COUNTER-BALANCING UNIT A COUNTER-BALANCING MOTION APPARATUS WITH THE SAME AND A METHOD FOR CONTROLLING THE APPARATUS

摘要

The present invention includes a unit housing 100, a unit driving unit 200 disposed in the unit housing 100, and a drum wire 320 connected to the unit driving unit 200 to transmit a driving force. A unit counter balancer 400 that provides an initial gravity compensating force to the drum wire 320 through the initial elastic force of the drum 300 and the balancer elastic portion 410 connected to the other side of the unit drum 300, and , Counter balancing unit 10 including a unit restrainer 500, one end contacting the drum wire 320 to guide the operation of the drum wire 320, a counter balancing motion device having the same, and a control method thereof Provides.