Industrial robot with counterbalance weight - is attached by parallelogram linkage so that robot arm is always balanced

摘要

An industrial robot has an upper arm (3) which is attached to the body (17) and pivoted to the lower arm (18) by the bolt (1). As the lower arm (18) is swung away from the upper arm (3) the increased turning moment imposed on the body (17) is counterbalanced by a weight (9). The lower arm (18) is connected to links (23) and (24) which together form a parallelogram linkage. The link (24) extends beyond the pivot point (25) to form part of a second parallelogram linkage consisting of links (13) and (30). The link (13) is extended beyond the pivot point (8) and is attached to a link (12) which carries a counterbalance weight (9) at its outer end. The double parallelogram linkage causes the weight (9) to move so that it balances the weight of the lower arm (18) in any position of that arm (18). USE - Industrial robots.