposite to the winding direction of the first flexible member on the third connection portion.

[0046] Optionally, the force balancing device further includes a first steering member,

[0047] The first flexible member is partially wound around the first steering member, and the winding direction of the first flexible member on the first steering member is opposite to the winding direction of the first flexible member on the third connecting portion, and

[0048] The second flexible member is partially wound around the first steering member, and a winding direction of the second flexible member around the first steering member is opposite to a winding direction of the second flexible member around the third connecting portion.

[0049] Optionally, the first diverter member comprises a pulley.

[0050] Optionally, the force balancing device further comprises a first acting member and a second acting member, wherein the first acting member is connected to one end of the first flexible member, and the second acting member is connected to one end of the second flexible member.

[0051] When the third connecting portion is in the first position, the first acting member acts on the first elastic member, and the second acting member is separated from the first elastic member; when the third connecting portion is in the second position, the second acting member acts on the first elastic member, and the first acting member is separated from the first elastic member.

[0052] Optionally, the rotation of the third connecting portion can drive the first acting member and the second acting member to move in opposite directions relative to the third connecting portion;

[0053] The force balancing device further includes a traction member, to which the other end of the first elastic member is connected. The traction member is movable relative to the third connection portion to deform the first elastic member, and is configured to interfere with the first acting member or the second acting member.

[0054] Optionally, the force balancing device further includes a second steering member and a third flexible member, one end of the third flexible member is connected to the first flexible member, the other end of the third flexible member is connected to the second flexible member, and the third flexible member is partially wrapped around the second steering member.

[0055] Optionally, the second diverter comprises a pulley.

[0056] Optionally,

[0057] The force balancing device further includes a second elastic member;

[0058] The second steering member is connected to the second elastic member. The second steering member can translate relative to the third connecting portion under the action of the second elastic member, so that the third flexible member is tensioned.

[0059] Optionally, the second elastic member is configured as a spring, and the force balancing device further comprises:

[0060] a guide shaft, wherein the second elastic member is movably sleeved on the guide shaft; and

[0061] An auxiliary sliding member is movably sleeved on the guide shaft and connected to the end of the second elastic member, and the second steering member is mounted on the auxiliary sliding member.

[0062] Optionally, the third connecting portion is configured as a profile cam.

[0063] A third aspect of the present application provides a force balancing system, comprising:

[0064] first component;

[0065] a second component rotatable relative to the first component about a first rotation axis; and

[0066] The force balancing device according to any one of the technical solutions of the first and second aspects,

[0067] The third connecting portion is connected to the second component so that the third connecting portion moves under the driving of the second component.

[0068] Optionally, the third connection portion is rotatable relative to the first component around a second rotation axis.

[0069] Optionally, the second rotation axis is colinear with the first rotation axis.

[0070] Optionally, the third connecting portion is rigidly connected to the second component.

[0071] Optionally, the third connecting portion is transmission-connected to the second component.

[0072] Optionally, it is characterized in that the force balancing system is a robotic arm, and the robotic arm includes at least two rotatably connected connecting arms, wherein the first component and the second component are the connecting arms.

[0073] A fourth aspect of the present application provides a medical assistance system, characterized in that it includes a force balancing system according to the technical solution of the third aspect, wherein the force balancing system is a robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The following drawings of the present application are used as part of the present application for understanding the present application. The drawings show representative embodiments of the present application and are used to explain the principles of the present application rather than to limit the present application.

[0075] In the attached figure:

[0076] Figure 1 is a schematic diagram of a slave operating device of a medical assistance system according to a specific embodiment of the present application;

[0077] Figure 2 Schematic diagrams of the working principle of a force balancing device according to a specific embodiment of the present application, wherein (a) is a schematic diagram of an operating state in which a second torque is used to compensate for a torque generated by a bias force of a second component, (b) is a schematic diagram of a zero position state, and (c) is a schematic diagram of an operating state in which a first torque is used to compensate for a torque generated by a bias force of a second component;

[0078] Figure 3 is a schematic diagram of a force balancing system according to a specific embodiment of the present application;

[0079] Figure 4 for Figure 3 An exploded schematic diagram of the force balance system shown;

[0080] Figure 5 for Figure 4 A schematic diagram of the auxiliary tensioning portion is shown;

[0081] Figure 6 for Figure 4 An enlarged schematic diagram of the output mechanism shown;

[0082] Figure 7 for Figure 4 Schematic diagram of the exploded output mechanism shown;

[0083] Figure 8 for Figure 4 Schematic cross-sectional view of the output mechanism shown.

[0084] Description of reference numerals:

[0085] 10: First component 11: Shell

[0086] 12: Accommodation space 13: Opening 20: Second component 30: Output mechanism / spring module 31 / 31A / 31B / 31C: First elastic member / coil spring 32: First base

[0087] 33: Third guide assembly 33A: Guide rail

[0088] 33B: Slider 34: Limiting piece

[0089] 35: Connecting part 36: Force bearing part

[0090] 37: traction part 38: limit part

[0091] 39: Force application part 40: Connection component / rotation pair 43: Auxiliary support 46: First support

[0092] 46A: Connector 46B: Ring

[0093] 46C: First bearing surface 46D: First limiting protrusion

[0094] 48: Bearing 49: Second support

[0095] 49A: Annular flange 49B: Shaft 49C: Second bearing surface 49D: Second limiting protrusion

[0096] 50: Linkage mechanism / transmission module 51: First flexible member

[0097] 52: second flexible member 53: third flexible member

[0098] 54: first flexible part 1 55: first flexible part 2 56: The first part of the second flexible member 57: The second part of the second flexible member 59: First steering member 61: First action member

[0099] 62: Second action member 63: Third connection part

[0100] 64: Second connection part 65: First connection part

[0101] 68: First guide assembly 68A: First guide

[0102] 68B: First slider 69: Second guide assembly

[0103] 69A: Second guide 69B: Second slider

[0104] 70: force transmission part 80: auxiliary tensioning part

[0105] 81: Second base 82: Second elastic member

[0106] 83: Guide shaft 84: Second steering member / movable pulley 88: Auxiliary sliding member 89: Auxiliary guide member

[0107] 90: Drive components / motor 100: From operating equipment

[0108] 110: Base 120: Vertical adjustment joint

[0109] 130: First rotation adjustment joint 140: Horizontal adjustment joint

[0110] 150: Second rotation adjustment joint 160: Deflection arm

[0111] 170: Pitch arm 171: First connecting arm

[0112] 172: Second connecting arm 180: Arm holding arm

[0113] 181: Casing 200: Force balancing device

[0114] 300: Force balance system D1: First direction

[0115] DC1: First circumferential direction / first rotational direction

[0116] DC2: second circumferential direction / second rotational direction DS1: axial direction of the first elastic member

[0117] DS2: Axial direction of the second elastic member PA1: First rotation axis

[0118] PA2: Second axis of rotation DETAILED DESCRIPTION

[0119] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described in order to avoid confusion with the present application.

[0120] In order to thoroughly understand the present application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.

[0121] Ordinal numbers such as "first" and "second" used in this application are merely identifiers and do not convey any other meaning, such as a specific order. Furthermore, for example, the term "first component" itself does not imply the existence of a "second component," nor does the term "second component" itself imply the existence of a "first component." The use of terms such as "first," "second," and "third" does not indicate any order; these terms should be interpreted as names.

[0122] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0123] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0124] Unless otherwise stated, numerical ranges herein include not only the entire range between its two endpoints but also the several sub-ranges contained therein.

[0125] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0126] In some devices (such as industrial robots, medical robots, etc.), various joints are usually provided to provide a certain degree of freedom of movement for the end effector of the device to perform translation, rotation and other actions. For example, in a robotic arm, it usually includes multiple connecting arms, and two adjacent connecting arms can be connected by a rotating joint to achieve relative rotation and / or connected by a linear joint to achieve relative translation, so that the end of the robotic arm can have one or more degrees of freedom to perform predetermined operations. In some application scenarios, the movable parts of these joints may be subjected to continuous forces. For example, when the movement direction or component of the movement direction provided by these joints includes a vertical direction, the movement of the joints is greatly affected by gravity. In order to make the operation of the joint movement (which can be manual or motorized) more labor-saving and smooth, corresponding compensation mechanisms are usually provided for these joints to partially or fully compensate for the effects of the above-mentioned forces.

