Counterbalance assembly for rotatable robotic arm and the like
US4804170A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Feb 11, 1987 |
| Grant date | Feb 14, 1989 |
| Priority date | — |
| Expiry date | Feb 11, 2007 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J19/0016
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
There is provided a counterbalance assembly for use in combination with a rotatable robotic arm and the like in a robotic manipulator, where the robotic arm is rotated about an axis by a torque-producing device having a relatively stationary base. The assembly further includes a torsional spring comprising a pair of concentric tubes connected to each other by rubber, with one tube connected to the arm and the other tube connected to the base. In general, any torque created by the influence of gravity acting on the robotic arm, as it is rotated, is counterpoised by torsional wind-up in the spring due to proportional resistance of the rubber to torsional shear. This spring/arm combination thereby reduces the load on the torque-producing device.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.