Force balancing devices, force balancing systems, and medical assistive systems

Abstract

This application discloses a force balancing device, a force balancing system, and a surgical robot. The force balancing device is used in a device with a rotary joint, the rotary joint including a first component and a second component rotatable relative to the first component about a first rotation axis. The force balancing device includes a force output mechanism and a coupling mechanism. The force output mechanism provides an output force to compensate for the torque of a bias force on the second component relative to the first rotation axis. The coupling mechanism includes a first connecting portion, a second connecting portion, and a third connecting portion connected to both the first and second connecting portions. The first and second connecting portions connect to the force output mechanism. The first connecting portion can apply a first torque to the third connecting portion under the action of the output force, and the second connecting portion can apply a second torque to the third connecting portion under the action of the output force. The first and second torques are in opposite directions. The third connecting portion connects to the second component, allowing the first and second torques to be transmitted to the second component.

Description

Technical Field

[0001] This application relates to the field of force balancing device technology, and more specifically to a force balancing device and a force balancing system having the same, as well as a medical auxiliary system having the force balancing system. Background Technology

[0002] Surgical robots, as a medical assistive system, offer significant advantages such as reduced incision size and improved surgical success rates, leading to their increasing application in clinical medicine. Surgical robots consist of multiple tandem robotic arms. Before or during surgery, the posture of these arms needs to be adjusted to achieve a target state suitable for the procedure. This requires the joints to have high dynamic response and sufficiently low resistance torque during manual adjustment. For example, a robotic arm performing pitch motion is subject to gravity, generating a corresponding gravitational torque on its drive joints, and this torque varies depending on the posture. To reduce the load on the drive joints, ensure torque balance across different robotic arm postures, and improve safety and reliability, appropriate torque compensation mechanisms are needed to compensate for the torque generated by the robotic arms in different postures in real time. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key 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 solve the above problems, a first aspect of this application provides a force balancing device for a device having a rotary joint, wherein the rotary joint includes a first component and a second component, the second component being rotatable relative to the first component about a first rotation axis, and the force balancing device includes:

[0005] A power output mechanism is used to provide an output force along a first direction, the output force being used to compensate for the torque of the biasing force on the second component relative to the first rotation axis; and

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

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

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

[0010] Optionally,

[0011] The first connecting part includes a first flexible member, one end of which is connected to the output mechanism, and the other end of which is connected to the third connecting part, and the first flexible member is partially wrapped around the third connecting part;

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

[0013] 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.

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

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

[0016] The second flexible element is partially wrapped around the first steering element, and the winding direction of the second flexible element on the first steering element is opposite to the winding direction of the second flexible element on the third connecting part.

[0017] Optionally, the first steering component includes a pulley.

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

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

[0020] Optionally, the rotation of the third connecting part can drive the first and second actuating members to move relative to the third connecting part in opposite directions;

[0021] The output mechanism includes an action surface, the direction of which 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 element and a traction element, the first elastic element being connected to the traction element, the traction element being movable relative to the third connecting portion to deform the first elastic element, the output force being at least partially generated by the deformation of the first elastic element, and the traction element including the action surface.

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

[0024] Optionally, the second steering element includes a pulley.

[0025] Optionally,

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

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

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

[0029] A guide shaft, on which the second elastic element is movably sleeved; and

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

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

[0032] Optionally,

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

[0034] The output mechanism includes a counterweight and a fourth flexible transmission component, the fourth flexible transmission component connecting the counterweight and the traction mechanism, and the output force is at least partially generated by the gravity of the counterweight.

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

[0036] Optionally, the output mechanism includes multiple helical springs connected in series.

[0037] Optionally, the output mechanism further includes a guide rail and a connecting assembly. The guide rail is fixed in position relative to the third connecting part, and two adjacent helical springs are connected by the connecting assembly, which is movably mounted 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 disposed on the guide rail and is used to abut against one of the two adjacent helical springs. The second support member is rotatable relative to the first support member about the axis of the helical spring and is used to abut against the other of the two adjacent helical springs.

[0039] Optionally, the first support member includes an annular portion, and the second support member includes a shaft portion, the annular portion being sleeved on the shaft portion, and the shaft portion and the annular portion being connected by a bearing.

[0040] A second aspect of this application provides a force balancing device for a device having a rotary joint, wherein the rotary joint includes a first component and a second component, the second component being rotatably connected to the first component about a first rotation axis, and the force balancing device includes:

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

[0042] A third connecting part is used to connect to the second component, and the third connecting part is rotatable relative to the first component about a second rotation axis;

[0043] A first flexible member, one end of which is connected to the other end of a first elastic member, the other end of which is connected to the third connecting portion, and a portion of the first flexible member is wrapped around the third connecting portion; and

[0044] The second flexible member has one end connected to the other end of the first elastic member, the other end of the second flexible member connected to the third connecting part, and the second flexible member is partially wrapped around the third connecting part;

[0045] 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.

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

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

[0048] The second flexible element is partially wrapped around the first steering element, and the winding direction of the second flexible element on the first steering element is opposite to the winding direction of the second flexible element on the third connecting part.

[0049] Optionally, the first steering component includes a pulley.

[0050] Optionally, the force balancing device further includes a first actuating element and a second actuating element, wherein the first actuating element is connected to one end of the first flexible element, and the second actuating element is connected to one end of the second flexible element.

[0051] When the third connecting part is in the first position, the first actuating member acts on the first elastic member, and the second actuating member separates from the first elastic member; when the third connecting part is in the second position, the second actuating member acts on the first elastic member, and the first actuating member separates from the first elastic member.

[0052] Optionally, the rotation of the third connecting part can drive the first and second actuating members to move relative to the third connecting part in opposite directions;

[0053] The force balancing device further includes a traction member, the other end of the first elastic member is connected to the traction member, the traction member is movable relative to the third connecting portion to deform the first elastic member, and the traction member is used to interfere with the first action member or the second action 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 being connected to the first flexible member, the other end of the third flexible member being connected to the second flexible member, and the third flexible member being partially wrapped around the second steering member.

[0055] Optionally, the second steering element includes a pulley.

[0056] Optionally,

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

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

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

[0060] A guide shaft, on which the second elastic element is movably sleeved; and

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

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

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

[0064] First component;

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

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

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

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

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

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

[0071] Optionally, the third connecting part is connected to the second component in a transmission manner.