[0127] like Figure 1 The figure shows a slave operating device 100 in a medical assistance system, such as a patient-side robotic arm of a surgical robot. The medical assistance system may also include a master operating device (not shown in the figure), which may also be referred to as a doctor's console. The slave operating device 100 communicates with the master operating device to achieve master-slave remote control. The medical assistance system may also include an imaging-display device (not shown in the figure), which may be independently provided and communicate with the slave operating device 100 and the master operating device, or may be integrated into the slave operating device 100 and / or the master operating device.

[0128] The slave operating device 100 may include a base 110, an adjustment mechanism, and an operating mechanism connected in sequence. The operating mechanism is used to mount surgical instruments and manipulate the surgical instruments to perform surgical operations. The adjustment mechanism is used to adjust the position and / or orientation of the operating mechanism before surgery.

[0129] exist Figure 1 In the illustrated example, the base 110 can be placed on the ground. For example, the bottom of the base 110 can be provided with wheels for easy movement. In some examples not shown, the base can also be hung from a wall or ceiling. For example, the base can be mounted on a wall or ceiling via rails for easy movement. In other examples not shown, the base can also be mounted on an operating table or integrated into the operating table.

[0130] exist Figure 1 In the example shown, the adjustment mechanism includes a vertical adjustment joint 120, a first rotation adjustment joint 130, a horizontal adjustment joint 140 and a second rotation adjustment joint 150 connected in sequence. The vertical adjustment joint 120 and the horizontal adjustment joint 140 can be constructed as linear joints, and the movement directions of the two can be optionally perpendicular to each other. The rotation axis of the first rotation adjustment joint 130 and the second rotation adjustment joint 150 can be parallel to the movement direction of the vertical adjustment joint 120. The movement of the above-mentioned adjustment joints can achieve the adjustment of the position and / or orientation of the operating mechanism. In some examples not shown, the horizontal adjustment joint 140 can be replaced by at least one rotation adjustment joint. In other examples not shown, the adjustment mechanism can include more linear joints and / or rotation joints, or omit some joints.

[0131] exist Figure 1In the illustrated example, the operating mechanism is configured as a robotic arm, comprising a yaw arm 160, a pitch arm 170, and a gripper arm 180, connected in sequence. The yaw arm 160 is used to drive the gripper arm 180 to rotate about a yaw axis. The pitch arm 170 is used to drive the gripper arm 180 to rotate about a pitch axis. The gripper arm 180 is used to mount one or more surgical instruments. The surgical instruments can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, or vascular occluders. They can also be cameras used to capture images of the surgical area, such as endoscopes. They can also be other surgical instruments. A cannula 181 is provided on the gripper arm 180. The cannula 181 is designed to be inserted into a small orifice in the human body. The surgical instrument passes through the cannula 181 and enters the abdominal or thoracic cavity to perform the surgical procedure. The yaw and pitch axes intersect at a predetermined position on the cannula 181, ensuring that the operating mechanism never deviates from this predetermined position when driving the surgical instruments. This means that pitch and / or yaw movements are centered around this predetermined point. When cannula 181 is inserted into the human body, this predetermined position is aligned with the small hole in the human body, thereby preventing non-surgical trauma to the human body. This predetermined position can also be called the remote center of motion (RCM). The robotic arm 180 can be provided with a drive device (not shown) for driving the surgical instrument to perform actions such as insertion and rotation (roll), as well as for driving the surgical instrument's end effector to perform actions such as pitch, yaw, and clamping.

[0132] exist Figure 1 In the example shown, the deflection axis can be set to the rotation axis of the second rotation adjustment joint 150, in which case the rotation axis passes through a predetermined position of the sleeve 181. The deflection arm 160 is connected to the second rotation adjustment joint 150, so that the deflection arm 160 can rotate about the rotation axis of the second rotation adjustment joint 150, thereby driving the robotic arm 180 to deflect about the rotation axis of the second rotation adjustment joint 150.

[0133] exist Figure 1In the illustrated example, the pitch arm 170 can be configured as a parallelogram motion mechanism. Specifically, the pitch arm can include a first connecting arm 171 and a second connecting arm 172. The first connecting arm 171 is rotatably connected to the yaw arm 160, the second connecting arm 172 is rotatably connected to the first connecting arm 171, and the arm 180 is rotatably connected to the second connecting arm 172. The first connecting arm 171, the second connecting arm 172, and the arm 180 are linked by a transmission mechanism. This ensures that when the first connecting arm 171 rotates relative to the yaw arm 160, the relative angle between the second connecting arm 172 and the yaw arm 160 remains unchanged, while the relative angle between the arm 180 and the first connecting arm 171 remains unchanged. This achieves parallelogram motion, allowing the arm 180 to pitch about the pitch axis. The transmission mechanism can employ a belt drive and / or a connecting rod drive, for example. In some examples not shown, the rotational joint between the first connecting arm 171 and the second connecting arm 172, as well as the rotational joint between the second connecting arm 172 and the robotic arm 180, can be omitted. In this case, the rotation axis of the first connecting arm 171 about the yaw arm 160 serves as the pitch axis. In other examples not shown, the pitch arm 170 can be constructed so that the joints are mechanically decoupled, and the kinematic coupling between the joints is achieved through software control, thereby enabling the robotic arm 180 to pitch about the pitch axis.

[0134] exist Figure 1 In the slave operating device 100 shown, the rotation axis of the rotation joint between the pitch arm 170 and the yaw arm 160 is perpendicular to the direction of gravity and is therefore greatly affected by gravity. It is usually necessary to set a compensation mechanism for such a rotation joint to reduce or eliminate the influence of gravity.

[0135] In some scenarios, one end of the cable is wound around the driving joint, and the other end of the cable is connected to the free end of the spring. When the joint rotates, the cable is wound or released, and the elastic force of the spring is used to provide the force required for compensation. However, the inventors found that since the spring can only generate tension on the cable, it can only provide a torque in the same direction as the cable winding direction, and the directions of the gravitational torques on both sides of the rotating joint in the neutral position are opposite. This type of solution cannot meet the compensation requirements of torques in different directions of the same joint. If two sets of cables wound in opposite directions are used, an additional set of springs is required, and when one set is in effect, the other set of cables will be loosened and cannot be constrained, posing a major safety hazard.

[0136] In other scenarios, a revolving joint is equipped with at least one static pulley and one movable pulley that rotates with the joint. These two pulleys are maintained at a certain distance from the joint's axis of rotation. A cable connects a spring to the two pulleys, and the two pulleys are arranged in a neutral position when they are radially aligned along the same diameter of the revolving joint. As the joint rotates, the distance between the two pulleys changes, causing the length of the cable wrapped around them to change as well. This change in cable length then changes the deformation of the spring. This allows compensation for two opposite gravitational moments on the same joint. However, the inventors have discovered that this solution requires sufficient space for the movable pulley to move, resulting in a large revolving joint. This compensation mechanism is unsuitable for use on the robotic arm of a slave operating device used to perform surgical procedures. This is because the robotic arm of the slave operating device is located close to the patient. If the robotic arm is too large, it is likely to interfere with the patient, other nearby medical equipment, and medical staff during movement, adversely affecting the accuracy and safety of the surgery.

[0137] Based on this, in order to overcome or improve at least one of the above problems, the present application proposes a force balancing device that can be used as a gravity compensation mechanism, which can be used to compensate or at least partially compensate for the torque generated by gravity on the rotary joint. In the present application, the rotary joint can be summarized as including a first component and a second component that can rotate relative to each other. For example, the second component is rotatable relative to the first component around a first rotation axis. In one example, the second component is rotatably connected to the first component around the first rotation axis. In the present application, there is no limitation on the specific form of the first component and the second component. In the application, the structure including the force balancing device and the rotary joint is referred to as a force balancing system 300.

[0138] It is understandable that the force balancing device of the present application can also be applied to other similar scenarios, and the torque is not necessarily caused by gravity, but can also be caused by other continuous forces, or by gravity and other continuous forces.

[0139] For Figure 1 In the illustrated revolute joint between the pitch arm 170 and the yaw arm 160, the torque is generated by the weight of the pitch arm 170 and the robotic arm 180. For ease of explanation, hereinafter, the yaw arm 160 is referred to as the first component 10 of the revolute joint, the combination of the pitch arm 170 and the robotic arm 180 is referred to as the second component 20 of the revolute joint, the axis about which the pitch arm 170 rotates about the yaw arm 160 is referred to as the first rotation axis PA1, and the weight of the pitch arm 170 and the robotic arm 180 is abstracted as a biasing force acting at a position offset from the rotation axis PA1 of the revolute joint.

