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This is a record of a document published elsewhere, first published by the European Patent Office, as EP-4696470-A1, on 18 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002782

Force balancing apparatus and force balancing system

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
HUANG WENJIE, LIU YU, WANG ZERUI, ZHAO JINBAO
Assignee
CORNERSTONE TECH SHENZHEN LIMITED
Original source
EP-4696470-A1, the European Patent Office, 18 February 2026
Document SHA-256
e847f187d69699ec0d67ec2e53c9e53fb9d46f7cad956e4114e18ff67b6df312

Abstract

A counterbalance device for an apparatus with composite joints is provided. The apparatus includes a frame, a first movable member supported by the frame, and a second movable member connected to the first movable member. The first movable member is translatable relative to the frame along a first line, and the second movable member is rotatable relative to the first movable member about a first axis perpendicular to the first line and travers to the direction of the force. The counterbalance device includes: a force output mechanism connected to the frame and configured to provide an output force; a distribution mechanism connected to the force output mechanism, to allow the force output mechanism to apply the output force to the distribution mechanism at a first load-bearing position of the distribution mechanism; and a pulling mechanism connected to the distribution mechanism, to allow the pulling mechanism to act on the distribution mechanism at a second load-bearing position of the distribution mechanism, the pulling mechanism being connected to the first movable member and translatable relative to the first movable member along the first line, the pulling mechanism being further connected to the second movable member, and the pulling mechanism being translatable along the first line with rotation of the second movable member about the first axis.

Publication information

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Citation

OpenTechnical Publication OT-2026-000002782, “Force balancing apparatus and force balancing system,” published September 15, 2026 at 19:15:19 UTC, https://opentechnical.org/p/OT-2026-000002782.

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