[0072] Optionally, 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.

[0073] The fourth aspect of this 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. Attached Figure Description

[0074] The following drawings, which are incorporated herein by reference as part of this application, are provided for understanding the application. The drawings illustrate representative embodiments of the application and are used to explain the principles of the application, not to limit it.

[0075] In the attached image:

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

[0077] Figure 2 The diagram below shows the working principle of a force balancing device according to a specific embodiment of this application, wherein (a) is a working state diagram of the torque generated by the bias force of the second component being compensated by the second torque, (b) is a diagram of the zero position state, and (c) is a working state diagram of the torque generated by the bias force of the second component being compensated by the first torque.

[0078] Figure 3 This is a schematic diagram of a force balance system according to a specific embodiment of this application;

[0079] Figure 4 for Figure 3 The diagram shown is a decomposed representation of the force balance system.

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

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

[0082] Figure 7 for Figure 4 An exploded view of the output mechanism shown;

[0083] Figure 8 for Figure 4 The diagram shows a cross-sectional view of the power output mechanism.

[0084] Explanation of reference numerals in the attached figures:

[0085] 10: First component 11: Housing

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

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

[0088] 33B: Slider; 34: Limiting component

[0089] 35: Connecting part; 36: Bearing part

[0090] 37: Traction component; 38: Limiting part

[0091] 39: Force-applying part; 40: Connecting assembly / rotating joint; 43: Auxiliary support component; 46: First support component

[0092] 46A: Connector; 46B: Annular part

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

[0094] 48: Bearing 49: Second support component

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

[0096] 50: Connecting mechanism / transmission module; 51: First flexible component

[0097] 52: Second flexible component; 53: Third flexible component

[0098] 54: First flexible component, first part; 55: First flexible component, second part; 56: Second flexible component, first part; 57: Second flexible component, second part; 59: First steering component; 61: First actuating component.

[0099] 62: Second functional component; 63: Third connecting part

[0100] 64: Second connecting part; 65: First connecting part

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

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

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

[0104] 70: Force transmission section; 80: Auxiliary tensioning section

[0105] 81: Second base; 82: Second elastic element

[0106] 83: Guide shaft; 84: Second steering component / moving pulley; 88: Auxiliary sliding component; 89: Auxiliary guide component.

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

[0108] 110: Base 120: Vertical Adjustment Joint

[0109] 130: First rotational 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: Weapon-holding arm

[0113] 181: Sleeve 200: Force balancing device

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

[0115] DC1: First circumferential direction / First rotation direction

[0116] DC2: Second circumferential direction / second rotational direction; DS1: Axial direction of the first elastic element.

[0117] DS2: Axial axis of the second elastic element; PA1: First rotation axis

[0118] PA2: Second axis of rotation Detailed Implementation

[0119] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0120] To fully understand this application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0121] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” The use of words such as “first,” “second,” and “third” does not indicate any order and can be interpreted as names.

[0122] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0123] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0124] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0125] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0126] Various joints are typically incorporated into some devices (such as industrial robots and medical robots) to provide the end effector with a certain degree of freedom of movement, enabling actions such as translation and rotation. For example, a robotic arm usually includes multiple connecting arms. Two adjacent connecting arms can be connected by a rotary joint to achieve relative rotation and / or by a linear joint to achieve relative translation, thus allowing the end effector of the robotic arm to have one or more degrees of freedom to perform predetermined operations. In some applications, the moving parts of these joints may be subjected to continuous forces. For example, when the motion direction provided by these joints, or the component of the motion direction, includes the vertical direction, the joint motion is significantly affected by gravity. To make the joint movement (manual or motorized) more effortless and smoother, corresponding compensation mechanisms are usually set up for these joints to partially or completely compensate for the effects of the aforementioned forces.

[0127] like Figure 1 The diagram shows a slave operating device 100 in a medical assistance system, such as a patient-side robotic arm of a surgical robot. This medical assistance system may also include a master operating device (not shown), also known 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), which can be independently configured and communicate with both the slave operating device 100 and the master operating device, or it can be integrated into the slave operating device 100 and / or the master operating device.

[0128] The 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 to manipulate the surgical instruments for 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 examples shown, 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 suspended from a wall or ceiling, for example, the base can be mounted on a wall or ceiling via guide rails for easy movement. In other examples not shown, the base can also be mounted on an operating table, or integrated into an operating table.

[0130] exist Figure 1 In the illustrated example, the adjustment mechanism includes a vertical adjustment joint 120, a first rotary adjustment joint 130, a horizontal adjustment joint 140, and a second rotary adjustment joint 150 connected in sequence. The vertical adjustment joint 120 and the horizontal adjustment joint 140 can be configured as linear joints, and their directions of movement can be perpendicular to each other. The rotation axes of the first rotary adjustment joint 130 and the second rotary adjustment joint 150 can be parallel to the direction of movement of the vertical adjustment joint 120. The movement of these adjustment joints can achieve 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 rotary adjustment joint. In other examples not shown, the adjustment mechanism may include more linear joints and / or rotary joints, or omit some joints.

[0131] exist Figure 1In the example shown, the operating mechanism is constructed as a robotic arm, including a deflection arm 160, a pitch arm 170, and a holding arm 180 connected in sequence. The deflection arm 160 drives the holding arm 180 to rotate about the deflection axis. The pitch arm 170 drives the holding arm 180 to rotate about the pitch axis. The holding arm 180 is used to mount one or more surgical instruments. Surgical instruments can be instruments used to perform surgical operations, such as electrocautery devices, clamps, or vascular occluders; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other surgical instruments. The holding arm 180 is provided with a cannula 181, which is inserted into a small opening in the human body. The surgical instruments pass through the cannula 181 into the abdominal or thoracic cavity to perform surgical operations. The deflection axis and the pitch axis intersect at a predetermined position on the cannula 181 to ensure that the operating mechanism does not deviate from this predetermined position when moving the surgical instruments, i.e., pitching and / or yawing around this point. When the cannula 181 is inserted into the human body, the predetermined position is aligned with a small hole opened on the body, thereby preventing non-surgical trauma. This predetermined position may also be referred to as the remote center of motion (RCM). The surgical arm 180 may be equipped with a drive device (not shown) for driving the surgical instrument to perform insertion, rotation, and other actions, as well as for driving the end effector of the surgical instrument to perform pitch, yaw, and clamping actions.

