Self weight compensation link mechanism, self weight compensation robot, self weight compensation link mechanism with carriage, and self weight compensation robot with carriage

摘要

Problem to be solved: to provide a self weight compensation link mechanism, a self weight compensation robot, a self weight compensation link mechanism with a carriage, and a self weight compensating robot with a carriage which can reduce the space occupied by the self weight compensation link mechanism.The interlocking mechanism is provided with a linkage mechanism for displacing the second arm on the rotating arm and based on the amount of displacement of the first arm, and the interlocking mechanism has the position of the synthetic center of gravity which combined the center of gravity of the support body with the center of gravity of the counterweight when the position of the first arm is displaced It is controlled so that the position of the fulcrum or the fixed position around the fulcrum.Diagram