JPH0355192A - Balancing mechanism - Google Patents
Balancing mechanismInfo
- Publication number
- JPH0355192A JPH0355192A JP18763789A JP18763789A JPH0355192A JP H0355192 A JPH0355192 A JP H0355192A JP 18763789 A JP18763789 A JP 18763789A JP 18763789 A JP18763789 A JP 18763789A JP H0355192 A JPH0355192 A JP H0355192A
- Authority
- JP
- Japan
- Prior art keywords
- coil springs
- coil
- spring
- balance mechanism
- springs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 238000004804 winding Methods 0.000 claims abstract description 19
- 230000002159 abnormal effect Effects 0.000 abstract description 5
- 230000037431 insertion Effects 0.000 abstract 1
- 238000003780 insertion Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000010415 tidying Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明はバランス機構に係り、特に巻径の異なる複数の
コイルバネが同心円状に配設されたバランス機構に関す
る。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a balance mechanism, and more particularly to a balance mechanism in which a plurality of coil springs having different winding diameters are arranged concentrically.
従来の技術
例えば、旋回ベース、支柱、アーム等の複数の可動部を
有する多関節型の工業用ロボットにおいては、旋回ベー
ス上で回動自在に支承された支柱が前方向又は後方向に
回動したとき、支柱をその僚置に保持するバランス機構
が旋回ベースと支柱との間に設けられている。この種の
バランス機構の一手段として、支柱が水平方向に大きく
傾斜するにつれてより大きな保持力を発揮できるように
巻径の異なる複数の圧縮コイルバネが同心円状に配設し
た構或とすることが考えられている１．発明が解決しよ
うとする課題
ところが、上記バランス機構では、巻径の異なる複数の
コイルバネの巻方向が全て同一方向になっており、例え
ば右巻きに巻回された複数のコイルバネが同心円状に配
設されている。従って、上記支柱が水平方向に回動する
と、その回動角が大きくなるにつれて全長の長いコイル
バネから順次圧縮される。しかしながら、上記バランス
機構では複数のコイルバネの巻方向が同一方向であるの
で、隣接するコイルバネ同士が互いに噛合ってしまい、
バネ力を発揮できなくなるばかりか、異常音の発生及び
コイルバネの破損等の不都合が生じやすかった。さらに
は、組立時にコイルバネ同士がからみ合って組守作業が
やりにくかった。Conventional technology For example, in an articulated industrial robot that has multiple movable parts such as a rotating base, a column, an arm, etc., a column rotatably supported on a rotating base rotates forward or backward. A balance mechanism is provided between the pivot base and the column to hold the column in its position when the pivot base is turned. As a means of this type of balance mechanism, it is considered that a plurality of compression coil springs with different winding diameters are arranged concentrically so that a larger holding force can be exerted as the support is tilted more horizontally. 1. Problem to be Solved by the Invention However, in the above-mentioned balance mechanism, the winding directions of the plurality of coil springs with different winding diameters are all in the same direction. For example, the plurality of right-handed coil springs are arranged concentrically. has been done. Therefore, when the support column rotates in the horizontal direction, as the rotation angle increases, the coil springs having the longer overall length are sequentially compressed. However, in the balance mechanism described above, since the winding directions of the plurality of coil springs are the same, adjacent coil springs may mesh with each other.
Not only could the spring force not be exerted, but problems such as abnormal noise and damage to the coil spring were likely to occur. Furthermore, the coil springs became entangled with each other during assembly, making it difficult to maintain the assembly.
このような、コイルバネ間の噛合いを防止するため、従
来のバランス機構では、コイルバネとコイルバネとの間
に筒状の仕切板を挿入してコイルバネ間の干渉を防止す
ることが考えられている。In order to prevent such meshing between the coil springs, in conventional balance mechanisms, it has been considered to insert a cylindrical partition plate between the coil springs to prevent interference between the coil springs.