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

[0133] exist Figure 1In the example shown, the pitch arm 170 can be configured as a parallelogram motion mechanism. Specifically, the pitch arm may include a first connecting arm 171 and a second connecting arm 172. The first connecting arm 171 is rotatably connected to the deflection arm 160, the second connecting arm 172 is rotatably connected to the first connecting arm 171, and the holding arm 180 is rotatably connected to the second connecting arm 172. The first connecting arm 171, the second connecting arm 172, and the holding arm 180 are linked by a transmission mechanism, such that when the first connecting arm 171 rotates relative to the deflection arm 160, the relative angle between the second connecting arm 172 and the deflection arm 160 remains unchanged, and simultaneously the relative angle between the holding arm 180 and the first connecting arm 171 remains unchanged, thereby achieving parallelogram motion, allowing the holding arm 180 to pitch around the pitch axis. The transmission mechanism can employ belt drive and / or linkage drive, etc. In some examples not shown, the rotary joints between the first connecting arm 171 and the second connecting arm 172, as well as the rotary joint between the second connecting arm 172 and the holding arm 180, can be omitted. In this case, the rotation axis of the first connecting arm 171 about the yaw arm 160 is used as the pitch axis. In other examples not shown, the pitch arm 170 can be configured with mechanical decoupling of each joint, and the motion coupling between the joints can be achieved through software control, so that the holding arm 180 can pitch about the pitch axis.

[0134] exist Figure 1 As shown in the operating device 100, the rotation axis of the rotary joint between the pitch arm 170 and the yaw arm 160 is perpendicular to the direction of gravity, and therefore is greatly affected by gravity. Usually, a compensation mechanism is required for such rotary joints to reduce or eliminate the influence of gravity.

[0135] In some scenarios, one end of a cable is wound around a drive joint, and the other end is connected to the free end of a spring. As the joint rotates, the cable is wound or released, and the spring's elastic force provides the necessary compensation force. However, the inventors discovered that since the spring acting on the cable can only generate tension, it can only provide torque in the same direction as the cable winding. The gravitational torque experienced by the rotating joint on either side of its neutral position is in the opposite direction, making this solution unable to compensate for torques in different directions within 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 active, the other set of cables will be unloaded and unrestrained, posing a significant safety hazard.

[0136] In other scenarios, at least one stationary pulley and one movable pulley that rotates with the joint are installed on the rotary joint. These two pulleys are kept at a certain distance from the joint's rotation axis. A spring and the two pulleys are connected by a cable, and the state where the two pulleys are radially aligned along the same diameter of the rotary joint is configured as a neutral position. When the joint rotates, the distance between the two pulleys changes, thus changing the length of the cable around them, which in turn changes the deformation of the spring. This can compensate for the gravitational torques in two opposite directions on the same joint. However, the inventors found that this solution requires sufficient space for the movable pulley, resulting in a larger rotary joint. This type of compensation mechanism is unsuitable for use on the robotic arms of surgical devices. This is because the robotic arms of surgical devices are positioned close to the patient; if the robotic arm is too large, it is prone to interference with the patient, other medical aids, and medical personnel during movement, adversely affecting the accuracy and safety of the surgery.

[0137] Based on this, to overcome or improve at least one of the aforementioned problems, this application proposes a force balancing device that can be used as a gravity compensation mechanism to compensate for or at least partially compensate for the torque generated by gravity on a rotary joint. In this application, the rotary joint can be generally defined as including a first component and a second component that are rotatable relative to each other; for example, the second component is rotatable relative to the first component about a first rotation axis. In one example, the second component is rotatably connected to the first component about the first rotation axis. In this application, the specific form of the first and second components is not limited. In this application, the structure including the force balancing device and the rotary joint is referred to as a force balancing system 300.

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

[0139] For example Figure 1 The torque of the rotary joint between the pitch arm 170 and the yaw arm 160 shown is generated by the gravity of the pitch arm 170 and the holding arm 180. For ease of explanation, in the following text, the yaw arm 160 is referred to as the first component 10 of the rotary joint, the combination of the pitch arm 170 and the holding arm 180 is referred to as the second component 20 of the rotary joint, the axis of rotation of the pitch arm 170 about the yaw arm 160 is referred to as the first rotation axis PA1, and the gravity of the pitch arm 170 and the holding arm 180 is abstracted as a biasing force acting at a certain position, the position of which is off the rotation axis PA1 of the rotary joint.

[0140] for Figure 1In this application scenario, since the pitch arm 170 includes a rotatably connected first connecting arm 171 and second connecting arm 172, and the holding arm 180 is rotatably connected to the second connecting arm 172, the position of the bias force, abstracted from the gravity of the pitch arm 170 and the holding arm 180, changes with the movement of the first connecting arm 171, the second connecting arm 172, and the holding arm 180. Furthermore, due to the motion coupling of the first connecting arm 171, the second connecting arm 172, and the holding arm 180, for example, following a parallelogram motion, their motion trajectories are predictable and have definite mathematical relationships. That is, for each rotation angle of the first connecting arm 171, the second connecting arm 172 and the holding arm 180 have corresponding definite positions and attitudes. Therefore, for each rotation angle of the second component 20 of the rotary joint, the position of the gravity of the second part can be calculated, ultimately obtaining the torque that needs to be compensated.

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

[0142] The design concept and optional implementation forms of the force balancing device of this application will be described below by way of example.

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

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

[0145] By selectively transmitting one of two opposing torques to the second connection 64, it is possible to adapt to situations where the gravitational torques acting on both sides of the rotary joint in the neutral position are opposite in direction.

[0146] In order to adapt the force balancing device 200 to the movement of the rotating joint and to provide corresponding compensation for changes in the position of the biasing force, at least part of the connecting mechanism 50 is configured to move with the rotation of the second component 20 about the first rotation axis PA1. Thus, the movement of the connecting mechanism 50 is associated with the movement of the second component 20, allowing the force balancing device 200 to respond at any time.

