CN117989436A - Balance mechanism of measuring equipment and measuring equipment - Google Patents

Abstract

The application discloses a balance mechanism of a measuring device and the measuring device, wherein the measuring device comprises a base, at least one arm component and a shaft assembly connected between the base and the arm component, and the balance mechanism comprises: an outer support structure disposed at a circumferential side of the arm member to support the arm member during rotation of the arm member about the shaft assembly; the balance structure is sleeved on the shaft assembly and comprises a balance assembly, a shaft sleeve assembly and a mounting assembly connected with the base; the shaft sleeve assembly is sleeved on the shaft assembly and fixed on the mounting assembly, and the balance assembly is sleeved on the shaft sleeve assembly and connected with the outer support structure, so that the outer support structure supports the arm member to rotate, and drives the balance assembly to rotate around the shaft sleeve assembly to generate torque force during rotation of the arm member, so that the gravity center of the measuring device is balanced.

Description

Balance mechanism of measuring equipment and measuring equipment

Technical Field

The application relates to the technical field of articulated arm type measuring equipment, in particular to a balancing mechanism of the measuring equipment and the measuring equipment.

Background

The articulated arm type measuring apparatus is widely used as a precision measuring tool in the fields of size measurement of a mold or a part, quality detection, engineering data acquisition, work assembly, and the like, and is generally composed of a base for stable standing and an articulated arm connected to the base, and a measuring probe is disposed at the tip of the articulated arm to perform measurement. Further, the articulated arm includes arm portions connected by joint portions to provide rotational freedom of the measurement probe in a manner that emulates a human joint, so that during a measurement operation, a measurement person may pull or sense the measurement probe into contact with or to capture a structural characteristic of an object to be measured.

In the measurement operation, the gravity center positions of the joint arm and the measurement probe can change along with the position change of the measured point, and in some related technologies, the change of gravity center moment is automatically balanced through a built-in balance structure in the joint of the joint arm, but because the built-in balance structure directly acts on the arm part in the joint arm, the arm part is stressed for a long time to generate deflection deformation, the measurement precision is affected, and the equipment cannot be used. In addition, the built-in balance structure needs to provide balance force, so that the built-in balance structure needs to be replaced together with the whole joint once damage occurs, and the maintenance difficulty and the cost of equipment are increased.

Therefore, how to design a balancing mechanism of a measuring device to be able to achieve avoiding stress deformation of the arm portion and easy replacement is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the above-mentioned drawbacks of the related art, an object of the present application is to provide a balancing mechanism of a measuring apparatus and a measuring apparatus, which are used for solving the technical problems that the measuring apparatus is not easy to replace in the measuring process and the measuring accuracy is reduced due to the stress deformation of the arm portion.

To achieve the above and other related objects, a first aspect of the present application provides a balance mechanism of a measuring apparatus including a base, at least one arm member, and a shaft assembly connected between the base and the arm member, the balance mechanism including: an outer support structure disposed at a circumferential side of the arm member to support the arm member during rotation of the arm member about the shaft assembly; the balance structure is sleeved on the shaft assembly and comprises a balance assembly, a shaft sleeve assembly and a mounting assembly connected with the base; the shaft sleeve assembly is sleeved on the shaft assembly and is fixed on the mounting assembly, the balance assembly is sleeved on the shaft sleeve assembly and is connected with the outer support structure, so that the outer support structure supports the arm member to rotate, and the balance assembly is driven to rotate around the shaft sleeve assembly to generate torque force during rotation of the arm member, so that the gravity center of the measuring device is balanced.

In certain embodiments of the disclosure of the first aspect of the present application, the outer support structure comprises: an arm support assembly disposed around the arm member to support the arm member; and the connecting assembly is connected between the arm supporting assembly and the balance structure so as to realize the fixed connection between the balance structure and the outer supporting structure.

In certain embodiments of the disclosure of the first aspect of the present application, the arm support assembly comprises: an outer sleeve, which is sleeved on the arm component in a non-contact manner, and the proximal end of the outer sleeve is connected with the connecting component; and an arm support portion disposed at a distal end of the outer sleeve, the arm support portion supporting the arm member when the arm member is disposed in the outer sleeve.

In certain embodiments of the present disclosure, the arm support comprises a coupler adapted to be coupled to the outer sleeve at a distal end thereof, and a support member disposed on a sidewall of the coupler to support the arm member in a point-supported or line-supported manner.

In certain embodiments of the first aspect of the present disclosure, the support is configured in at least two.

In certain embodiments of the first aspect of the present disclosure, the support is configured as a roller.

In certain embodiments of the present disclosure, the two adjacent support members are distributed at 120 °.

In certain embodiments of the disclosure of the first aspect of the application, the connection assembly comprises first and second portions that are adapted to hug the proximal end of the arm support assembly.

In certain embodiments of the present disclosure, the balance structure has a circumferential gap with the shaft assembly when sleeved thereon.

In certain embodiments of the present disclosure, the sleeve assembly includes a mandrel configured in a front-to-back through annular configuration to fit over the shaft assembly.

In certain embodiments of the disclosure disclosed in the first aspect of the application, the sleeve assembly further comprises a mandrel fixing ring fixedly connected with the mounting assembly, and the mandrel fixing ring is connected to an end surface of the mandrel through a fixing piece so as to fix the mandrel.

In certain embodiments of the disclosure of the first aspect of the present application, the balancing assembly comprises: the torsion spring is sleeved on the shaft sleeve assembly and is provided with a fixed end and a follow-up end which are arranged oppositely, the fixed end is connected to a torsion spring fixing part, and the torsion spring fixing part is fixedly connected with the installation assembly; and the rotation connecting part is fixedly connected with the follow-up end of the torsion spring and is also fixedly connected with the outer supporting structure so as to adjust the torque force of the torsion spring during the rotation of the outer supporting structure to balance the gravity center of the measuring equipment.

In certain embodiments of the present disclosure, the rotatable connection is configured as a rotatable connection ring that is sleeved on the torsion spring and coupled to the bushing assembly via a bearing structure.

In certain embodiments of the first aspect of the present application, a spacer is further provided between the rotatable connection ring and the torsion spring to prevent contamination.

In certain embodiments of the present disclosure, the rotation connection portion is provided with a limiting member for preventing the outer support structure from rotating in a reverse direction.