[0140] for Figure 1In this application scenario, since the pitch arm 170 includes a rotatably connected first and second connecting arms 171 and 172, and the robotic arm 180 is rotatably connected to the second connecting arm 172, the position of the biasing force, abstracted from the gravity of the pitch arm 170 and the robotic arm 180, changes with the movement of the first and second connecting arms 171, 172, and robotic arm 180. Furthermore, since the kinematic coupling of the first and second connecting arms 171, 172, and robotic arm 180, for example, follows parallelogram motion, their motion trajectories are predictable and plannable, with a defined mathematical relationship. That is, for each rotation angle of the first connecting arm 171, the second connecting arm 172 and the robotic arm 180 have corresponding, defined positions and postures. Therefore, for each rotation angle of the second component 20 of the rotary joint, the position of the gravity acting on the second component can be calculated, ultimately yielding the torque to be compensated.

[0141] It is understandable that in other application scenarios, the gravity acting position of the second component 20 in the force balancing system 300 may also be constant relative to the second component 20 .

[0142] The design concept and optional implementation forms of the force balancing device of the present application will be exemplarily introduced below.

[0143] like Figure 2 As shown, the force balancing device 200 includes an output mechanism 30 and a coupling mechanism 50. The output mechanism 30 is configured to provide an output force along a first direction D1. The coupling mechanism 50 connects the output mechanism 30 and the second component 20 to transmit the output force of the output mechanism 30 to the second component 20. The coupling mechanism 50 is also referred to as a transmission module.

[0144] Specifically, the linkage mechanism 50 includes a first connection portion 65, a second connection portion 64, and a third connection portion 63. The third connection portion 63 is connected to the first connection portion 65 and the second connection portion 64, respectively. The first connection portion 65 and the second connection portion 64 are connected to the output mechanism 30, allowing the output force of the output mechanism 30 to be transmitted to the first connection portion 65 or the second connection portion 64. The first connection portion 65 can apply a first torque to the third connection portion 63 under the action of the output force. The second connection portion 64 can apply a second torque to the third connection portion 63 under the action of the output force. The first and second torques are in opposite directions. The third connection portion 63 is connected to a second component, allowing the first and second torques to be transmitted to the second component.

[0145] By selectively transmitting one of two torques in opposite directions to the second connecting portion 64 , it is possible to adapt to the situation where the directions of the gravity torques on the two sides of the revolute joint in the neutral position are opposite.

[0146] To enable force balancing device 200 to adapt to the movement of the revolute joint and provide corresponding compensation for changes in the position of application of the biasing force, at least a portion of linkage mechanism 50 is configured to move with the rotation of second component 20 about first rotation axis PA1. Thus, the movement of linkage mechanism 50 is linked to the movement of second component 20, allowing force balancing device 200 to respond at any time.

[0147] As the third connection portion 63 moves with the second component 20, the third connection portion 63 can be positioned in a first position and a second position relative to the first component 10. The first and second positions deviate from the neutral position of the third connection portion 63. When the third connection portion is in the first position, the output mechanism 30 transmits the output force to the first connection portion 65, causing the first connection portion 65 to apply a first torque to the third connection portion 63. When the third connection portion 63 is in the second position, the output mechanism 30 transmits the output force to the second connection portion 64, causing the second connection portion 64 to apply a second torque to the third connection portion 63.

[0148] exist Figure 2 In the example shown, the third connection portion 63 can be configured to rotate relative to the first component 10 around the second rotation axis PA2 as the second component 20 rotates around the first rotation axis PA1. That is, the rotation of the second component 20 around the first rotation axis PA1 drives the third connection portion 63 to rotate around the second rotation axis PA2. Figure 3 and Figure 4 As shown, the second rotation axis PA2 and the first rotation axis PA1 can be colinear, and the third connection portion 63 can be rigidly connected to the second component 20. It is understood that in other examples not shown, the second rotation axis PA2 and the first rotation axis PA1 can also be parallel, intersecting, or skewed; the third connection portion 63 and the second component 20 can be transmission-connected, for example, via gears, pulleys, etc. This application does not limit the specific connection method between the third connection portion 63 and the second component 20, as long as force / torque transmission can be achieved.

[0149] exist Figure 2 In the example shown, the first connecting portion 65 includes a first flexible member 51, one end of the first flexible member 51 is used to connect to the output mechanism 30, and the other end is connected to the third connecting portion 63, and the first flexible member 51 is partially wrapped around the third connecting portion 63. The first flexible member 51 includes a first flexible member first portion 54 and a first flexible member second portion 55 ( Figure 2 Not marked, see Figure 4 The first portion 54 of the first flexible member is wound around the third connecting portion 63 along the first circumferential direction DC1 , and the second portion 55 of the first flexible member is used to connect to the output mechanism 30 .

[0150] exist Figure 2In the example shown, the second connecting portion 64 includes a second flexible member 52, one end of the second flexible member 52 is used to connect to the output mechanism 30, and the other end is connected to the third connecting portion 63, and the second flexible member 52 is partially wrapped around the third connecting portion 63. The second flexible member 52 includes a second flexible member first portion 56 and a second flexible member second portion 57 ( Figure 2 Not marked, see Figure 4 The second flexible member first portion 56 is wound around the third connection portion 63 along the second circumferential direction DC2, and the second flexible member second portion 57 is used to connect to the output mechanism 30. The second circumferential direction DC2 is opposite to the first circumferential direction DC1.

[0151] See also Figure 2 In (b), the force balancing device 200 is in the zero position state. At this time, the output mechanism 30 has no force on the involvement mechanism 50, that is, the output force of the output mechanism 30 on the involvement mechanism 50 is zero. The position of the third connecting portion 63 in this zero position state is called the neutral position.

[0152] See also Figure 2 (c) When the third connecting portion 63 rotates clockwise (or in the first rotation direction DC1) by a certain angle relative to the neutral position and reaches the first position, the third connecting portion 63 further wraps around the first flexible member 51, causing the first flexible member 51 to interact with the output mechanism 30. The output force of the output mechanism 30 acts on the third connecting portion 63 through the first flexible member 51, generating a counterclockwise torque, i.e., the first torque. It will be understood that the extreme position reached by the third connecting portion 63 when rotating clockwise about the second rotation axis PA2 relative to the neutral position is the first extreme position. The first position may be any position between the first extreme position and the neutral position, or may be the first extreme position.

[0153] See also Figure 2 (a) When the third connecting portion 63 rotates counterclockwise (or in the second rotation direction DC2) by a certain angle relative to the neutral position and reaches the second position, the third connecting portion 63 further wraps around the second flexible member 52, causing the second flexible member 52 to interact with the output mechanism 30. The output force of the output mechanism 30 acts on the third connecting portion 63 through the second flexible member 52, generating a clockwise torque, i.e., the second torque. It will be understood that the extreme position reached by the third connecting portion 63 when rotating counterclockwise about the second rotation axis PA2 relative to the neutral position is the second extreme position. The second position can be any position between the second extreme position and the neutral position, or can also be the second extreme position.

[0154] Since the lengths of the first flexible member 51 and the second flexible member 52 are constant, the rotation of the third connecting portion 63 causes a change in the position of the first flexible member 51 and / or the second flexible member 52 in relation to the output mechanism 30. Therefore, the output mechanism 30 needs to be able to adapt to the change in the position of action and provide a continuous output force, so that the biasing force applied to the second component 20 at any rotation angle can be compensated.

[0155] In one example, the output mechanism 30 may include at least one first elastic member 31. The fixed end of the first elastic member 31 is fixed relative to the first component 10, and the free end of the first elastic member 31 is used to connect the involvement mechanism 50. The force output by the output mechanism 30 is at least partly the elastic force generated by the elastic deformation of the first elastic member 31. The free end of the first elastic member 31 can move with the movement of the involvement mechanism 50, thereby generating elastic deformation, and can continuously provide output force. When the output mechanism 30 includes multiple first elastic members, the multiple first elastic members can jointly provide output force in series, parallel, or a combination of series and parallel. The first elastic member can be constructed as one of a compression spring, a tension spring and a coil spring. The spring is low-cost, easy to obtain, stable in performance and responsive, and can achieve a better force compensation effect.

[0156] In another example, the output mechanism 30 may include a counterweight and a fourth flexible transmission member. The fourth flexible transmission member connects the counterweight and the linkage mechanism 50. The output force of the output mechanism 30 is generated at least in part by the weight of the counterweight. The fourth flexible transmission member can move with the movement of the linkage mechanism 50, and the output force is always provided by the counterweight.

