Robot with counterbalance mechanism having multiple attachment l

Details Robot with counterbalance mechanism having multiple attachment l Robot with counterbalance mechanism having multiple attachment l

1985-01-22

1987-03-31

Spar, Robert J.

Material or article handling

Vertically swinging load support

Shovel or fork type

74592, 2482893, 2482921, 901 48, B66C 2372

Patent

active

046539751

ABSTRACT:
A robot, including an arm assembly and an energy-storing balancing mechanism which is connected to the arm assembly at a pair of attachment points so that the arm assembly is substantially balanced within a quadrant of arm assembly motion on both sides of a neutral position of the arm assembly relative to the rest of the robot. The balancing mechanism includes a spring assembly having a longitudinal axis which extends towards and is substantially perpendicular to a pivotal axis about which the arm assembly pivots from its neutral position. The spring assembly is preferably connected by a pair of internally slotted links for slidably and pivotally connecting the spring assembly at the attachment points. Each attachment point is only effective (i.e. experiences the pulling force of the spring assembly) during a single quadrant of arm assembly motion.

REFERENCES:
patent: 2550338 (1951-04-01), Dunagan
patent: 3204287 (1965-09-01), Gronbach
patent: 4500251 (1985-02-01), Kiryu et al.

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