MANIPULATOR HAVING A COUNTERWEIGHT DEVICE COMPRISING CANTILEVERED ARMS

摘要

The present invention includes a plurality of members (12, 14) and the counterweight having a manipulator device (15) relates to (1), and the members are connected to each other by joints (A1-A6), the joints are drive (M1-M6) can be adjusted by, the counter weight device is articulated (A1-A6 ) which is assigned to one of, and provided with a rod (19), wherein the rod is coupled to the hand, which is articulated (A1-A6) associated with the first member (12), and on the other hand, the spring is connected to the device 26, and the spring device is supported on the seat 25, the seat via at least one bearing arrangement (18), articulated (A1-A6) associated with the second member (14 ) is coupled to be described later, and the bearing arrangement comprises a second bearing part (16) that is connected to the first bearing part (17) and a second member (14). Sheet 25 may be connected with at least the first bearing part (17) through one of the cantilever arms de (23, 24). ;