[0147] During the movement of the third connecting portion 63 along with the second component 20, the third connecting portion 63 can be 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 connecting portion 63. When the third connecting portion is in the first position, the output mechanism 30 transmits output force to the first connecting portion 65, causing the first connecting portion 65 to apply a first torque to the third connecting portion 63; when the third connecting portion 63 is in the second position, the output mechanism 30 transmits output force to the second connecting portion 64, causing the second connecting portion 64 to apply a second torque to the third connecting portion 63.

[0148] exist Figure 2 In the example shown, the third connecting portion 63 can be configured to rotate relative to the first component 10 about a second rotation axis PA2 as the second component 20 rotates about a first rotation axis PA1. That is, the rotation of the second component 20 about the first rotation axis PA1 causes the third connecting portion 63 to rotate about 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 collinear, and the third connecting part 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 non-planar; the third connecting part 63 and the second component 20 can be connected by transmission, for example, through gears, pulleys, etc. This application does not limit the specific connection method between the third connecting part 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 which is connected to the output mechanism 30, and the other end is connected to the third connecting portion 63, with the first flexible member 51 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 that are continuous along its length. Figure 2 If not marked, please refer to Figure 4 In this configuration, the first flexible part 54 is wound around the third connecting part 63 along the first circumferential direction DC1, and the second flexible part 55 is used to connect 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 which is connected to the output mechanism 30, and the other end is connected to the third connecting portion 63, with the second flexible member 52 partially wrapped around the third connecting portion 63. The second flexible member 52 includes a first part 56 and a second part 57 of the second flexible member that are continuous along its length. Figure 2 If not marked, please refer to Figure 4 In this configuration, the first part 56 of the second flexible member is wound around the third connecting part 63 along the second circumferential direction DC2, and the second part 57 of the second flexible member is used to connect the output mechanism 30. The second circumferential direction DC2 is opposite to the first circumferential direction DC1.

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

[0152] See Figure 2 (c) When the third connecting part 63 rotates clockwise (or in other words, in the first rotation direction DC1) relative to the neutral position and is in the first position, the third connecting part 63 further wraps around the first flexible member 51, so that the first flexible member 51 interacts with the output mechanism 30. The output force of the output mechanism 30 acts on the third connecting part 63 through the first flexible member 51 to generate a counterclockwise torque, i.e., the first torque. It can be understood that the extreme position reached by the third connecting part 63 rotating clockwise around the second rotation axis PA2 relative to the neutral position is the first extreme position. The first position can be any position between the first extreme position and the neutral position, or it can be the first extreme position.

[0153] See Figure 2 (a) When the third connecting part 63 rotates counterclockwise (or in other words, in the second rotation direction DC2) relative to the neutral position and is in the second position, the third connecting part 63 further wraps around the second flexible member 52, so that the second flexible member 52 interacts with the output mechanism 30. The output force of the output mechanism 30 acts on the third connecting part 63 through the second flexible member 52 to generate a clockwise torque, i.e., the second torque. It can be understood that the extreme position reached by the third connecting part 63 rotating counterclockwise around 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 it can 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 part 63 will cause a change in the position of the first flexible member 51 and / or the second flexible member 52 relative to the force output mechanism 30. Therefore, the force output mechanism 30 needs to be able to adapt to the change in position and provide a continuous output force so that the bias force experienced by 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 element 31. The fixed end of the first elastic element 31 is fixed relative to the first component 10, and the free end of the first elastic element 31 is used to connect to the coupling mechanism 50. The force output by the output mechanism 30 is at least partially the elastic force generated by the elastic deformation of the first elastic element 31. The free end of the first elastic element 31 can move with the movement of the coupling mechanism 50, thereby generating elastic deformation and continuously providing output force. When the output mechanism 30 includes multiple first elastic elements, the multiple first elastic elements can jointly provide output force by being connected in series, in parallel, or a combination of series and parallel connections. The first elastic element can be constructed as one of a compression spring, a tension spring, and a coil spring. Springs are inexpensive, readily available, have stable performance, and respond promptly, achieving good force compensation effects.

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

[0157] Furthermore, the output mechanism 30 may also include a limiting portion 38 to interfere with the movement of the free end of the first elastic member 31 or the fourth flexible transmission member. The limiting 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 limiting portion 38, for example... Figure 2 When the free end of the first elastic member 31 shown in (b) abuts against the limiting part 38, the output mechanism 30 does not output force to the coupling mechanism 50. Therefore, once the third connecting part 63 deviates from its neutral position, the aforementioned interference ceases, and the output mechanism 30 provides a continuous output force to the coupling mechanism 50.

[0158] Based on the above basic concept, according to the optional embodiments of the force balancing device 200 of this application and its... Figure 1 For application scenarios in rotary joints, please refer to Figures 3 to 8 .

[0159] See Figure 3 and Figure 4The force balancing system 300, for example, is a robotic arm, including 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 about 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 pitch arm 170 and the holding arm 180 (the holding arm 180 is omitted for clarity of the force balancing device 200). The force balancing device 200 is mounted to the first component 10, wherein the third connecting part 63 of the force balancing device 200 is rigidly connected to the second component 20, that is, the third connecting part 63 can rotate with the second component 20 about the first rotation axis PA1 relative to the first component 10.

[0160] The first component 10 includes a first housing 11 that encloses a receiving space 12. An opening 13 is provided on the first housing 11 and communicates with the receiving space 12. The output mechanism 30 of the force balancing device 200 is installed within the receiving space 12, while the connecting mechanism 50 of the force balancing device 200 is installed on the first housing 11 and located outside the receiving space 12, specifically surrounding the opening 13. One of the output mechanism 30 and the connecting mechanism 50 can interact with the other through the opening 13, or both can interact at the opening. Further, the first component 10 may also include a second housing (not shown) for shielding the force balancing device 200 for protection. Further, a drive component 90, such as a motor, for driving the second component 20 may also be installed within the receiving space 12. The output shaft of the drive component 90 passes through the first housing 11 and connects to the second component 20 and the third connecting portion 63.

[0161] See Figure 4 The third connecting part 63 can be constructed as a roller (drum), and the roller may have a guide groove (not shown) to guide the first flexible member 51 and the second flexible member 52 to be wound around it. The diameter of the roller can be designed to be as large as possible, for example, equal to or slightly smaller than the width of the first component 10, which helps to increase the lever arm. The roller may also have a mounting groove (not shown) 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 wire, rope, belt, etc. For example, the first flexible member 51 and the second flexible member 52 can be made of steel wire rope, which is not easily subjected to tensile deformation when tensioned.