[0157] Furthermore, the output mechanism 30 may further include a limit portion 38 for interfering with the movement of the free end of the first elastic member 31 or the fourth flexible transmission member. The limit portion 38 may be fixed relative to the first component 10. When the free end of the first elastic member 31 or the fourth flexible transmission member interferes with the limit portion 38, for example Figure 2 When the free end of the first elastic member 31 shown in (b) abuts against the limit portion 38, the output mechanism 30 does not output force to the linkage mechanism 50. Therefore, once the third connecting portion 63 deviates from its neutral position, the interference ceases, and the output mechanism 30 continues to provide output force to the linkage mechanism 50.

[0158] Based on the above basic concept, according to the optional embodiment of the force balancing device 200 of the present application and its Figure 1 For application scenarios of rotational joints in Figures 3 to 8 .

[0159] See also Figure 3 and Figure 4The force balancing system 300 is, for example, a robotic arm, and includes a first component 10, a second component 20, and a force balancing device 200. The first component 10 and the second component 20 are rotatably connected around a first rotation axis PA1, wherein the first component 10 corresponds to Figure 1 The deflection arm 160, the second component 20 corresponds to Figure 1 The force balancing device 200 is mounted on the first component 10, with the third connection portion 63 of the force balancing device 200 being rigidly connected to the second component 20. This means that the third connection portion 63 can rotate relative to the first component 10 about the first rotation axis PA1 along with the second component 20.

[0160] The first component 10 includes a first shell 11, which encloses a storage space 12. An opening 13 is provided on the first shell 11, and the opening 13 is connected to the storage space 12. The output mechanism 30 of the force balancing device 200 is installed in the storage space 12, and the involvement mechanism 50 of the force balancing device 200 is installed on the first shell 11 and is located outside the storage space 12, specifically arranged around the opening 13. One of the output mechanism 30 and the involvement mechanism 50 can interact with the other through the opening 13, or the two can interact at the opening. Further, the first component 10 can also include a second shell (not shown), which is used to shield the force balancing device 200 for protection. Further, a driving component 90 for driving the second component 20, such as a motor, can also be installed in the storage space 12, and the output shaft of the driving component 90 passes through the first shell 11 and is connected to the second component 20 and the third connecting portion 63.

[0161] See also Figure 4 The third connecting part 63 can be constructed as a roller (drum), and a guide groove (not marked) can be provided on the roller to guide the first flexible member 51 and the second flexible member 52 to be wound thereon. The diameter of the roller can be designed to be as large as possible, for example, equivalent to or slightly smaller than the width of the first component 10, which helps to increase the lever arm. The roller can also be provided with a mounting groove (not marked) for mounting and fixing the end of the first part 54 of the first flexible member and the end of the first part 56 of the second flexible member. Accordingly, the first flexible member 51 and the second flexible member 52 can be constructed as wires, ropes, belts, etc. For example, the first flexible member 51 and the second flexible member 52 can be made of steel wire ropes, which are not easily stretched and deformed when tensioned.

[0162] See also Figures 2 to 4The first connecting portion 65 further includes a first actuator 61 connected to the end of the second portion 55 of the first flexible member. The first actuator 61 is capable of interacting with the output mechanism 30 to transmit the output force of the output mechanism 30 to the first flexible member 51. The first actuator 61 is movable relative to the third connecting portion 63 along a straight line parallel to the first direction D1. When the third connecting portion 63 is wrapped around the first flexible member 51, the first flexible member 51 pulls the first actuator 61 to move. Optionally, to stably guide the movement of the first actuator 61, the linkage mechanism 50 may further include a first guide assembly 68. The first guide assembly 68 includes a first guide member 68A extending parallel to the first direction D1 and a first slider 68B slidably engaged with the first guide member 68A. The first guide member 68A may be configured, for example, as a slide rail, a slide groove, or a slide rod. The first actuator 61 is fixed to the first slider 68B. For example, the first actuator 61 may be configured as a protrusion on the outer surface of the first slider 68B.

[0163] See also Figures 2 to 4 The second connecting portion 64 further includes a second actuating member 62 connected to the end of the second portion 57 of the second flexible member. The second actuating member 62 is capable of interacting with the output mechanism 30 to transmit the output force of the output mechanism 30 to the second flexible member 52. The second actuating member 62 is movable relative to the third connecting portion 63 along a straight line parallel to the first direction D1. When the third connecting portion 63 is wrapped around the second flexible member 52, the second flexible member 52 pulls the second actuating member 62 to move. Optionally, to stably guide the movement of the second actuating member 62, the linkage mechanism 50 may further include a second guide assembly 69. The second guide assembly 69 includes a second guide member 69A extending parallel to the first direction D1 and a second slider 69B slidably engaged with the second guide member 69A. The second guide member 69A may be configured, for example, as a slide rail, a slide groove, or a slide rod. The second actuating member 62 is fixed to the second slider 69B. For example, the second actuating member 62 may be configured as a protrusion on the outer surface of the second slider 69B.

[0164] The first flexible member 51 , the second flexible member 52 , the third connecting portion 63 , the first acting member 61 and the second acting member 62 constitute a force transmission portion 70 of the linkage mechanism 50 , which is used to convert the output force of the output mechanism 30 into a torque and transmit it to the second component 20 .

[0165] The force balancing device 200 of the present application can realize dynamic compensation for the second component 20. Generally speaking, when the second component 20 is in a state where compensation is not required, for example, the position of the bias force acting on the second component 20 coincides with the line connecting the first rotation axis PA1 and the direction of the bias force. At this time, the bias force does not generate a torque on the second component 20, and there is no need to compensate for the torque. The force balancing device 200 is configured to be in a zero position state (see Figure 2(b)).

[0166] When the second component 20 starts to rotate in the first rotation direction DC1 from the position where no compensation is required, the biasing force acting on the second component 20 starts to generate a torque in the first rotation direction DC1. At the same time, the second component 20 drives the third connecting portion 63 to rotate in the first rotation direction DC1 from the neutral position, so that the third connecting portion 63 is in the first position relative to the first component 10 (see Figure 2 (c)). During this movement, the third connecting portion 63 will continue to wind around the first flexible member 51, causing the first acting member 61 to move and continuously act on the output mechanism 30. The output force of the output mechanism 30 simultaneously reacts on the first acting member 61. This force acts on the third connecting portion 63 through the first flexible member 51. In other words, the first connecting portion 65 can continuously apply a first torque to the third connecting portion 63 under the action of the output force. The direction of the first torque is opposite to the first rotational direction DC1. The third connecting portion 63 is connected to the second component 20, so that the first torque is transmitted to the second component 20 to compensate for the torque generated by the biasing force acting on the second component 20.

[0167] Similarly, when the second component 20 starts to rotate in the second rotation direction DC2 from the position where no compensation is required, the biasing force acting on the second component 20 starts to generate a torque in the second rotation direction DC2. At the same time, the second component 20 drives the third connecting portion 63 to rotate in the second rotation direction DC2 from the neutral position, so that the third connecting portion 63 is in the second position relative to the first component 10 (see Figure 2 (a)). During this movement, the third connecting portion 63 will continue to wind around the second flexible member 52, causing the second acting member 62 to move and continuously act on the output mechanism 30. The output force of the output mechanism 30 simultaneously reacts on the second acting member 62. This force acts on the third connecting portion 63 through the second flexible member 52. In other words, the second connecting portion 64 can continuously apply a second torque to the third connecting portion 63 under the action of the output force. The direction of the second torque is opposite to the second rotational direction DC2. The third connecting portion 63 is connected to the second component 20, so that the second torque is transmitted to the second component 20 to compensate for the torque generated by the biasing force acting on the second component 20.

[0168] Because the force balancing device 200 dynamically compensates for the second component 20, the torque generated by the biasing force acting on the second component 20 is promptly offset. Whether rotating the second component 20 by the driving component 90 or manually, the work required to overcome the torque generated by the second component 20 is greatly reduced, making operation easier. Furthermore, when no driving force is applied to the second component 20, the second component 20 can be maintained in a desired position.

[0169] In the examples of this application, see Figure 3and Figure 4 The first guide member 68A and the second guide member 69A are parallel to each other and are located on opposite sides of the opening 13. Generally, the distance between the first guide member 68A and the second guide member 69A is less than or equal to the width of the first component 10 so that they can be stably mounted on the first component 10. The first actuator 61 and the second actuator 62 are disposed between the first guide member 68A and the second guide member 69A, so that the first actuator 61 and the second actuator 62 can pass through the opening 13 and interact with the output mechanism 30.