In certain embodiments of the present disclosure, the torsion spring fixing portion may further be used to pre-tension the torsion spring, the torsion spring fixing portion including: the pre-tightening adjusting part is fixedly connected with the mounting assembly; the fixed ring is sleeved on the fixed end of the torsion spring, the fixed ring is clamped into the mounting groove on the fixed ring through the fixing piece and is connected to the fixed end, the fixed ring is positioned in the pre-tightening adjusting part so that the fixed end is fixed, and the pre-tightening adjusting part can push the fixed ring to adjust the pre-tightening angle of the torsion spring.

In certain embodiments of the disclosure of the first aspect of the present disclosure, the pretension adjustment portion comprises: the pre-tightening adjusting ring is matched with the baffle ring and used for accommodating the fixing ring, an adjusting groove is arranged in the pre-tightening adjusting ring, and a protruding block arranged on the fixing ring is positioned in the adjusting groove when the fixing ring is arranged in the pre-tightening adjusting ring; and the adjusting piece enters the adjusting groove through an adaptive hole on the circumferential side of the pre-tightening adjusting ring to contact the protruding block, and is used for adjusting the pre-tightening angle of the torsion spring through rotation.

In certain embodiments of the disclosure of the first aspect of the present application, the mounting assembly comprises: a bearing structure including a bearing portion and a locking portion disposed on the bearing portion, the bearing portion being locked to the base by the locking portion being engaged with the base; and the connecting bracket is arranged on the bearing part and is connected with the balance structure so that the balance structure can rotate relative to the base.

In certain embodiments of the disclosure, the bearing portion comprises a bearing body, an inner race of which is locked to the base by a locking portion, and a bearing housing, which is disposed on an outer race of the bearing body and on which the connection bracket is mounted such that the connection bracket is rotatable relative to the base.

A second aspect of the application provides a measuring device comprising a base, an articulated arm connected to the base, a measuring apparatus disposed at a distal end of the articulated arm, the articulated arm comprising a shaft assembly disposed at a proximal end thereof and an arm member connected to the shaft assembly, the measuring device further comprising a balancing mechanism as described in any of the embodiments disclosed in the first aspect of the application.

In certain embodiments of the second aspect of the present disclosure, the measurement device is a three-coordinate measurement arm device.

In summary, according to the balance mechanism and the measurement device of the measurement device provided by the application, the balance mechanism is configured to comprise the outer support structure and the balance structure, the outer support structure is sleeved on the periphery side of the arm member to support the arm member, and the balance structure is connected with the outer support structure and is connected to the base of the measurement device, so that the outer support structure bears the acting force of the balance structure and is further transferred to the base, and deflection deformation of the arm member of the measurement device is avoided. In addition, the balance structure is sleeved on the shaft assembly corresponding to the arm component through the shaft sleeve assembly, and the balance assembly of the balance structure is sleeved on the shaft sleeve assembly and connected with the outer supporting structure, so that the balance structure is convenient to detach and replace from the measuring equipment.

Drawings

The specific features of the application are set forth in the appended claims. The features and advantages of the application that are related to the present application will be better understood by reference to the exemplary embodiments and the drawings described in detail below. The drawings are briefly described as follows:

FIG. 1 is a schematic diagram showing a balance mechanism configured on a measuring apparatus according to an embodiment of the present application.

FIG. 2 is a schematic diagram showing the separation of the balance mechanism from the measuring apparatus in one embodiment of the present application.

Fig. 3 is a schematic view of an outer support structure according to an embodiment of the present application.

Fig. 4 is a schematic view showing the structure of the arm support portion in an embodiment of the present application.

Fig. 5 is a schematic view showing a structure in which the connection assembly is separated from the arm support assembly in an embodiment of the present application.

FIG. 6 is a schematic cross-sectional view of a balancing mechanism according to an embodiment of the present application disposed at a balancing structure on a measuring apparatus.

Fig. 7 shows a partial enlarged view of the embodiment shown in fig. 6.

Fig. 8 is a schematic structural diagram of a balance structure according to an embodiment of the application.

Fig. 9 is an exploded view of a balance structure according to an embodiment of the present application.

FIG. 10 is a schematic view showing an exploded structure of a torsion spring fixing portion in an embodiment of the present application.

FIG. 11 is an enlarged partial schematic view of the pretensioned adjustment ring of the embodiment of the present application shown in FIG. 10.

Fig. 12 is a schematic view showing the structure of a mounting assembly according to an embodiment of the present application.

Fig. 13 is a schematic cross-sectional view of a mounting assembly in an embodiment of the application.

Fig. 14 is an enlarged partial schematic view of the mounting assembly of the embodiment of fig. 13 of the present application.

Detailed Description

Further advantages and effects of the present application will become apparent to those skilled in the art from the disclosure of the present application, which is described by the following specific examples.

In the following description, reference is made to the accompanying drawings which describe several embodiments of the application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "upper," and the like, may be used herein to facilitate a description of one element or feature as illustrated in the figures as being related to another element or feature.

Although the terms first, second, etc. may be used herein to describe various elements in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first shaft assembly may be referred to as a second shaft assembly, and similarly, the second shaft assembly may be referred to as a first shaft assembly, without departing from the scope of the various described embodiments. The first shaft assembly and the second shaft assembly are both described as a certain shaft assembly, but they are not the same shaft assembly unless the context clearly indicates otherwise. Similar situations also include first and second arm members, first and second portions, first and second fixtures, and the like.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or" and/or "as used herein are to be construed as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.

In view of the technical problems mentioned in the background art, some related art relate to a measuring device configured with an external pneumatic balancing mechanism to transfer the stress of an arm portion, and in particular, the measuring device includes a gas spring balancing structure and a bracket, the bracket supports the arm portion, and the gas spring structure is externally arranged on an articulated arm and connected with the bracket to support the bracket through the movement of a piston to realize self-balancing. On one hand, the external gas spring structure occupies the working space of the measuring equipment, and is easy to collide and interfere with an object to be measured in use to influence measurement. On the other hand, the angle that can balance rotation that the gas spring structure provided is limited, and when the arm pushes down to certain angle, gas spring structure can not provide balanced power, leads to the joint arm to fall.

In a possible embodiment, the application provides a balance mechanism of a measuring device and the measuring device, wherein the balance mechanism is configured to comprise an outer support structure and a balance structure, the outer support structure is sleeved on the periphery side of an arm member to support the arm member, and the balance structure is connected with the outer support structure and is connected to a base of the measuring device, so that the outer support structure bears the acting force of the balance structure and is further transferred to the base, and deflection deformation of the arm member of the measuring device is avoided. In addition, the balance structure is sleeved on the shaft assembly corresponding to the arm component through the shaft sleeve assembly, and the balance assembly of the balance structure is sleeved on the shaft sleeve assembly and connected with the outer supporting structure, so that the balance structure is arranged around the shaft assembly and is convenient to assemble and disassemble, and therefore the balance structure does not occupy the working space of the measuring equipment and is convenient to disassemble from the measuring equipment.