[0162] See Figures 2 to 4The first connecting portion 65 further includes a first actuating member 61, which is connected to the end of the second portion 55 of the first flexible member. The first actuating member 61 can interact with the output mechanism 30 to transmit the output force of the output mechanism 30 to the first flexible member 51. The first actuating member 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 wraps around the first flexible member 51, the first flexible member 51 pulls the first actuating member 61 to move. Optionally, to stably guide the movement of the first actuating member 61, the connecting mechanism 50 may also 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 that slides in cooperation with the first guide member 68A. The first guide member 68A may be configured as, for example, a slide rail, a slide groove, or a slide rod. The first actuating member 61 is fixed to the first slider 68B; for example, the first actuating member 61 may be configured as a protrusion on the outer surface of the first slider 68B.

[0163] See Figures 2 to 4 The second connecting portion 64 further includes a second actuating member 62, which is connected to the end of the second portion 57 of the second flexible member. The second actuating member 62 can interact 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 wraps around the second flexible member 52, the second flexible member 52 pulls the second actuating member 62. Optionally, to stably guide the movement of the second actuating member 62, the connecting mechanism 50 may also 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 that slides in cooperation with the second guide member 69A. The second guide member 69A may be configured as, for example, a slide rail, a 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 part 63, the first actuating member 61 and the second actuating member 62 constitute the force transmission part 70 of the pulling mechanism 50. The force transmission part 70 is used to convert the output force of the output mechanism 30 into torque and transmit it to the second component 20.

[0165] The force balancing device 200 of this application can dynamically compensate for the second component 20. Generally, when the second component 20 is in a state that does not require compensation, such as when the line connecting the position of the bias force acting on the second component 20 and the first rotation axis PA1 coincides with the direction of the bias force, the bias force does not generate torque on the second component 20, and there is no need to compensate for the torque. The force balancing device 200 is then configured to be in a zero-position state (see...). Figure 2(b)

[0166] When the second component 20 starts to rotate along the first rotation direction DC1 from a position where no compensation is required, the biasing force acting on the second component 20 begins to generate a torque along the first rotation direction DC1. Simultaneously, the second component 20 drives the third connecting portion 63 to rotate from a neutral position along the first rotation direction DC1, causing the third connecting portion 63 to be in a first position relative to the first component 10 (see...). Figure 2 (c) During this movement, the third connecting part 63 continuously wraps around the first flexible member 51, thereby moving the first actuating member 61 and continuously acting on the output mechanism 30. The output force of the output mechanism 30 simultaneously reacts on the first actuating member 61, and this force acts on the third connecting part 63 through the first flexible member 51. That is, the first connecting part 65 can continuously apply a first torque to the third connecting part 63 under the action of the output force. The direction of the first torque is opposite to the first rotation direction DC1. The third connecting part 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 rotates along the second rotation direction DC2 from a position requiring no compensation, the biasing force acting on the second component 20 begins to generate a torque along the second rotation direction DC2. Simultaneously, the second component 20 drives the third connecting portion 63 to rotate from a neutral position along the second rotation direction DC2, causing the third connecting portion 63 to be in a second position relative to the first component 10 (see...). Figure 2 (a) During this movement, the third connecting part 63 continuously wraps around the second flexible member 52, thereby moving the second actuating member 62 and continuously acting on the output mechanism 30. The output force of the output mechanism 30 simultaneously reacts on the second actuating member 62, and this force acts on the third connecting part 63 through the second flexible member 52. That is, the second connecting part 64 can continuously apply a second torque to the third connecting part 63 under the action of the output force. The direction of the second torque is opposite to the second rotation direction DC2. The third connecting part 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] Due to the dynamic compensation of the force balancing device 200 for the second component 20, the torque generated by the bias force acting on the second component 20 can be promptly canceled out. Whether the second component 20 is rotated by the drive component 90 or manually, the work done to overcome the torque generated by the second component 20 will be greatly reduced, making operation easier. Furthermore, when no driving force is applied to the second component 20, it can be kept in the desired position.

[0169] See the examples in this application. 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 actuating member 61 and the second actuating member 62 are disposed between the first guide member 68A and the second guide member 69A, so that the first actuating member 61 and the second actuating member 62 can pass through the opening 13 and interact with the output mechanism 30.

[0170] See also Figures 2 to 4 The second part 55 of the first flexible member is connected to the first actuating 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 part 57 of the second flexible member is connected to the second actuating 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. Since the distance between the second part 55 and the second part 57 of the first flexible member is less than the diameter of the third connecting part 63, a first steering member 59 is also required, and the position of the first steering member 59 is fixed relative to the third connecting part 63. The first part 54 of the first flexible member and the first part 56 of the second flexible member are first wound onto the first steering member 59 and then wound onto the third connecting part 63. The winding direction of the first flexible member 51 on the first steering member 59 is opposite to the winding direction of the first flexible member 51 on the third connecting part 63. The winding direction of the second flexible member 52 on the first steering member 59 is opposite to the winding direction of the second flexible member 52 on the third connecting part 63. Furthermore, the arrangement of the first steering member 59 can optimize the movement paths of the first flexible member 51 and the second flexible member 52, preventing interference. In one example, the first steering member 59 may include a pulley, such as a fixed pulley mounted on the first housing 11.

[0171] In the example of this application, the first flexible member 51 and the second flexible member 52 share the same first steering member 59, the diameter of which is approximately equal to the distance between the second portion 55 and the second portion 57 of the first flexible member. The axis of the first steering member 59 is parallel to the axis of the third connecting portion 63, and the plane they define is parallel to the second portion 55 and the second portion 57 of the first flexible member. In other examples not shown, separate first steering members may be provided for the first flexible member 51 and the second flexible member 52.

[0172] Understandably, when the third connecting part 63 winds 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 of transmitting the output force; when the third connecting part 63 winds 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 of transmitting the output force. The first flexible member 51 or the second flexible member 52, which is not in the path of transmitting the output force, is prone to detaching from the surface of the first steering member 59 and / or the third connecting part 63, affecting the operation of the entire force balancing device 200. Therefore, the coupling mechanism 50 can also be provided with an auxiliary tensioning part 80 to ensure that the first flexible member 51 and the second flexible member 52 are always kept taut.