[0170] Continue to see Figures 2 to 4 The first flexible member second portion 55 is connected to the first operating member 61 and extends at least partially parallel to the first guide member 68A to reduce friction between the first slider 68B and the first guide member 68A. The second flexible member second portion 57 is connected to the second operating member 62 and extends at least partially parallel to the second guide member 69A to reduce friction between the second slider 69B and the second guide member 69A. Because the distance between the first flexible member second portion 55 and the second flexible member second portion 57 is less than the diameter of the third connecting portion 63, a first deflection member 59 is required. The position of the first deflection member 59 is fixed relative to the third connecting portion 63. The first flexible member first portion 54 and the second flexible member first portion 56 are first wound around the first deflection member 59 and then wound around the third connecting portion 63. The winding direction of the first flexible member 51 around the first deflection member 59 is opposite to the winding direction of the first flexible member 51 around the third connecting portion 63. The winding direction of the second flexible member 52 around the first deflection member 59 is opposite to the winding direction of the second flexible member 52 around the third connecting portion 63. In addition, the first steering member 59 can also optimize the movement paths of the first flexible member 51 and the second flexible member 52 to prevent interference. In one example, the first steering member 59 can include a pulley, such as a fixed pulley mounted on the first housing 11 .

[0171] In the example of the present application, the first flexible member 51 and the second flexible member 52 share the same first steering member 59, and the diameter of the first steering member 59 is equivalent to the distance between the first flexible member second portion 55 and the second flexible member second portion 57. The axis of the first steering member 59 is parallel to the axis of the third connecting portion 63, and the plane defined by them is parallel to the first flexible member second portion 55 and the second flexible member second portion 57. In other examples not shown, separate first steering members may also be provided for the first flexible member 51 and the second flexible member 52.

[0172] It is understood that when the third connecting portion 63 is wound around the first flexible member 51 and releases the second flexible member 52, the output force is applied to the first flexible member 51, and the second flexible member 52 is not in the path for transmitting the output force. When the third connecting portion 63 is wound around the second flexible member 52 and releases the first flexible member 51, the output force is applied to the second flexible member 52, and the first flexible member 51 is not in the path for transmitting the output force. The first flexible member 51 or the second flexible member 52 that is not in the path for transmitting the output force is prone to falling off from the surface of the first deflection member 59 and / or the third connecting portion 63, affecting the operation of the entire force balancing device 200. To this end, the linkage mechanism 50 may also be provided with an auxiliary tensioning portion 80 to ensure that the first flexible member 51 and the second flexible member 52 are always tensioned.

[0173] In the examples of this application, see Figure 3 and Figure 4 The auxiliary tensioning portion 80 includes a second deflecting member 84 and a third flexible member 53. The ends of the third flexible member 53 connect the first flexible member second portion 55 of the first connecting portion 65 and the second flexible member second portion 57 of the second connecting portion 64, respectively. Simultaneously, the third flexible member 53 is partially wrapped around the second deflecting member 84, causing the first flexible member 51 and the second flexible member 52 to be tensioned by the second deflecting member 84 and the third connecting portion 63. The third flexible member 53 effectively connects the first flexible member 51 and the second flexible member 52 into a single flexible member. The ends of the flexible member are wound around the third connecting portion 63 in opposite directions. When one end is released from the third connecting portion 63, the other end is wound back by the third connecting portion 63. This ensures that the flexible member remains tensioned, i.e., it does not deviate from the predetermined motion path. In one example, the third flexible member 53 can be constructed as a wire, rope, or belt. For example, the first flexible member 51 and the second flexible member 52 can be made of steel wire rope, which is less susceptible to stretching and deformation during tensioning. In one example, the second deflecting member 84 can include a pulley.

[0174] When the third connecting portion 63 rotates along the first rotation direction DC1, the third connecting portion 63 further winds around the first flexible member 51, and the first acting member 61 moves toward the third connecting portion 63. Simultaneously, the third connecting portion 63 releases the second flexible member 52. With the assistance of the auxiliary tensioning portion 80, the second acting member 62 moves away from the third connecting portion 63, so that the second flexible member 52 remains in a tensioned state. When the third connecting portion 63 rotates along the second rotation direction DC2, the third connecting portion 63 further winds around the second flexible member 52, and the second acting member 62 moves toward the third connecting portion 63. Simultaneously, the third connecting portion 63 releases the first flexible member 51. With the assistance of the auxiliary tensioning portion 80, the first acting member 61 moves away from the third connecting portion 63, so that the second flexible member 51 remains in a tensioned state.

[0175] That is, with the assistance of the auxiliary tensioning portion 80, the rotation of the third connecting portion 63 can drive the first acting member 61 and the second acting member 62 to move in opposite directions relative to the third connecting portion 63. As a result, when the third connecting portion 63 is in the first position, the first acting member 61 acts on the output mechanism 30, and the second acting member 62 is separated from the output mechanism 30; when the third connecting portion 63 is in the second position, the second acting member 62 acts on the output mechanism 30, and the first acting member 61 is separated from the output mechanism 30.

[0176] The second steering member 84 , the first steering member 59 and the third connecting portion 63 are arranged in the same plane, and their axes are on the same plane.

[0177] In the example of the present application, the second steering member 84 is also configured to be movable relative to the third connecting portion 63. Figure 4 and Figure 5 As shown, the auxiliary tensioning portion 80 includes a second base 81, and a second steering member 84 is disposed on the second base 81. The second base 81 is disposed on the first shell 11 of the first component 10, and the second base 81 can also be considered as a part of the first component 10. The auxiliary tensioning portion 80 also includes a second elastic member 82, which is configured as a spring, for example. The second steering member 84 is connected to the second elastic member 82 so that the second elastic member 82 can apply a force to the second steering member 84. Driven by this force, the second steering member 84 can translate relative to the third connecting portion 63, thereby adjusting the first flexible member 51, the second flexible member 52, and the third flexible member 53 from a relaxed state to a tensioned state.

[0178] In other words, the second elastic member 82 is in a deformed state (stretched or compressed), and is thus ready to output elastic force to the second deflection member 84. Once any one of the first flexible member 51, the second flexible member 52, and the third flexible member 53 relaxes, the second deflection member 84 moves under the action of the second elastic member 82, causing the first flexible member 51, the second flexible member 52, and the third flexible member 53 to be re-tensioned.

[0179] As mentioned above, during the rotation of the second component 20, the pitch arm 170 and the gripper arm 180 have different positions and postures. The changes in the center of gravity caused by these changes in position and posture are superimposed on the changes in the center of gravity caused by the rotation of the second component 20. Therefore, if the guide groove of the third connecting portion 63 is set to a standard circle, it will be difficult to adapt to the changes in the torque required for compensation. Therefore, in the example of the present application, the third connecting portion 63 is modified according to the required torque arm for each rotation angle. That is, the third connecting portion 63 is constructed as a modified cam, and the guide groove extends along the outer periphery of the cam to meet the requirements of gravity torque compensation at each angle and posture. However, the design of the modified cam causes the amount of change in the first flexible member 51 and the amount of change in the second flexible member 52 when the third connecting portion 63 rotates to be different. Therefore, the fixed second steering member 84 cannot accommodate the difference in the amount of change, causing the third flexible member 53 and the first flexible member 51 or the second flexible member 52 to fall out of the guide groove of the third connecting portion 63. Therefore, such problems can be overcome by arranging the second deflection member 84 to be movable relative to the third connecting portion 63 and to always be subjected to the force of the second elastic member 82 .

[0180] The third flexible member 53 is wrapped around the second deflection member 84, and the second elastic member 82 applies a preload to the third flexible member 53. When the first and second flexible members 51, 52 move at different rates, the second deflection member 84 moves away from the third connecting portion 63, preventing loosening and slipping out of the slot. Furthermore, the distance the second deflection member 84 moves is only half of the excess length, achieving a greater storage efficiency while using a smaller space.

[0181] like Figure 5 As shown, the second elastic member 82 is constructed as a spring, and the auxiliary tensioning part 80 also includes a guide shaft 83 and an auxiliary sliding member 88. The guide shaft 83 is provided on the second base 81 and extends along the axial direction DS2 of the spring. The spring is movably mounted on the guide shaft 83. The auxiliary sliding member 88 is movably mounted on the guide shaft 83 and connected to the end of the spring, and the second steering member 84 is mounted to the auxiliary sliding member 88. A limiting protrusion is provided at the end of the guide shaft 83, and the other end of the spring abuts against or is connected to the limiting protrusion. The movement of the auxiliary sliding member 88 on the guide shaft 83 can change the deformation amount of the spring. Conversely, the elastic force of the spring can also drive the auxiliary sliding member 88 to move on the guide shaft 83, so that the auxiliary sliding member 88 reaches a force balance state.