Referring to fig. 1 and 2, fig. 1 is a schematic diagram of a balance mechanism configured on a measuring device according to an embodiment of the application, and fig. 2 is a schematic diagram of a balance mechanism separated from the measuring device according to an embodiment of the application. As shown in fig. 1 and 2, the measuring apparatus includes: an articulated arm 1, a measuring device 2, a balancing mechanism 3, and a base 4. It should be noted that the above-mentioned measuring device is only an exemplary embodiment, and in some embodiments, the balancing mechanism may be disposed on the measuring device as a separate structure, that is, the measuring device may include an articulated arm, a measuring device, and a base, and the balancing mechanism is disposed on the measuring device. In other embodiments, other structures may be used for the measuring device to which the balancing mechanism is adapted, such as a three-coordinate measuring machine.

The base 4 serves as a base part of the measuring device for carrying the articulated arm. In an embodiment, the base 4 may comprise a mounting means 40, the mounting means 40 allowing the measuring device to be removably arranged on a measuring platform, such as a test bench, a machining platform, a wall, a floor, or a tripod. In one example, the mounting device 40 may be configured as a threaded ring structure that is screwed onto the measurement platform to allow the measurement apparatus to be placed on the measurement platform for measurement, and unscrewed from the measurement platform to allow the measurement apparatus to be removed from the measurement platform. For example, the threaded ring may be configured with an operating portion to facilitate tightening or loosening operations.

In an embodiment, the base 4 may comprise a handle structure which provides an operating space for an operator, for example, who can hold by the handle structure when it is desired to move the measuring device.

In one embodiment, the base 4 includes or houses a master device. For example, the master control device may perform three-dimensional coordinate calculation based on rotation information acquired by each angle encoder in the articulated arm 1 and position information of the point to be measured acquired by the measuring device 2.

In one embodiment, as shown in fig. 2, the articulated arm 1 has opposite proximal and distal ends, the proximal end of which is connected to the base 1, and the distal end of which is provided with a measuring device 2, the degree of freedom of movement of the measuring device 2 in space being provided by the articulated arm 1 such that the measuring device 2 can be moved into alignment with a point to be measured for measurement. The point to be measured corresponds to a position or a part to be measured on the object to be measured. In the following embodiments, in order to clearly illustrate the relative positions of the components, structures, assemblies, mechanisms, members, devices, or apparatuses in the measuring apparatus, the components, structures, assemblies, mechanisms, members, devices, or apparatuses are distinguished based on the proximal end and the distal end of the joint arm, and a side of the components, structures, assemblies, mechanisms, members, devices, or apparatuses relatively near the proximal end of the joint arm is referred to as a proximal end (may also be referred to as a proximal end), and a side relatively near the distal end of the joint arm is referred to as a distal end (may also be referred to as a distal end).

In one embodiment, as shown in fig. 2, the articulated arm 1 includes a first arm member 10, a second arm member 11, and six shaft assemblies, each of which may provide a rotational or hinged rotation. The six shaft assemblies in fig. 2 are a first shaft assembly 12, a second shaft assembly 13, a third shaft assembly 14, a fourth shaft assembly 15, a fifth shaft assembly 16, and a sixth shaft assembly 17, respectively. Wherein a first shaft assembly 12 is connected to the base 4 providing a rotational rotation about the axis of the base 4, a second shaft assembly 13 is connected to the proximal end of the first arm member 10 and connected to the first shaft assembly 12, the second shaft assembly 13 providing a hinged rotation about an axis perpendicular to the first arm member 10 (which may correspond to the axis of the second shaft assembly). A third shaft assembly 14 is connected to the distal end of the first arm member 10, which provides rotational rotation about the axis of the first arm member 10, and a fourth shaft assembly 15 is connected to the proximal end of the second arm member 11 and connected to the third shaft assembly 14, the fourth shaft assembly 15 providing hinged rotation about an axis perpendicular to the second arm member 11 (which may correspond to the axis of the fourth shaft assembly 15). A fifth shaft assembly 16 is connected to the distal end of the second arm member 11, which provides rotational rotation about the axis of the second arm member 11, and a sixth shaft assembly 17 is connected to the proximal end of the second arm member 11 and connected to the fifth shaft assembly 16, the sixth shaft assembly 17 providing hinged rotation about an axis perpendicular to the second arm member 11 (which may correspond to the axis of the sixth shaft assembly 17).

In some embodiments, the shaft assemblies that collectively combine to connect the first arm member 10 to the base 4 (e.g., the first shaft assembly 12 and the second shaft assembly 13) are also referred to as a first articulation mechanism, and similarly, the shaft assemblies that collectively combine to connect the first arm member 10 to the second arm member 11 (e.g., the third shaft assembly 14 and the fourth shaft assembly 15) are referred to as a second articulation mechanism, and the shaft assemblies that collectively combine to connect the measuring device 2 to the second arm member 11 (e.g., the fifth shaft assembly 16 and the sixth shaft assembly 17) are referred to as a third articulation mechanism. In some embodiments, the positions of the shaft assemblies and the number of the shaft assemblies included in each joint mechanism may be different from those shown in fig. 2, for example, the third shaft assembly 14 may be moved to be disposed at the proximal end of the first arm member 10, and may be used as a first joint mechanism together with the first shaft assembly 12 and the second shaft assembly 13, and the fourth shaft assembly 15 may be used as a second joint mechanism, which may, of course, be combined in other manners, which are not described herein.

The provision of six shaft assemblies for the articulated arm 1 in the embodiment shown in fig. 2 provides for six-axis rotation, and therefore the measuring device in the embodiment shown in fig. 2 may also be referred to as a six-axis coordinate measuring machine. In some embodiments, a seventh shaft assembly may also be further included, which may provide rotational rotation of the measuring device, and a measuring apparatus provided with seven shaft assemblies to provide seven-axis rotation is also referred to as a seven-axis coordinate measuring machine.

It should be understood that the configuration of the articulated arm in fig. 2 with two arm members and six shaft assemblies is merely illustrative, and the application is not limited thereto, as the articulated arm may be configured with any number of arm members, and any number of shaft assemblies connected between adjacent arm members, arm members and a base, or arm members and a measuring device, and the articulated arm may provide more or less than six or seven axis rotation, as long as it is ensured that the articulated arm includes at least one arm member connected to a base and a shaft assembly connected between the base and arm members to provide hinged rotation.

