Apparatus for weight balancing an industrial robot
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United States of America Patent
Stats
-
Jun 19, 1984
Grant Date -
N/A
app pub date -
Feb 24, 1982
filing date -
Feb 25, 1981
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
An industrial robot of the type comprising a frame mounted for rotation about a horizontal axis and having a pivot arm which is pivotally attached to the frame for pivotally supporting a boom, is provided with a counterbalancing device for equalizing the weight of the boom. The counterbalancing device includes a toggle lever mounted for pivotal motion about a fixed horizontal axis that extends at right angles to the axis of rotation of the frame, a counterweight or piston being connected to the toggle lever at a point spaced from one side of the pivot axis of the toggle lever, and a linkage connecting a second point on the toggle lever, located on the other side of its pivot axis, to the pivot arm at a location that is spaced from the pivot axis between the pivot arm and frame.
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