[0173] See the examples in this application. Figure 3 and Figure 4 The auxiliary tensioning part 80 includes a second steering member 84 and a third flexible member 53. The two ends of the third flexible member 53 are respectively connected to the second part 55 of the first flexible member of the first connecting part 65 and the second part 57 of the second flexible member of the second connecting part 64. Simultaneously, the third flexible member 53 is partially wound around the second steering member 84, so that the first flexible member 51 and the second flexible member 52 are tensioned by the second steering member 84 and the third connecting part 63. Through the third flexible member 53, the first flexible member 51 and the second flexible member 52 are effectively connected as a single flexible member, with both ends wound around the third connecting part 63 in opposite directions. When one end is released by the third connecting part 63, the other end is wound back by the third connecting part 63, thus ensuring that the flexible member is always tensioned and does not deviate from the predetermined movement path. In one example, the third flexible member 53 can be constructed as a wire, rope, belt, etc. For example, the first flexible member 51 and the second flexible member 52 can be made of steel wire rope, which is less prone to tensile deformation during tensioning. In one example, the second steering member 84 may include a pulley.

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

[0175] In other words, with the assistance of the auxiliary tensioning part 80, the rotation of the third connecting part 63 can drive the first actuating member 61 and the second actuating member 62 to move relative to the third connecting part 63 in opposite directions. Thus, when the third connecting part 63 is in the first position, the first actuating member 61 acts on the output mechanism 30, and the second actuating member 62 is separated from the output mechanism 30; when the third connecting part 63 is in the second position, the second actuating member 62 acts on the output mechanism 30, and the first actuating member 61 is separated from the output mechanism 30.

[0176] The second steering component 84, the first steering component 59, and the third connecting part 63 are arranged in the same plane, and their centerlines are on the same plane. The second steering component 84 may be provided in the first component 10.

[0177] In the example of this application, the second steering member 84 is also configured to be movable relative to the third connecting portion 63. For example... 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 housing 11 of the first component 10, and the second base 81 can also be considered as part of the first component 10. The auxiliary tensioning portion 80 also includes a second elastic member 82, which is configured as, for example, a spring. 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. The second steering member 84 can translate relative to the third connecting portion 63 under the drive of this force, 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 element 82 is in a deformed state (stretched or compressed), thus always ready to output elastic force to the second steering element 84. Once any one of the first flexible element 51, the second flexible element 52, and the third flexible element 53 relaxes, the second steering element 84 moves under the action of the second elastic element 82, causing the first flexible element 51, the second flexible element 52, and the third flexible element 53 to be tensioned again.

[0179] As mentioned earlier, during the rotation of the second component 20, the pitch arm 170 and the holding arm 180 have different positions and orientations. The change in the center of gravity caused by this change in position and orientation is superimposed on the change in the center of gravity caused by the rotation of the second component 20. Therefore, if the guide groove of the third connecting part 63 is set as a standard circle, it is difficult to adapt to the required torque change. Therefore, in the example of this application, the third connecting part 63 is modified according to the lever arm required for each rotation angle. That is, the third connecting part 63 is constructed as a modified cam, and the guide groove extends along the outer periphery of the cam to meet the requirements of torque compensation at each angle orientation. However, the design of the modified cam will cause the amount of change of the first flexible member 51 that is wound (released) and the second flexible member 52 that is released (wound) to be different when the third connecting part 63 rotates. Therefore, the fixed second steering member 84 cannot accommodate the difference in the amount of change of this part, 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 part 63. By configuring the second steering member 84 to be movable relative to the third connecting portion 63 and always subject to the force of the second elastic member 82, such problems can be overcome.

[0180] The third flexible member 53 is wrapped around the second steering member 84, and the second elastic member 82 can apply a preload to the third flexible member 53. When the changes in the first flexible member 51 and the second flexible member 52 are not the same, the second steering member 84 will move away from the third connecting part 63, avoiding loosening and delamination. Moreover, the distance the second steering member 84 moves is half of the excess length, so a large storage effect can be achieved with a small space.

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

[0182] Furthermore, the auxiliary tensioning portion 80 also includes an auxiliary guide 89 disposed on the second base 81, the auxiliary guide 89 extending parallel to the guide shaft 83. An auxiliary slider 88 slidably engages with the auxiliary guide 89. The auxiliary guide 89 may be constructed as a slide rail, slide groove, or slide rod, for example. Specifically, the auxiliary slider 88 includes a collar portion adapted to the guide shaft 83 and a slider portion adapted to the auxiliary guide 89, the two being integrally formed. A second steering member 84 is disposed on the slider portion.

[0183] See 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 being disposed on the first base 32. The first base 32 is fixed to the first component 10. The first base 32 may also be part of the first component 10. For example, the first base 32 is installed in the receiving space 12, and the first elastic member 31 is exposed from the opening 13 to be able to connect with the connecting mechanism 50. The first base 32 is fixed in position relative to the third connecting portion 63. The first elastic member 31 is deformable along a first direction D1.

[0185] The output mechanism 30 also includes a traction member 37 and a limiting member 34. A first elastic member 31 is disposed between the traction member 37 and the limiting member 34, such that changes in the distance between the traction member 37 and the limiting member 34 cause changes in the deformation of the first elastic member 31, thereby changing the output force. In the example of this application, the first elastic member 31 is a helical spring, and the axial direction DS1 of the helical spring is parallel to the first direction D1. To reduce the space occupied by the output mechanism 30, the output force is provided by the compression deformation of the helical 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 interacts with the first elastic member 31 to keep the second end (fixed end) of the first elastic member 31 in a fixed position along the axial direction. 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 to drive the first end (free end) of the first elastic member 31 to move, thereby deforming the first elastic member 31.

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

[0188] The output mechanism 30 may also include a third guide assembly 33. The third guide assembly 33 can be used to guide the traction member 37 to move along the axial direction DS1 of the first elastic member 31. It can be 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 includes, for example, 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 connecting portion 63. The slider 33B is slidably engaged with the guide rail 33A. A traction member 37 is connected to the slider 33B, thereby allowing it to be guided to move along the axial direction DS1 of the first elastic member 31. The guide rail 33A can be constructed as a slide rail, a groove, or a rod, etc.