In one embodiment, the arm members in the articulating arm may be configured in an elongated cylindrical shape and may be made of a suitable rigid material, such as a lightweight high strength metal alloy, e.g., aluminum alloy, magnesium alloy, or carbon composite.

In one embodiment, each shaft assembly includes an encoder that is configurable as an angular encoder that provides relative rotational information of the respective arm members, and the information provided by the encoders of all shaft assemblies determines the position of the measuring device relative to the base. Further, the three-dimensional coordinates of the point to be measured may be determined by the main control device mentioned in the foregoing embodiment based on the rotation information provided by each encoder and the position data detected by the measuring device.

In one embodiment, as shown in fig. 2, the measuring device 2 includes a base 20 and a probe 21. The base 20 is attached to the distal end of the articulating arm 1 and, further, to the sixth shaft assembly 17 in fig. 2. The probe 21 is removably mounted to the base 20, and in some examples, the probe 21 is configured as a contact detection member having different tips that can physically contact an object to be measured, including but not limited to a ball, touch sensitive, curved, or extended probe. In some examples, the probe 21 is configured as a non-contact detection member capable of measuring an object under test in a non-contact manner, such that no contact damage is caused to the object under test. The noncontact detection member is, for example, a laser scanner, an optical sensor, an electrostatic sensor, or the like.

Further, an interface unit is disposed on the base 20. The interface unit may be configured to include a probe interface module and a trigger interface module. The probe interface module is configured to be at least one, and the probes 21 described in the above embodiments can be mounted on the base 20 through one probe interface module, and more probe interface modules can be used to connect other probes, including, but not limited to, a laser scanning head, a fork-shaped probe, etc., and the trigger component interface module is used to connect a trigger component, which can be, for example, a handle or a keypad.

As in the previous embodiments, a balancing mechanism may also be provided in the measuring device, which may be used to balance the change in the moment of gravity of the articulated arm. The balance mechanism disclosed in some embodiments of the present application includes an outer support structure and a balance structure. The outer support structure is configured on the peripheral side of the arm component which is connected with the base through at least one shaft component for providing hinge rotation so as to support the arm component during the rotation of the arm component around the shaft component, and the balance structure is sleeved on the shaft component and connected with the outer support structure, so that the outer support structure can drive the balance structure to rotate during the rotation of the arm component so as to generate torque force for balancing the gravity center moment change of the measuring equipment, and the gravity center of the measuring equipment is balanced. Taking fig. 1 and 2 as an example, the outer support structure 31 of the balance mechanism 3 may be disposed on the peripheral side of the first arm member 10, and the balance structure 32 of the balance mechanism 3 is connected to the base 4 and sleeved on the second shaft assembly 13. In the following embodiments, the possible structures of the balancing mechanism 3 will be described by taking the example that the balancing mechanism 3 is disposed in the measuring apparatus in the manner shown in fig. 1 and 2, and the present application is not limited thereto.

Referring to fig. 3, a schematic structure of an outer support structure according to an embodiment of the application is shown, and as shown in fig. 3, the outer support structure 31 includes an arm support assembly 311 and a connection assembly 312. As shown in fig. 1 and 2, the arm support assembly 311 is disposed around the first arm member 10 to support the first arm member 10, and the connection assembly 312 is connected between the arm support assembly 311 and the balance structure 32 to achieve a fixed connection between the balance structure 32 and the outer support structure 31.

In one embodiment, as shown in FIG. 3, the arm support assembly 311 includes an outer sleeve 3111 and an arm support 3112. The outer sleeve 3111 is non-contact sleeved on the first arm member 10, the proximal end of the outer sleeve is connected to the connection assembly 312, the arm support 3112 is disposed at the distal end of the outer sleeve 3111, and the arm support 3112 supports the first arm member 10 when the first arm member 10 is disposed in the outer sleeve 3111.

The outer sleeve 3111 is fit around the first arm member 10 in a non-contact manner, that is, the outer sleeve 311 surrounds the first arm member 10 with a certain gap from the first arm member 10, and the arm support 3112 only provides support for the first arm member 10. In this way, the outer sleeve 3111 receives the torque force provided by the balance structure, and even if the outer sleeve 3111 is deformed by long-term stress, the torque force does not affect the accuracy of the first arm member 10 since it does not contact the first arm member 10. Further, the first arm member 10 may be configured to be relatively thin and the outer sleeve 3111 may be configured to be relatively thick.

In one embodiment, the outer sleeve 3111 may be configured as a hollow cylinder with a smooth surface to reduce friction with the surrounding environment. The length of the outer sleeve 3111 is configured to fit the first arm member 10, and the material includes, but is not limited to, rigid materials such as alloy, cast iron, carbon structural steel, and the like.

In order to avoid that the axis of the first arm member 10 deviates from the axis of the outer sleeve 3111, which affects the measurement accuracy, in one embodiment the arm support supports the first arm member in a point-supported or line-supported manner. Referring to fig. 4, a schematic structure of an arm support portion according to an embodiment of the application is shown, and as shown in fig. 4, the arm support portion 3112 includes a coupling 31121 and a support 31122. The connector 31121 is adapted to be connected to the distal end 3111 of the outer tube, and the support 31122 is disposed on a side wall of the connector 31121 to support the first arm member 10 in a point-supported or line-supported manner.

In one embodiment, the coupler 31121 may be configured as a ring-like structure that fits over the distal end of the outer cannula 3111 in a tight-fitting manner with the distal end port of the outer cannula 3111. Examples of the manner of coupling the coupling member 31121 to the outer sleeve 3111 include, but are not limited to, welding, adhesive bonding, mortise-tenon coupling, and integral molding. In some other examples, the junction and the outer sleeve may not be distinguished, i.e., the arm support 3112 may include only the support 31122, and the support 31122 may be provided on the outer sleeve for supporting the first arm member.

In an embodiment, the support 31122 may be configured to contact the first arm member in a point contact manner to achieve point support of the first arm member, as shown in fig. 4, the support 31122 is configured as a roller including a roller body and a roller shaft, the roller body being rotatable about the roller shaft. Correspondingly, the combining piece 31121 is provided with a groove, the width of the groove is slightly larger than the thickness of the roller body, the roller shaft is clamped in the groove of the combining piece 31121, so that the roller is rotatably fixed on the combining piece 31121, and when the axle center of the first arm member 10 deviates from the axle center of the outer sleeve 3111, the roller can slide relatively to the roller to adjust the axle center. Further, to achieve the buffering of the first arm member 10, the material of the roller body includes, but is not limited to, flexible materials such as rubber, silicone, plastic, etc.

