Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1998-10-15
1999-11-09
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
901 27, 901 48, B25J 1900
Patent
active
059821272
ABSTRACT:
A multi-joint robot is disclosed, wherein a mount structure is vertically moved by means of a drive mechanism including a vertical threaded shaft and a stepping motor for rotationally driving said threaded shaft, thereby to vertically move the mount structure along the threaded shaft between an upper most position and a lower most position. A balancing device for balancing the weight of the mount structure includes at least one or more tension coil springs, the tension coil spring having one end anchored to a bottom of the robot, the opposite end connected to the bracket of the mount structure and an intermediate part thereof put into slide engagement with the pulley means which is arranged at an upper part of said robot above said bracket of said mount structure, so that the tension coil spring or springs may be expanded when said mount structure is at a position below said upper most position.
REFERENCES:
patent: 4598598 (1986-07-01), Kring et al.
patent: 4705447 (1987-11-01), Smith
patent: 4827791 (1989-05-01), Richter
patent: 4883249 (1989-11-01), Garland
Matsubara Masanori
Wakaizumi Kiyoshi
Janome Sewing Machine Co. Ltd.
Ro Bentsu
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