[0182] Furthermore, the auxiliary tensioning portion 80 includes an auxiliary guide member 89 disposed on the second base 81. The auxiliary guide member 89 extends parallel to the guide shaft 83. The auxiliary sliding member 88 slidably engages with the auxiliary guide member 89. The auxiliary guide member 89 may be configured as a slide rail, a slide groove, or a slide rod. Specifically, the auxiliary sliding member 88 includes a collar portion adapted to mate with the guide shaft 83 and a slider portion adapted to mate with the auxiliary guide member 89. Both portions may be integrally formed. A second deflection member 84 is disposed on the slider portion.

[0183] See also Figure 4 and Figures 6 to 8 , the output mechanism 30 can be constructed as a spring module.

[0184] like Figures 6 to 8 As shown, the output mechanism 30 includes a first base 32 and at least one first elastic member 31. The first elastic member 31 is disposed on the first base 32. The first base 32 is fixed to the first component 10. The first base 32 may also be a part of the first component 10. For example, the first base 32 is mounted in the accommodating space 12, and the first elastic member 31 is exposed from the opening 13 to enable connection with the engagement mechanism 50. The first base 32 is fixed relative to the third connecting portion 63. The first elastic member 31 is deformable in the first direction D1.

[0185] The output mechanism 30 also includes a traction member 37 and a stopper 34. A first elastic member 31 is disposed between the traction member 37 and the stopper 34. Changes in the distance between the traction member 37 and the stopper 34 cause changes in the deformation of the first elastic member 31, thereby varying the output force. In this example, the first elastic member 31 is a coil spring, with the axial direction DS1 of the coil spring parallel to the first direction D1. To reduce the footprint of the output mechanism 30, the output force is provided by compressing the coil spring.

[0186] The traction member 37 and the limiting member 34 are respectively disposed at both ends of the first elastic member 31 along the axial direction DS1. The limiting member 34 is configured to interact with the first elastic member 31 to maintain the second axial end (fixed end) of the first elastic member 31 in a fixed position. The limiting member 34 can be mounted to the first base 32 or the first component 10. The traction member 37 is configured to be movable relative to the limiting member 34 along the axial direction DS1 of the first elastic member 31, thereby moving the first end (free end) of the first elastic member 31, thereby deforming the first elastic member 31.

[0187] As previously mentioned, the output mechanism 30 may further include a stopper 38. The stopper 38 is provided corresponding to the free end of the first elastic member 31. When the free end of the first elastic member 31 interferes with the stopper 38, the output mechanism 30 does not output force to the linkage mechanism 50. The stopper 38 may be fixed to the first base 32 or the first component 10.

[0188] The output mechanism 30 may further include a third guide assembly 33. The third guide assembly 33 may be used to guide the traction member 37 to move along the axial direction DS1 of the first elastic member 31. It is understood that in the force balancing device 200, the traction member 37 moves along the axial direction DS1 of the first elastic member 31 under the action of the first actuating member 61 or the second actuating member 62.

[0189] The third guide assembly 33, for example, includes a guide rail 33A and a slider 33B. The guide rail 33A is fixedly mounted on the first base 32 and extends along the axial direction DS1 of the first elastic member 31. Therefore, the guide rail 33A is fixed relative to the third connection portion 63. The slider 33B slidably engages with the guide rail 33A. The traction member 37 is connected to the slider 33B so as to be guided to move along the axial direction DS1 of the first elastic member 31. The guide rail 33A can be configured as a slide rail, a slide groove, a slide rod, or the like.

[0190] The traction member 37 may include a force-bearing portion 36 and a force-applying portion 39. The force-bearing portion 36 and the force-applying portion 39 may be connected by a connector (e.g., a bolt) or may be integrally formed. Under the action of an external force, the traction member 37 applies a force to the first elastic member 31, thereby deforming the first elastic member 31. The external force may be applied, for example, by the first action member 61 or the second action member 62. The force-bearing portion 36 of the traction member 37 is used to receive the external force, and the force-applying portion 39 of the traction member 37 is used to apply the force to the first elastic member 31. The force-applying portion 39 is connected to the third guide assembly 33 and moves along the axial direction DS1 of the first elastic member 31 under the guidance of the third guide assembly 33. Simultaneously, the force-applying portion 39 is connected to the first end of the first elastic member 31, so that the force-applying portion 39 can deform the first elastic member 31. When the force-applying portion 39 abuts against the limiting portion 38, the output mechanism 30 does not output any force to the linkage mechanism 50.

[0191] Optionally, the traction member 37 may further include a connecting portion 35 for connecting the force-applying portion 39 and the force-receiving portion 37. The connecting portion 35 has a length extending along the axial direction DS1 of the first elastic member 31 and a thickness perpendicular to the axial direction DS1 of the first elastic member 31. The force-applying portion 39 and the force-receiving portion 37 are respectively connected to both ends of the connecting portion 35 along the length and are respectively arranged on both sides of the connecting portion 35 along the thickness, so as to facilitate the interference of the force-receiving portion 37 with the first action member 61 and the second action member 62, and to facilitate the force-applying portion 39 to apply a uniform force to the first elastic member 31.

[0192] As previously described, the rotation of the third connecting portion 63 can drive the first and second operating members 61, 62 to move in opposite directions relative to the third connecting portion 63. To this end, the output mechanism 30 includes an operating surface 36A, which is oriented in the same direction as the first direction D1. The operating surface 36A is configured to interfere with the first and second operating members 61, 62. It is understood that the traction member 37 includes an operating surface 36A. For example, the operating surface 36A is disposed on the force-bearing portion 36, configured to interfere with the first and second operating members 61, 62. It is understood that the operating surface 36A is configured to receive external forces that may cause deformation of the first elastic member 31.

[0193] Also refer to Figure 2 In the zero position of the force balancing device 200, the first and second actuating members 61 and 62 are in critical contact with the force-bearing portion 36 of the traction member 37. When the second component 20 rotates, one of the first and second flexible members 51 and 52 is wound and the other is released, causing the first and second actuating members 61 and 62 to move in opposite directions along the axial direction DS1 of the first elastic member 31. One of the first and second actuating members 61 and 62 presses against the actuating surface 36A, thereby applying force to the force-bearing portion 36 and driving the traction member 37 to move along the axial direction DS1 of the first elastic member 31 toward the limiting member 34, causing the first elastic member 31 to deform and output force to the linkage mechanism 50.

[0194] Because the rotation angle of the second component 20 can be large, for example, reaching 180° clockwise or 180° counterclockwise, the cable winding length is long, so the distance that the first elastic member 31 can be compressed must also be relatively long. Conventional springs have a preset compression length ratio. When the compression length is large, deflection occurs, causing the compression force to differ from the expected value and even risk of collapse. Therefore, to meet the long-stroke compression amount and avoid deflection, the output mechanism 30 includes multiple first elastic members 31 connected in series parallel to the guide rail 33A. The first elastic members 31 are configured as coil springs, that is, multiple short springs are connected by a rigid connecting assembly. While the total compression amount remains unchanged, the total compression amount is evenly distributed among the various short springs. For a single short spring, the spring's aspect ratio is greatly reduced, greatly reducing the possibility of compression deflection. Optionally, the multiple first elastic members 31 can be configured as identical coil springs to facilitate design and assembly. Of course, the multiple first elastic members 31 can also be different, for example, having different lengths and / or elastic coefficients.

[0195] The output mechanism 30 also includes at least one connecting assembly 40, which connects two adjacent coil springs 31. The connecting assembly 40 is movably mounted on the guide rail 33A. For example, the connecting assembly 40 is connected to the slider 33B, thereby movably connecting to the guide rail 33A. Under the action of the connecting assembly 40, each coil spring 31 can be guided to expand and contract along the extension direction of the guide rail 33A.

[0196] When the coil spring 31 expands and contracts, its two ends generate relative rotational motion. This causes the opposite ends of two adjacent coil springs 31 to also generate relative rotational motion. In order for the coil spring 31 to expand and contract along a trajectory close to the theoretical one, it is necessary to ensure that the two ends of the coil spring 31 have relative rotational freedom. To this end, the connecting assembly 40 can be configured as a revolute pair, with the rotation axis of the revolute pair coinciding with the axis of the coil spring 31. Optionally, the connecting assembly 40 includes a first support member 46 and a second support member 49 that are rotatably connected relative to each other. The first support member 46 is configured to abut one of the two adjacent coil springs 31, and the second support member 49 is configured to abut the other of the two adjacent coil springs 31. For example, the first support member 46 is movably connected to the guide rail 33A, such as fixed to the slider 33B, and the second support member 49 is rotatably connected to the first support member 46 about the axis of the coil spring 31. Each coil spring 31 is connected to the first support member 46 of one connecting assembly 40 at one end and to the second support member 49 of another connecting assembly 40 at the other end, thereby enabling relative rotation of the two ends of the coil spring 31.