In further embodiments, the support 31122 may also be configured to contact the first arm member in a line contact manner to enable line support of the first arm member, e.g., the support 31122 may be configured as an elongated support. In this way, the axis of the first arm member can be adjusted.

In one embodiment, as shown in fig. 4, the support 31122 may be configured in two. Further, the two supporting members 31122 are distributed at 120 °, that is, the included angle α between the directions in which the supporting forces of the two supporting members 31122 are located is 120 °. Of course, in other embodiments, more than two support members 31122 may be provided, and two adjacent support members 31122 may be provided in other angular distributions, such as less than 180 °.

Referring to fig. 5 in combination with fig. 3, fig. 5 is a schematic structural diagram of the connecting component separated from the arm support component according to an embodiment of the application, and as shown in the drawing, the connecting component 312 includes a first portion 3121 and a second portion 3122, where the first portion 3121 and the second portion 3122 are adapted to be clasped to the proximal end of the arm support component 311.

In the example shown in fig. 5, to accommodate the balance structure 32 at the proximal end of the link assembly 312 and the arm support assembly 31 at the distal end, the link assembly 312 is configured as a wedge structure with a narrow upper portion and a wide lower portion, and the lower edge thereof is configured as an arc. As shown in fig. 5, the first portion 3121 and the second portion 3122 are configured identically and symmetrically, and the distal end of the second portion 3122 is disposed in a semicircular arc shape, for example, at a position where the distal end contacts the arm support assembly 31, and has an inner diameter equal to an outer diameter of the arm support assembly 31. To achieve the connection between the first portion and the second portion, a first screw hole is provided on a sidewall of the first portion 3121, and a second screw hole is provided at a position where the second portion 3122 contacts the first portion 3121, the first screw hole and the second screw hole corresponding to each other and penetrating each other, so that a fixing member, such as a screw, can pass through the first screw hole and the second screw hole to fixedly connect the first portion 3121 and the second portion 3122, and in order to make the connection between the first portion and the second portion more firm, in some examples, the first screw hole and the second screw hole may be configured as a plurality of.

Referring to fig. 6 and 7, fig. 6 is a schematic cross-sectional view of a balancing mechanism disposed at a balancing structure on a measuring apparatus according to an embodiment of the present application, fig. 7 is a partially enlarged view of the embodiment shown in fig. 6, and as shown in fig. 6 and 7, when the balancing structure 32 is sleeved on the second shaft assembly 13, the balancing structure 32 and the second shaft assembly 13 have a circumferential gap d. That is, the second shaft assembly 13 and the balance structure 32 are not in contact in the circumferential direction and are separable from each other, so that when the second shaft assembly 13 or the balance structure 32 malfunctions and needs to be replaced, the two can be separated more conveniently for separate replacement.

To accommodate the balance structure 32, in one embodiment, as shown in fig. 2 and 6, the second shaft assembly 13 includes a main shaft 131, an encoder 132, and a stationary portion 133. The main shaft 131 may span the first shaft assembly 12, as shown in fig. 6, further, the first shaft assembly 12 is provided with a bracket 120, and the main shaft 131 is fixedly disposed on the bracket 120. The encoder 132 is arranged on the circumference side of the spindle 131 for providing measurement and feedback of the real-time position of the first arm member 10. The fixing portion 133 is used to connect the encoder 132 to the first arm member 10 so that the first arm member 10 can hinge around the spindle 131. To provide stable support for the first arm member 10 and to accommodate different operating environments, the material of the fixing portion 133 includes, but is not limited to, alloys, high strength plastics, and stainless steel.

In one embodiment, encoder 132 includes an encoder housing, an encoder disk, and a read head. The encoder housing is disposed around the spindle 131 and accommodates the encoder disk and the read head, and may be connected with the fixing portion 133 in the foregoing embodiment by the encoder housing to connect the encoder 132 to the first arm member 10. The encoder disk has a pattern on its surface that can be measured by a read head, which obtains the actuation information of the spindle 131 by reading the corresponding changes in the pattern on the encoder disk when the encoder 132 is actuated, since the encoder 132 is connected to the first arm member 10, and the first arm member 10 actuates the encoder 132. In the example where the encoder 132 is an angle encoder, the encoder disk has grating bars thereon, and when the spindle rotates, the grating bars of the encoder disk are blocked and generate corresponding optical signals, and the read head may include an optical measurement device such as a camera, and the read head obtains rotation information of the spindle through interpretation of the generated optical signals and feeds the rotation information back to a main control device, so as to determine three-dimensional coordinates of the to-be-measured point. In some other examples, the encoder disk has a plurality of tracks or bit codes thereon, each track or bit code corresponding to a binary value, and the read head is capable of correspondingly reading each binary value and combining the read information to form absolute position information for the current position.

Referring to fig. 8 and 9, fig. 8 is a schematic structural view of a balance structure according to an embodiment of the present application, and fig. 9 is an exploded schematic structural view of a balance structure according to an embodiment of the present application, wherein, as shown in fig. 8 and 9, the balance structure 32 includes a balance component 321, a sleeve component 322 and a mounting component 323. The shaft sleeve component 322 is sleeved on the second shaft component and is fixed on the mounting component 323, the balance component 321 is sleeved on the shaft sleeve component 322 and is fixedly connected with the outer supporting structure, so that the outer supporting structure drives the balance component 321 to rotate around the shaft sleeve component 322 during the rotation of the first arm component, and torque force is generated, so that the gravity center of the measuring device is balanced. In other words, rotation of the balancing assembly 321 about the second shaft assembly 13 generates a torque force that balances the moment variations of the center of gravity of the measuring device. Further, in the measurement work, the positions of the joint arm and the measurement device are changed in space, so that the gravity moment of the measurement device is changed, and therefore, the gravity moment change of the measurement device, namely, the gravity moment change generated by the change of the positions of the joint arm and the measurement device in space, is balanced, and the situation of falling does not occur.

As shown in fig. 9, the sleeve assembly 322 includes a mandrel 3221, and the mandrel 3221 is configured to have a ring structure penetrating from front to back so as to be sleeved on the second shaft assembly. The length of the spindle 3221 is adapted to the length of the second shaft assembly, in an example, the length of the second shaft assembly is slightly greater than that of the spindle 3221, and when the spindle 3221 is sleeved on the second shaft assembly, the second shaft assembly is located at the axis of the spindle 3221 and is located at the central position of the spindle 3221 as a whole.