[0190] The traction member 37 may include a force-receiving portion 36 and a force-applying portion 39, which may be connected by a connector (e.g., bolt) or integrally formed. Under the action of an external force, the traction member 37 applies a force to the first elastic member 31, causing the first elastic member 31 to deform. This external force may be applied by, for example, a first actuating member 61 or a second actuating member 62. The force-receiving portion 36 of the traction member 37 receives this external force, and the force-applying portion 39 applies this force to the first elastic member 31. The force-applying portion 39 is connected to a 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 a first end of the first elastic member 31, thus allowing the force-applying portion 39 to 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 force to the traction 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 the two ends along the length of the connecting portion 35 and are respectively disposed on both sides along the thickness of the connecting portion 35, so as to facilitate interference between the force-receiving portion 37 and the first action member 61 and the second action member 62, and to help the force-applying portion 39 apply a uniform force to the first elastic member 31.

[0192] As previously described, rotation of the third connecting portion 63 can cause the first actuating member 61 and the second actuating member 62 to move relative to the third connecting portion 63 in opposite directions. For this purpose, the output mechanism 30 includes an actuating surface 36A, the orientation of which is the same as the first direction D1, and the actuating surface 36A is used to interfere with the first actuating member 61 or the second actuating member 62. It is understood that the traction member 37 includes an actuating surface 36A. For example, the actuating surface 36A is provided in the force-receiving portion 36 for interfering with the first actuating member 61 or the second actuating member 62. It is understood that the actuating surface 36A is used to receive external forces that deform the first elastic member 31.

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

[0194] Because the rotation angle of the second component 20 can be large, such as 180° clockwise or 180° counterclockwise, the length of the cable wound is long, so the first elastic element 31 needs to be able to compress a relatively long distance. General springs have a preset compression length ratio; when the compression length is large, flexing can occur, leading to a discrepancy between the expected compression force and the actual force, or even the risk of breakage. Therefore, to meet the compression requirements of a long stroke and avoid flexing, the output mechanism 30 includes multiple first elastic elements 31 connected in series parallel to the guide rail 33A. The first elastic elements 31 are constructed as helical springs, i.e., multiple short springs are used. These short springs can be connected by a rigid connecting component, distributing the total compression evenly among the short springs while maintaining a constant total compression. For a single short spring, the length-to-diameter ratio is significantly reduced, multiplying the possibility of compression flexing. Optionally, the multiple first elastic elements 31 can be configured as identical helical springs for ease of design and assembly. Of course, the multiple first elastic elements 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, through which two adjacent helical springs 31 are connected. 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 helical spring 31 can be guided to extend or retract along the extension direction of the guide rail 33A.

[0196] When the helical spring 31 extends or retracts, its two ends generate relative rotational motion. This causes the opposite ends of two adjacent springs 31 to also generate relative rotational motion. In order for the helical spring 31 to extend or retract along a trajectory close to the theory, it is necessary to ensure that the two ends of the helical spring 31 have relative rotational freedom. For this purpose, the connecting assembly 40 can be constructed as a revolute joint, with the axis of rotation of the revolute joint coinciding with the axis of the helical 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 used to abut against one of the two adjacent helical springs 31, and the second support member 49 is used to abut against the other of the two adjacent helical springs 31. For example, the first support member 46 is movably connected to the guide rail 33A, for example, 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 helical spring 31. One end of each helical spring 31 is connected to the first support member 46 of a connecting assembly 40, and the other end is connected to the second support member 49 of another connecting assembly 40, thereby allowing the two ends of the helical spring 31 to rotate relative to each other.

[0197] Optionally, the connecting assembly 40 also includes a bearing 48, through which the first support member 46 and the second support member 49 are connected. Using a bearing reduces the resistance encountered when the spring 31 rotates, preventing the rotational resistance from affecting the final axial output force and improving the output accuracy of the output mechanism 30. The bearing 48 is configured to withstand both axial and radial loads simultaneously, and can be configured as an angular contact ball bearing, thrust ball bearing, or crossed roller bearing.

[0198] The first support member 46 guides the deformation process of the helical spring 31. The first support member 46 can be arranged correspondingly to the helical spring 31. The first support member 46 connects the helical spring 31 and the third guide assembly 33, and can move along the axial direction DS1 of the helical spring 31 under the guidance of the third guide assembly 33, thereby driving the helical spring 31 to move along the axial direction DS1, that is, causing the helical spring 31 to deform along the axial direction. 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 helical spring 31. Each first support member 46 is connected to one 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 interacts with the coil spring 31 in a direction DS1 parallel to the axis of the coil spring. A first limiting protrusion 46D is also provided on the first bearing surface 46C, which restricts the movement of the coil spring 31 in a direction perpendicular to the axis of the coil spring (perpendicular to direction DS1). The radial cross-sections of the first bearing surface 46C and the first limiting protrusion 46D can be configured in an L-shape. 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 further includes a cylindrical annular portion 46B, which can be tightly fitted with the outer ring of the bearing 48. The first bearing surface 46C is the axial end face 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). Simultaneously, the first support member also includes a connecting member 46A connected to the annular portion 46B, which 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 correspondingly provided with the helical spring 31. Accordingly, the second support member 49 has a shaft portion 49B at one end of the axial direction DS1 (the first end of the second support member, the upper end in the figure), and the annular portion 46B of the first support member 46 is movably sleeved 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 by the bearing 48.

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

[0203] In addition to contacting the inner and outer rings of the bearing 48 respectively, the second support member 49 and the first support member 46 also clamp the bearing 48 between the second support member 49 and the first support member 46 along the axial direction DS1 of the helical spring 31. Optionally, the connecting assembly 40 may also include a retaining ring (not shown) to prevent axial movement of the bearing 48.

[0204] It is understandable that the structure or position of the first support member 46 and the second support member 49 can be interchanged to achieve the same effect.

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

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

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

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

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

[0210] Multiple helical springs 31 are connected in series to form a long spring assembly. Multiple first support members 46, located at both ends and the middle of this long spring assembly, ensure that the long spring deforms as intended, giving the output mechanism 30 good performance. When the output mechanism 30 is placed vertically, the limiting member 34 is located at the lower end of the output mechanism 30. Under the action of gravity, the lower end of the long spring assembly abuts against the limiting member 34, thus fixing the position of the lower end (fixed end) of the long spring assembly, and achieving deformation through the movement of the upper end (free end).