[0197] Optionally, the connecting assembly 40 further includes a bearing 48, through which the first support member 46 and the second support member 49 are connected. The use of the bearing can reduce the resistance to rotation of the spring 31, preventing the rotational resistance from affecting the final axial output force, thereby improving the output accuracy of the output mechanism 30. The bearing 48 is configured to withstand both axial and radial loads, and can be configured, for example, as an angular contact ball bearing, a thrust ball bearing, or a cross roller bearing.

[0198] The first support member 46 guides the deformation of the coil spring 31. The first support member 46 can be provided corresponding to the coil spring 31. The first support member 46 is connected to both the coil spring 31 and the third guide assembly 33. Guided by the third guide assembly 33, the first support member 46 can move along the axial direction DS1 of the coil spring 31, thereby driving the coil spring 31 to move along the axial direction DS1, thereby deforming the coil spring 31 axially. For example, the third guide assembly 33 includes a plurality of sliders 33B, which are arranged sequentially on the guide rail 33A along the axial direction DS1 of the coil spring 31. Each first support member 46 is connected to a slider 33B of the third guide assembly 33, thereby moving synchronously with the slider 33B.

[0199] Specifically, the first support member 46 is configured with a first bearing surface 46C, which is configured to interact with the coil spring 31 in a direction parallel to the coil spring's axis DS1. A first limiting protrusion 46D is also provided on the first bearing surface 46C, which is configured to limit movement of the coil spring 31 in a direction perpendicular to the coil spring's axis (perpendicular to direction DS1). The radial cross-section of the first bearing surface 46C and the first limiting protrusion 46D can be configured to be L-shaped. The first limiting protrusion 46D can enter the inner ring of the first elastic member 31, or the first elastic member 31 can enter the inner ring of the first limiting protrusion 46D; the first bearing surface 46C interacts with the axial end face of the first elastic member 31.

[0200] More specifically, the first support member 46 also includes a cylindrical annular portion 46B that tightly fits the outer ring of the bearing 48. The first bearing surface 46C is the axial end surface of the annular portion 46B. Thus, the first support member 46 is connected to one end of the coil spring 31 (e.g., the lower end of the second coil spring 31B). Furthermore, the first support member also includes a connector 46A connected to the annular portion 46B. The connector 46A is connected to the slider 33B, thereby connecting the first support member 46 to the guide rail 33A.

[0201] The second support member 49 can also be provided corresponding to the coil spring 31. Accordingly, the second support member 49 is provided with a shaft portion 49B at one end in the axial direction DS1 (the first end of the second support member, the upper end in the figure). The annular portion 46B of the first support member 46 is movably mounted on the shaft portion 49B. The shaft portion 49B can be tightly fitted with the inner ring of the bearing 48. That is, the shaft portion 49B and the annular portion 46B are connected through the bearing 48.

[0202] The second support member 49 has a second bearing surface 49C at its other end in the axial direction DS1 (the second end of the second support member, the lower end in the figure). This second bearing surface 49C is configured to interact with the coil spring 31 in a direction DS1 parallel to the axis of the coil spring 31. A second limiting protrusion 49D is provided on the second bearing surface 49C to limit movement of the coil spring 31 in a direction perpendicular to the axis of the coil spring 31 (perpendicular to direction DS1). The radial cross-section of the second bearing surface 49C and the second limiting protrusion 49D can be L-shaped. The second limiting protrusion 49D can enter the inner race of the coil spring 31, or the coil spring 31 can enter the inner race of the second limiting protrusion 49D. The second bearing surface 49C interacts with the axial end surface of the coil spring 31. For example, the second support member 49 includes an annular flange 49A that projects radially outward from the shaft portion 49B. The side of the annular flange 49A facing away from the annular portion 46B serves as the second bearing surface 49C.

[0203] In addition to contacting the inner and outer races of the bearing 48, the second support member 49 and the first support member 46 also sandwich the bearing 48 between the second support member 49 and the first support member 46 along the axial direction DS1 of the coil spring 31. Optionally, the connection assembly 40 may further include a retaining ring (not shown) to prevent the bearing 48 from moving axially.

[0204] It can be understood that the structures or positions of the first support member 46 and the second support member 49 can also be interchanged and can play the same role.

[0205] Under the action of the third guide assembly 33, the first support member 46 cannot rotate around the axis of the spring 31, so that one end of the spring 31 connected to it cannot rotate around the axis of the spring 31. Therefore, the relative rotation between the two ends of the first elastic member 31 will eventually be converted into the rotation of the second support member 49.

[0206] Thus, between the adjacent first coil spring 31A and the second coil spring 31B, the opposite ends of the two coil springs 31 are connected by the bearing 48, the first support member 46 and the second support member 49, so that the multiple coil springs 31 are connected in series to form a long spring assembly, reducing the possibility of compression deflection. At the same time, both ends of each coil spring 31 have parallel contact surfaces and corresponding inner ring limit features. The two ends of the spring 31 also have the freedom to rotate relative to each other. Therefore, the spring 31 can be compressed in a trajectory close to the theoretical one, thereby providing a more ideal output force.

[0207] It is understood that a revolute pair similar to the connection assembly 40 may be provided at one or both of the two opposite ends of the series-connected coil springs 31. For ease of description, the coil spring closest to the stopper 34 is referred to as the first spring 31A, and the coil spring closest to the stopper 38 is referred to as the second spring 31C.

[0208] exist Figure 8 In the example shown, the force-applying portion 39 can be configured as a revolute pair. The force-applying portion 39 includes an auxiliary support 43 and a second support 49, which can be connected via a bearing 48. The auxiliary support 43 has a similar structure to the first support 46 and can also be considered a first support 46. The first end of the second spring 31C contacts or is connected to the second support 49, and the second end of the second spring 31C contacts or is connected to the first support 46 of the connecting assembly 40. The auxiliary support 43 is also connected to a slider 33B, allowing the auxiliary support 43 to move along the guide rail 33A. At the same time, the auxiliary support 43 is connected to the connecting portion 35 of the traction member 37, for example, by fasteners, or can be integrally formed. In this example, for the same connecting assembly 40, the first support 46 is closer to the limiter 38, and the second support 49 is closer to the limiter 34. The second end of the first spring 31A contacts or is connected to a first support 46.

[0209] In an example not shown, the second end of first spring 31A may be provided with a revolute pair, for example, connected to limit member 34 via a revolute pair. In this example, for the same connection assembly 40, second support member 49 is closer to limit portion 38, and first support member 46 is closer to limit member 34. The first end of second spring 31C contacts or is connected to one of first support members 46. For example, force-applying portion 39 may be configured as first support member 46.

[0210] Multiple coil springs 31 are connected in series to form a long spring assembly. Multiple first supports 46, located at both ends and in the middle of the long spring assembly, ensure that the long spring deforms as designed, resulting in excellent performance of the output mechanism 30. When the output mechanism 30 is positioned vertically, the stopper 34 is located at the lower end of the output mechanism 30. Gravity forces the lower end of the long spring assembly against the stopper 34, securing the lower (fixed) end of the long spring assembly. Deformation is achieved through movement of the upper (free) end.

[0211] In the illustrated embodiment, the number of the first elastic members 31 is 4. It is understandable that the number of the first elastic members 31 may also be other values, such as 2, 3, 5, 6, etc.

[0212] In the illustrated embodiment, the output mechanism 30 provides output force by compressing and deforming the first elastic member 31. It is understandable that the output mechanism 30 may also provide output force by stretching or torsional deformation of the first elastic member 31.

[0213] In the illustrated embodiment, a plurality of short first elastic members 31 are connected in series to form a long spring assembly. It is understood that the output mechanism 30 may also use a long spring with excellent performance, or may be a combination of multiple sets of composite series springs or parallel springs.

[0214] In the illustrated embodiment, the first elastic member 31, the first flexible member 51 and the second flexible member 52 extend substantially in a vertical direction. It is understood that the first elastic member 31, the first flexible member 51 and the second flexible member 52 may also extend in other directions.

[0215] In the embodiment shown in the figure, two forward and reverse wound flexible members 51 and 52 are used. It is understandable that more flexible members can also be used, wherein some flexible members are forward wound and the other flexible members are reverse wound.