In one embodiment, sleeve assembly 322 further includes a spindle securing ring 3222 coupled to an end surface of spindle 3221 through securing member 3223 through the spindle securing ring 3222 to secure spindle 3221. In order to distinguish from the subsequent fixing of other locations, in an embodiment the fixing of the mandrel is also referred to as the first fixing. In the embodiment shown in fig. 9, the number of the first fixing pieces 3223 is six, the six first fixing pieces 3223 are uniformly distributed on the end face of the spindle fixing ring 3222, and correspondingly, the end face of the spindle 3221 is provided with six connecting holes which are uniformly distributed and correspond to the six first fixing pieces 3223. In some examples, the first fixing member 3223 may be a screw, for example, and the connection hole may be configured as a screw hole, respectively.

The shape of the spindle fixing ring 3222 includes, but is not limited to, a circular shape and a quasi-circular shape, and as shown in fig. 9, the spindle fixing ring 3222 has a quasi-circular shape, and a rectangular protrusion is formed at a lower side thereof, and three screw holes are formed on the rectangular protrusion, specifically, the spindle fixing ring 3222 and the mounting assembly 323 are connected by the second fixing member 3224 passing through the three screw holes on the rectangular protrusion at the lower side of the spindle fixing ring 3222.

Referring to fig. 2, 5 and 9, the balancing assembly 321 includes a torsion spring 3211 and a rotation connection portion 3212, where the torsion spring 3211 is sleeved with a sleeve assembly 322, and has a fixed end 32111 and a following end 32112; the rotation connection portion 3212 is fixedly connected to the follower end 32112 and fixedly connected to the outer support structure 31 to adjust a torque force of the torsion spring 3211 during rotation of the outer support structure 31 so that a center of gravity of the measuring apparatus is balanced.

In the embodiment shown in fig. 9, the rotational connection 3212 is configured as a rotational connection ring that houses the torsion springs 3211 and is coupled to the bushing assembly 322 via a bearing structure 3213. Specifically, the rotating connection ring is provided with uniformly distributed connection holes in the circumferential direction, and a pin or other type of fixing member may be inserted into the connection holes and fixed at the follower end 32112 of the torsion spring 3211 to achieve the fixed connection between the follower end 32112 and the rotating connection portion 3212.

To achieve connection between the rotating connection ring and the connection assembly, in an embodiment, a lug is disposed on the upper side of the rotating connection ring, a plurality of connection holes are disposed on the lug, and in conjunction with fig. 2, 5 and 9, a recess that is engaged with the lug is disposed at the proximal end of the inside of the connection assembly 312, specifically, the recess is disposed on the outer surface of the second portion 3122 of the connection assembly, and a plurality of through holes are disposed on the recess, and a plurality of fixing members such as screws are used to connect a plurality of through holes on the second portion 3122 and a plurality of connection holes on the lug, thereby achieving connection between the connection assembly 312 and the rotating connection ring.

In one embodiment, a spacer is further provided between the rotating link and the torsion spring 3211 to prevent contamination. Specifically, the inner diameter of the rotating connection ring may be configured to be slightly larger than the outer diameter of the torsion spring 3211, when the torsion spring 3211 is sleeved on the rotating connection ring, a gap between the rotating connection ring and the torsion spring 3211 is used for placing a spacer, so that leakage of contaminants such as grease on the torsion spring 3211 can be prevented, and the spacer can absorb vibration of surrounding components and reduce transmission of impact force. The spacer material includes, but is not limited to, rubber, plastic, metal, etc., to resist contamination under different environmental conditions.

In one embodiment, as shown in fig. 9, a limiting member 32121 is disposed on the rotation connection portion 3212 for preventing the outer support structure 31 from rotating reversely. The limiting piece 32121 comprises, but is not limited to, rubber, silica gel and composite materials, has good elasticity and wear resistance, can prevent the outer support structure from rotating reversely, and is also beneficial to reducing mechanical impact and vibration and improving the stability of the measuring equipment.

To achieve the pre-load adjustment of the torsion spring, in one embodiment, the fixed end 32111 of the torsion spring 3211 is connected to a torsion spring fixing portion 3214, and the torsion spring fixing portion 3214 is fixedly connected to the mounting assembly 323. Referring to fig. 10 in combination with fig. 9, fig. 10 is a schematic exploded view of a torsion spring fixing portion according to an embodiment of the application. As shown in fig. 9 and 10, the torsion spring fixing portion 3214 includes a pretension adjusting portion 32141 and a fixing ring 32142, and the pretension adjusting portion 32141 is fixedly connected to the mounting assembly 323. The shape of the pre-tightening adjusting part 32141 includes, but is not limited to, a circular shape and a quasi-circular shape, the lower side of which is formed with a rectangular protrusion, and three connection holes are provided on the end surface on the rectangular protrusion, specifically, the pre-tightening adjusting part 32141 and the mounting assembly 323 are connected by the third fixing piece 3225 passing through the three connection holes on the end surface of the rectangular protrusion on the lower side of the pre-tightening adjusting part 32141. In some examples, the third fixing member 3225 may be a screw, for example, and the connection hole may be configured as a screw hole, respectively.

In one embodiment, the fixing ring 32142 is sleeved on the fixed end 32111 of the torsion spring. Specifically, as shown in fig. 9, a fixing member 32113 may be provided on a fixed end 32111 of the torsion spring, a mounting groove is provided on a fixing ring 32142, and when the fixing ring 32142 is sleeved on the fixed end 32111 of the torsion spring, the fixing member 32113 is snapped into the mounting groove on the fixing ring 32142 so that the fixing ring 32142 is connected to the fixed end 32111. Further, the fixing ring 32142 is further positioned in the pre-tightening adjusting portion 32141 such that the fixed end 32111 is fixed, and the pre-tightening adjusting portion 32141 can push the fixing ring 32142 to adjust the pre-tightening angle of the torsion spring 3211.

In one embodiment, as shown in fig. 10, the pre-tightening adjusting part 32141 includes a pre-tightening adjusting ring 321411 and an adjusting member 321412, and a protrusion 321421 is disposed on the fixing ring 32142, and the pre-tightening adjusting ring 321411 cooperates with a retaining ring 32143 to accommodate the fixing ring 32142. Referring to FIG. 11 in combination with FIG. 10, FIG. 11 is an enlarged partial schematic view of the pretensioning adjustment ring according to the embodiment of FIG. 10 of the present application. As shown in fig. 10 and 11, an adjustment groove 321413 is provided in the pretension adjustment ring 321411, and a projection 321421 provided on the securing ring 32142 is positioned in the adjustment groove 321413 when the securing ring 321411 is placed therein. Specifically, the adjuster 321412 enters the adjustment groove 321413 through the hole 321414 fitted on the circumferential side of the pretension adjustment ring 321411 to contact the projection 321421, and adjusts the pretension angle of the torsion spring 3211 by rotating the adjuster 321412.