[0211] In the illustrated embodiment, the number of first elastic elements 31 is four. It is understood that the number of first elastic elements 31 can also be other values, such as two, three, five, six, etc.

[0212] In the illustrated embodiment, the output mechanism 30 uses the compressive deformation of the first elastic element 31 to provide output force. It is understood that the output mechanism 30 may also use the tensile or torsional deformation of the first elastic element 31 to provide output force.

[0213] In the illustrated embodiment, multiple short first elastic elements 31 are connected in series to form a long spring assembly. It is understood that the output mechanism 30 can also employ a single, high-performance long spring, or it can be a combination of multiple 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 generally in a vertical direction. It can be 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 illustrated embodiment, two flexible elements 51 and 52 are used, one wound in the forward direction and the other in the reverse direction. It is understood that more flexible elements can also be used, with some flexible elements wound in the forward direction and others wound in the reverse direction.

[0216] In other application scenarios, the movement of the second component 20 relative to the first component 10 may not be rotation, but other forms of movement, such as translation or a combination of translation and rotation. For example, when the second component 20 is telescopic, allowing its size and center of gravity to change, the torque of the bias 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 above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order than those described above. The order of steps in the above process can also be added, combined, or deleted according to actual needs.

[0218] In understanding the scope of this application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of a described feature, element, component, group, whole, and / or step, but do not exclude the presence of other undescribed features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0219] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0220] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0221] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. A force balancing device for equipment having a rotary joint, wherein, The rotating joint includes a first component and a second component, the second component being rotatable relative to the first component about a first rotation axis, characterized in that the force balancing device includes: A power output mechanism is used to provide an output force along a first direction, the output force being used to compensate for the torque of the biasing force on the second component relative to the first rotation axis; and The connecting mechanism includes a first connecting part, a second connecting part, and a third connecting part. The third connecting part is connected to the first connecting part and the second connecting part, respectively. The first connecting part and the second connecting part are used to connect to the output mechanism, so that the output force is transmitted to the first connecting part or the second connecting part. The first connecting part can apply a first torque to the third connecting part under the action of the output force, and the second connecting part can apply a second torque to the third connecting part under the action of the output force. The first torque and the second torque are in opposite directions. The third connecting part is used to connect 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 part is rotatable relative to the first component about a second rotation axis, and can be in a first position and a second position relative to the first component. When the third connecting part is in the first position, the output mechanism transmits the output force to the first connecting part, so that the first connecting part applies the first torque to the third connecting part; When the third connecting part is in the second position, the output mechanism transmits the output force to the second connecting part, so that the second connecting part applies the second torque to the third connecting part.

3. The force balancing device according to claim 2, characterized in that, The first connecting part includes a first flexible member, one end of which is connected to the output mechanism, and the other end of which is connected to the third connecting part, and the first flexible member is partially wrapped around the third connecting part; The second connecting part includes a second flexible member, one end of which is connected to the output mechanism, and the other end of which is connected to the third connecting part, and the second flexible member is partially wrapped around the third connecting part; 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 connecting mechanism also includes a first steering component. The first flexible element is partially wound around the first steering element, and the winding direction of the first flexible element on the first steering element is opposite to the winding direction of the first flexible element on the third connecting portion. The second flexible element is partially wrapped around the first steering element, and the winding direction of the second flexible element on the first steering element is opposite to the winding direction of the second flexible element on the third connecting part.

5. The force balancing device according to claim 4, characterized in that, The first steering component 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 actuating member connected to one end of the first flexible member, and the second connecting portion further includes a second actuating member connected to one end of the second flexible member. When the third connecting part is in the first position, the first actuating member acts on the output mechanism, and the second actuating member is separated from the output mechanism; when the third connecting part is in the second position, the second actuating member acts on the output mechanism, and the first actuating 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 part can drive the first and second action members to move relative to the third connecting part in opposite directions; The output mechanism includes an action surface, the direction of which 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 further includes a first elastic element and a traction element, the first elastic element being connected to the traction element, the traction element being movable relative to the third connecting portion to deform the first elastic element, the output force being at least partially generated by the deformation of the first elastic element, and the traction element including the working surface.

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

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

11. The force balancing device according to claim 9, characterized in that, The force balancing device further includes a second elastic element; The second steering member is connected to the second elastic member, and the second steering member can translate relative to the third connecting part 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 element is constructed as a spring, and the force balancing device further includes: A guide shaft, on which the second elastic element is movably sleeved; and An auxiliary slider is movably sleeved on the guide shaft and connected to the end of the second elastic member, and the second steering member is mounted to the auxiliary slider.

13. The force balancing device according to claim 11, characterized in that, The third connecting part is constructed as a modified cam.

14. The force balancing device according to claim 1, characterized in that, The output mechanism includes at least one first elastic element, the free end of which is used to connect to the coupling mechanism, and the output force is at least partially generated by the deformation of the first elastic element; or The output mechanism includes a counterweight and a fourth flexible transmission component, the fourth flexible transmission component connecting the counterweight and the traction mechanism, and the output force is at least partially generated by the gravity of the counterweight.

15. The force balancing device according to claim 14, characterized in that, The first elastic element is constructed 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 multiple helical springs connected in series.

17. The force balancing device according to claim 16, characterized in that, The output mechanism also includes a guide rail and a connecting assembly. The guide rail is fixed in position relative to the third connecting part. Two adjacent helical springs are connected by the connecting assembly, which is movably mounted 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 disposed on the guide rail and is used to abut against one of the two adjacent helical springs. The second support member is rotatable relative to the first support member about the axis of the helical spring and is used to abut against the other of the two adjacent helical springs.

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

20. A force balance system, characterized in that, include: First component; The second component is 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 part is connected to the second component so that the third connecting part moves under the drive of the second component.

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

22. The force balancing system according to claim 21, characterized in that, The second rotation axis is collinear with the first rotation axis.

23. The force balancing system according to claim 22, characterized in that, The third connecting part is rigidly connected to the second component.

24. The force balancing system according to claim 23, characterized in that, The third connecting part is connected to the second component in a transmission manner.

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 auxiliary system, characterized in that, Including the force balancing system according to claim 25.

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