[0216] In other application scenarios, the movement of the second component 20 relative to the first component 10 may not be rotational, but other forms of movement, such as translational motion or a combination of translational motion and rotational motion. For example, when the second component 20 is telescopic, such that its size and center of gravity position can be changed, the torque of the biasing force on the second component 20 relative to the first rotation axis PA1 changes, and the force balancing device 200 can also compensate for this torque.

[0217] The processes and steps described in all the preferred embodiments described above are merely examples. Unless adverse effects occur, various processing operations may be performed in a different order from the above process. The order of the steps in the above process may also be increased, combined, or deleted according to actual needs.

[0218] In understanding the scope of this application, the term "comprise" and its derivatives as used herein are intended to be open terms that specify the presence of recited features, elements, components, groups, wholes, and / or steps, but do not exclude the presence of other unrecorded features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "include," "have," and their derivatives.

[0219] As used herein, the terms "attached" or "attached" include: configurations where an element is directly secured to another element by securing it directly to the other element; configurations where an element is indirectly secured to the other element by securing it to an intermediate member that is in turn secured to the other element; and configurations where one element is integral with the other, i.e., one element is substantially a part of the other. This definition also applies to words with similar meanings such as "connect," "connect," "couple," "mount," "bond," "secure," and their derivatives. Finally, terms of degree such as "substantially," "approximately," and "approximately" as used herein represent an amount of deviation that would modify the term such that the end result would not be significantly changed.

[0220] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the art of this application. The terms used herein are merely for describing specific implementation purposes and are not intended to limit this application. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or is otherwise indicated.

[0221] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, those skilled in the art will understand that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application.

Claims

1. A force balancing device for a device having a rotational joint, wherein: The rotary joint comprises a first component and a second component, wherein the second component is rotatable relative to the first component around a first rotation axis, and is characterized in that the force balancing device comprises: an output mechanism for providing an output force in a first direction, wherein the output force is used to compensate for a moment of the biasing force on the second component relative to the first rotation axis; and The linkage mechanism includes a first connection part, a second connection part and a third connection part, the third connection part is connected to the first connection part and the second connection part respectively, the first connection part and the second connection part are used to be connected to the output mechanism so that the output force is transmitted to the first connection part or the second connection part, the first connection part can apply a first torque to the third connection part under the action of the output force, and the second connection part can apply a second torque to the third connection part under the action of the output force, the directions of the first torque and the second torque are opposite, and the third connection part is used to be connected to the second component so that the first torque or the second torque is transmitted to the second component.

2. The force balancing device according to claim 1, characterized in that The third connecting portion can rotate relative to the first component around a second rotation axis and can be in a first position and a second position relative to the first component. When the third connection part is in the first position, the output mechanism transmits the output force to the first connection part, so that the first connection part applies the first torque to the third connection part; When the third connection part is in the second position, the output mechanism transmits the output force to the second connection part, so that the second connection part applies the second torque to the third connection part.

3. The force balancing device according to claim 2, characterized in that: The first connection portion includes a first flexible member, one end of the first flexible member is used to be connected to the output mechanism, the other end of the first flexible member is connected to the third connection portion, and the first flexible member is partially wrapped around the third connection portion; The second connecting portion includes a second flexible member, one end of the second flexible member is used to be connected to the output mechanism, the other end of the second flexible member is connected to the third connecting portion, and the second flexible member is partially wrapped around the third connecting portion; Wherein, the winding direction of the second flexible member on the third connecting portion is opposite to the winding direction of the first flexible member on the third connecting portion.

4. The force balancing device according to claim 3, characterized in that: The linkage mechanism further includes a first steering member, The first flexible member is partially wound around the first steering member, and the winding direction of the first flexible member on the first steering member is opposite to the winding direction of the first flexible member on the third connecting portion, and The second flexible member is partially wound around the first steering member, and a winding direction of the second flexible member around the first steering member is opposite to a winding direction of the second flexible member around the third connecting portion.

5. The force balancing device according to claim 4, characterized in that: The first diverter member includes a pulley.

6. The force balancing device according to any one of claims 3 to 5, characterized in that The first connecting portion further includes a first acting member connected to the one end of the first flexible member, and the second connecting portion further includes a second acting member connected to the one end of the second flexible member. When the third connecting portion is in the first position, the first acting member acts on the output mechanism, and the second acting member is separated from the output mechanism; when the third connecting portion is in the second position, the second acting member acts on the output mechanism, and the first acting member is separated from the output mechanism.

7. The force balancing device according to claim 6, characterized in that: The rotation of the third connecting portion can drive the first and second operating members to move in opposite directions relative to the third connecting portion; The output mechanism includes an action surface, the direction of the action surface is the same as the first direction, and the action surface is used to interfere with the first action member or the second action member.

8. The force balancing device according to claim 7, characterized in that: The output mechanism also includes a first elastic member and a traction member, the first elastic member is connected to the traction member, the traction member can move relative to the third connection part to deform the first elastic member, the output force is at least partially generated by the deformation of the first elastic member, and the traction member includes the action surface.

9. The force balancing device according to claim 7, characterized in that: The linkage mechanism further includes a second steering member and a third flexible member, one end of the third flexible member is connected to the first connecting portion, the other end of the third flexible member is connected to the second connecting portion, and the third flexible member is partially wrapped around the second steering member.

10. The force balancing device according to claim 9, characterized in that: The second diverter includes a pulley.

11. The force balancing device according to claim 9, characterized in that: The force balancing device further includes a second elastic member; The second steering member is connected to the second elastic member. The second steering member can translate relative to the third connecting portion under the action of the second elastic member, so that the third flexible member is tensioned.

12. The force balancing device according to claim 11, characterized in that: The second elastic member is configured as a spring, and the force balancing device further comprises: a guide shaft, wherein the second elastic member is movably sleeved on the guide shaft; and An auxiliary sliding member is movably sleeved on the guide shaft and connected to the end of the second elastic member, and the second steering member is mounted on the auxiliary sliding member.

13. The force balancing device according to claim 11, characterized in that: The third connecting portion is configured as a profile cam.

14. The force balancing device according to claim 1, characterized in that: The output mechanism includes at least one first elastic member, the free end of the first elastic member is used to connect to the involvement mechanism, and the output force is at least partially generated by deformation of the first elastic member; or The output mechanism includes a counterweight block and a fourth flexible transmission member, the fourth flexible transmission member connects the counterweight block and the involvement mechanism, and the output force is at least partially generated by the gravity of the counterweight block.

15. The force balancing device according to claim 14, characterized in that: The first elastic member is configured as one of a compression spring, a tension spring and a coil spring.

16. The force balancing device according to claim 1, characterized in that: The output mechanism includes a plurality of coil springs, and the plurality of coil springs are connected in series.

17. The force balancing device according to claim 16, characterized in that: The output mechanism further includes a guide rail and a connecting assembly. The guide rail is fixed relative to the third connecting portion. Two adjacent coil springs are connected via the connecting assembly. The connecting assembly is movably disposed on the guide rail.

18. The force balancing device according to claim 17, characterized in that: The connecting assembly includes a first support member and a second support member, the first support member is movably arranged on the guide rail, the first support member is used to abut one of the two adjacent coil springs, the second support member is rotatable relative to the first support member around the axis of the coil spring, and the second support member is used to abut the other of the two adjacent coil springs.

19. The force balancing device according to claim 18, characterized in that The first supporting member includes an annular portion, and the second supporting member includes a shaft portion. The annular portion is sleeved on the shaft portion, and the shaft portion and the annular portion are connected via a bearing.

20. A force balancing system, characterized in that: include: first component; a second component rotatable relative to the first component about a first rotation axis; and The force balancing device according to any one of claims 1 to 19, The third connecting portion is connected to the second component so that the third connecting portion moves under the driving of the second component.

21. The force balancing system according to claim 20, characterized in that: The third connecting portion is rotatable relative to the first component about a second rotation axis.

22. The force balancing system according to claim 21, wherein: The second rotation axis is collinear with the first rotation axis.

23. The force balancing system according to claim 22, wherein: The third connecting portion is rigidly connected to the second component.

24. The force balancing system according to claim 23, wherein: The third connecting portion is transmission-connected to the second component.

25. The force balancing system according to any one of claims 20 to 24, characterized in that The force balancing system is a robotic arm, which includes at least two rotatably connected connecting arms, wherein the first component and the second component are the connecting arms.

26. A medical assistance system, characterized in that: Comprising a robotic arm according to claim 25.

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