It should be appreciated that the fixing ring 32142 is fixedly connected with the fixed end 32111 of the torsion spring 3211 to fix the torsion spring 3211, when the adjusting member 321412 is rotated, the adjusting member 321412 contacts the bump 321421 to adjust the tensioning amount of the torsion spring 3211, so that a moment is applied to the fixed end 32111 of the torsion spring 3211 to realize pre-tightening adjustment of the torsion spring 3211. For example, the adjusting member 321412 can be turned to increase the depth of the adjusting member 321412 into the adjusting slot 321413, so as to abut against the bump 321421 and rotate the fixed end 32111 to increase the tension of the torsion spring 3211. The adjustment member 321412 can be rotated to reduce the depth of the adjustment member 321412 into the adjustment slot 321413, so that the fixed end 32111 can be rotated in space to release a portion of the tension of the torsion spring 3211, thereby achieving a pretension adjustment of the torsion spring 3211. In some examples, the depth of the adjustment slot 321413 is within a predetermined range to avoid exceeding the rated load capacity of the torsion spring when the pretension is adjusted.

Referring to fig. 12 and 13, fig. 12 is a schematic structural view of a mounting assembly according to an embodiment of the application, and fig. 13 is a schematic sectional view of a mounting assembly according to an embodiment of the application. As shown in fig. 12 and 13, the mounting assembly 323 includes a bearing structure 3231 and a connecting bracket 3232. The bearing structure 3231 includes a bearing portion 32311 and a locking portion 32312, the locking portion 32312 is disposed on the bearing portion 32311, and the bearing structure 3231 is engaged with the base through the locking portion 32312 to lock the bearing portion 32311 to the base.

Referring to fig. 14 in combination with fig. 13, fig. 14 is an enlarged partial view of the mounting assembly according to the embodiment of fig. 13 of the present application. As shown in fig. 14, the bearing part 32311 includes a bearing body 323111 and a bearing housing 323112, an inner ring provided on the bearing body 323111 is locked to the base by a locking part 32312, the bearing housing 323112 is disposed on an outer ring of the bearing body 323111 and the connection bracket 3232 is mounted on the bearing housing 323112 such that the connection bracket 3232 can rotate relative to the base. It should be noted here that the inner ring of the bearing body 323111 refers to an inner portion near the center of the circle of the bearing body 323111 for connection with the locking portion 32312; correspondingly, the outer ring of the bearing body 323111 is an outer part far away from the center of the bearing body 323111, and forms a circular ring structure together with the inner ring, so as to be fixed with the connecting bracket, and the connecting bracket can realize stable rotation. In some examples, rolling elements, such as balls, are disposed between the inner and outer races to reduce friction between the inner and outer races.

Referring to fig. 9 and 12, the connecting bracket 3232 is mounted on the bearing part 32311 and connected to the balance structure 32 so that the balance structure 32 can rotate relative to the base. In the example shown in fig. 12, the connecting bracket 3232 is configured as two symmetrically disposed, including a first connecting bracket 32321 and a second connecting bracket 32322, the first connecting bracket 32321 includes a first rod-shaped structure and a first arc-shaped structure, a plurality of connecting holes are provided on a side end face of a distal end of the first rod-shaped structure for the third fixing piece 3225 to pass through to fix the torsion spring fixing portion 3214 to the first connecting bracket 32321, and a first fixing structure is provided on an end face of a distal end of the first arc-shaped structure for fixing the first connecting bracket 32321 to the bearing portion 32311. Correspondingly, the second connecting bracket 32321 includes a second rod-shaped structure and a second arc-shaped structure, a plurality of connecting holes are disposed on a side surface of a distal end of the second rod-shaped structure, for the second fixing member 3224 to pass through to fix the mandrel fixing ring 3222 on the second connecting bracket 32322, and a second fixing structure is disposed on a side surface of a distal end of the second arc-shaped structure, for fixing the second connecting bracket 32322 on the bearing portion 32311.

Hereinafter, a process in which the balancing mechanism disclosed in the embodiment of the present application is disposed on the measuring apparatus to achieve the center of gravity balancing will be described in detail with reference to fig. 1 to 14. First, the sleeve assembly 322 is sleeved on the second shaft assembly 13 through the mandrel 3221 and is fixed on the mounting assembly 323 through the mandrel fixing ring 3222, the balance assembly 321 is sleeved on the sleeve assembly 322 through the torsion spring 3211 and the rotation connecting portion 3212 connected with the follow-up end 32112 of the torsion spring, and is fixedly connected with the second portion 3122 of the outer supporting structure 31 through the lugs on the rotation connecting portion 3212, so that the balance structure 32 is sleeved on the second shaft assembly 13 and is fixedly connected with the outer supporting structure 31. Next, when the outer support structure 31 supports the first arm member 10 to rotate, the balance assembly 321 rotates around the bushing assembly 322 through the rotation connection portion 3212 connected to the follower end 32112 of the torsion spring to generate a torque force, thereby balancing the change of the gravity moment generated by the change of the positions of the first arm member 10, the second arm member 11, and the measuring device 2 in the space during the measurement. Then, the balance structure 32 is connected with the outer support structure 31, and the support 31122 is arranged on the side wall of the coupler 31121 to support the first arm member 10 in a point-supported manner, and is connected with the base 4 through the mounting assembly 323, so that the acting force of the balance structure 32 borne by the outer support structure 31 is further transferred to the base 4, and stress deformation of the first arm member 10 of the measuring apparatus is avoided. Finally, the balance structure 32 is sleeved on the second shaft assembly 13 corresponding to the first arm member 10 through the shaft sleeve assembly 322, and the balance assembly 321 of the balance structure 32 is sleeved on the shaft sleeve assembly 322 and connected with the outer support structure 31, so that the balance structure 32 is convenient to detach and replace from the measuring equipment.

In summary, in order to overcome the technical problems that the articulated arm type measuring device in the related art is not easy to replace in the measuring process and the measuring precision is reduced due to the stress deformation of the arm portion, the balance mechanism and the measuring device of the measuring device provided by the application have the advantages that the balance mechanism is configured to comprise the outer support structure and the balance structure, the outer support structure is sleeved on the periphery of the arm member to support the arm member, and the balance structure is connected with the outer support structure and is connected to the base of the measuring device, so that the outer support structure bears the acting force of the balance structure and is further transferred to the base, and the deflection deformation of the arm member of the measuring device is avoided. In addition, the balance structure is sleeved on the shaft assembly corresponding to the arm component through the shaft sleeve assembly, and the balance assembly of the balance structure is sleeved on the shaft sleeve assembly and connected with the outer supporting structure, so that the balance structure is convenient to detach and replace from the measuring equipment.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (21)

1. A balancing mechanism for a measuring device, the measuring device comprising a base, at least one arm member, and a shaft assembly connected between the base and the arm member, the balancing mechanism comprising:

an outer support structure disposed at a circumferential side of the arm member to support the arm member during rotation of the arm member about the shaft assembly;

the balance structure is sleeved on the shaft assembly and comprises a balance assembly, a shaft sleeve assembly and a mounting assembly connected with the base;

The shaft sleeve assembly is sleeved on the shaft assembly and is fixed on the mounting assembly, the balance assembly is sleeved on the shaft sleeve assembly and is connected with the outer support structure, so that the outer support structure supports the arm member to rotate, and the balance assembly is driven to rotate around the shaft sleeve assembly to generate torque force during rotation of the arm member, so that the gravity center of the measuring device is balanced.

2. The balance mechanism of a measurement device of claim 1, wherein the outer support structure comprises:

an arm support assembly disposed around the arm member to support the arm member;

And the connecting assembly is connected between the arm supporting assembly and the balance structure so as to realize the fixed connection between the balance structure and the outer supporting structure.

3. The balance mechanism of a measuring device of claim 2, wherein the arm support assembly comprises:

an outer sleeve, which is sleeved on the arm component in a non-contact manner, and the proximal end of the outer sleeve is connected with the connecting component;

And an arm support portion disposed at a distal end of the outer sleeve, the arm support portion supporting the arm member when the arm member is disposed in the outer sleeve.

4. A balancing mechanism of a measuring device according to claim 3, wherein the arm support comprises a coupling member adapted to be connected to the outer sleeve at the distal end thereof and a support member arranged on a side wall of the coupling member for supporting the arm member in a point-supported or line-supported manner.

5. The balance mechanism of a measuring device of claim 4, wherein the support is configured in at least two.

6. The balancing mechanism of the measuring apparatus of claim 4, wherein the support is configured as a roller.

7. The balance mechanism of a measuring device of claim 4, wherein two adjacent supports are distributed at 120 °.

8. The balance mechanism of the measurement device of claim 2, wherein the connection assembly includes first and second portions that mate, the first and second portions being clasped to the proximal end of the arm support assembly.

9. The balance mechanism of a measuring device of claim 1, wherein the balance structure has a circumferential gap with the shaft assembly when sleeved thereon.

10. The balance mechanism of a measuring device of claim 1, wherein the sleeve assembly includes a mandrel configured in a front-to-back through annular configuration to fit over the shaft assembly.

11. The balance mechanism of a measuring device of claim 10, wherein the bushing assembly further comprises a mandrel retaining ring fixedly connected to the mounting assembly, the mandrel retaining ring being connected to an end face of the mandrel by a fastener passing through the mandrel retaining ring to secure the mandrel.

12. The balance mechanism of a measurement device of claim 1, wherein the balance assembly comprises:

the torsion spring is sleeved on the shaft sleeve assembly and is provided with a fixed end and a follow-up end which are arranged oppositely, the fixed end is connected to a torsion spring fixing part, and the torsion spring fixing part is fixedly connected with the installation assembly;

And the rotation connecting part is fixedly connected with the follow-up end of the torsion spring and is also fixedly connected with the outer supporting structure so as to adjust the torque force of the torsion spring during the rotation of the outer supporting structure to balance the gravity center of the measuring equipment.

13. The balance mechanism of a measuring device of claim 12, wherein the rotational connection is configured as a rotational connection ring that is sleeved on the torsion spring and connected to the bushing assembly by a bearing structure.

14. The balance mechanism of the measuring device of claim 13, wherein a spacer is further provided between the rotating connection ring and the torsion spring to prevent contamination.

15. The balance mechanism of a measuring device of claim 12, wherein the rotational coupling portion is provided with a stop for preventing reverse rotation of the outer support structure.

16. The balance mechanism of a measuring device of claim 12, wherein the torsion spring mount is further operable to pre-tension the torsion spring, the torsion spring mount comprising:

the pre-tightening adjusting part is fixedly connected with the mounting assembly;

The fixed ring is sleeved on the fixed end of the torsion spring, the fixed ring is clamped into the mounting groove on the fixed ring through the fixing piece and is connected to the fixed end, the fixed ring is positioned in the pre-tightening adjusting part so that the fixed end is fixed, and the pre-tightening adjusting part can push the fixed ring to adjust the pre-tightening angle of the torsion spring.

17. The balance mechanism of a measuring apparatus according to claim 16, wherein the pretension adjustment portion includes:

The pre-tightening adjusting ring is matched with the baffle ring and used for accommodating the fixing ring, an adjusting groove is arranged in the pre-tightening adjusting ring, and a protruding block arranged on the fixing ring is positioned in the adjusting groove when the fixing ring is arranged in the pre-tightening adjusting ring;

and the adjusting piece enters the adjusting groove through an adaptive hole on the circumferential side of the pre-tightening adjusting ring to contact the protruding block, and is used for adjusting the pre-tightening angle of the torsion spring through rotation.

18. The balance mechanism of a measurement device of claim 1, wherein the mounting assembly comprises:

A bearing structure including a bearing portion and a locking portion disposed on the bearing portion, the bearing portion being locked to the base by the locking portion being engaged with the base;

And the connecting bracket is arranged on the bearing part and is connected with the balance structure so that the balance structure can rotate relative to the base.

19. The balance mechanism of a measuring apparatus according to claim 18, wherein the bearing portion includes a bearing body whose inner ring is locked to the base by a locking portion, and a bearing housing which is disposed on an outer ring of the bearing body and on which the connection bracket is mounted so that the connection bracket is rotatable with respect to the base.

20. A measuring device comprising a base, an articulated arm connected to the base, a measuring means provided at the distal end of the articulated arm, wherein the articulated arm comprises a shaft assembly arranged at its proximal end and an arm member connected to the shaft assembly, the measuring device further comprising a balancing mechanism according to any one of claims 1 to 19.

21. The measurement device of claim 20, wherein the measurement device is a three-coordinate measuring machine.