又、別の方法としては、］イルバネの゛Ｆ径方１ζｊ１
の間隔を大きくとることにより］イルバネ同」が干渉し
ないようにすることが考えられている．，しかしながら
、上記の如く、複数のコイルバネ間の夫々に仕切板を介
在させる場合、バランス機構の重吊が重くなり、旋回ベ
ースの駆動部の負担が１ｆ’Ｊ人するといった課題が生
リ゜る１，又、各コイルバネの半径方向の間隔を大きく
するとバランス機構が大型化してしまうといった課題が
生ずる．１そこで、本発明は上記課題を解決したバラン
ス機構を提供することを目的とする、．
課題を解決するための千段
本発明は、上記バランス機構において、隣接する少なく
とも２つのコイルバネの巻１ノ向を亙いに逆向きにした
ものである、，
作用
同心円状に隣接する内側のコイルバネと外側のコイルバ
ネとの間で噛み合い状態になることを防止するとともに
コイルバネ同士の干渉による異常音の発生、コイルバネ
の破損を防止して、同心円状に配設された複数のコイル
バネにより安定的に可動部を保持する。Also, as another method, ]F diameter 1ζj1 of the spring
It is thought that by increasing the distance between the two, it is possible to prevent interference between the two. However, as mentioned above, when a partition plate is interposed between each of the plurality of coil springs, the problem arises that the weight of the balance mechanism becomes heavy and the load on the drive unit of the swing base increases by 1f'J people. 1. Also, if the radial spacing between the coil springs is increased, the balance mechanism will become larger. 1. Therefore, an object of the present invention is to provide a balance mechanism that solves the above problems. The present invention has a thousand steps to solve the problem, and in the above balance mechanism, the direction of the first winding of at least two adjacent coil springs is completely reversed. This prevents the coil springs from interlocking with the outer coil springs, prevents abnormal noise from occurring due to interference between the coil springs, and prevents damage to the coil springs.Multiple coil springs arranged concentrically provide stable movement. hold part.
実施例
第１図に本発明になるバランス機構の一実施例が適用さ
れた工業用ロボッ］一を示し、第２図に本発明の要部を
示す、，
両図中、■業用ロボット１は電動式の多関節型ロボット
であり、例えば塗装用ロボット等として使用される。Embodiment Fig. 1 shows an industrial robot to which an embodiment of the balance mechanism of the present invention is applied, and Fig. 2 shows the main parts of the present invention. In both figures, ■ Industrial robot 1 is an electric articulated robot that is used, for example, as a painting robot.
２はバランス機構で、可動部としての支柱７をその回動
｛ｆｆ置に保持するように支柱７と旋回ベス６との間に
設けられている、，尚、バランスｉｕ４２は後述するよ
うに筒状のケース３内に巻径の異なる複数のコイルバネ
を同心円状に配設してなる１，第１図において、ベース
４の上には、旋回駆動部５が設けられている。旋回駆動
部５の上には、ベース４に固定された軸線Ａを中心とし
て回動する旋回ベース６が設けられている。旋回ベース
６上のブラケット６ａには、旋回ベース６の軸ｍＡと直
交する軸線Ｂを中心として回動する支柱７が設けられて
いる。また、旋回へース６上のブラケット６ａには、支
柱駆動部８が設けられている。Reference numeral 2 denotes a balance mechanism, which is provided between the column 7 and the rotating base 6 so as to hold the column 7 as a movable part at its rotational position. In FIG. 1, a swing drive section 5 is provided on a base 4. In FIG. A swing base 6 that rotates around an axis A fixed to the base 4 is provided above the swing drive unit 5 . A bracket 6a on the swing base 6 is provided with a support 7 that rotates around an axis B that is orthogonal to the axis mA of the swing base 6. Further, the bracket 6a on the swing base 6 is provided with a column driving section 8.
そして、支暑』７の上端部には、支柱７の軸線Ｂと平行
な幀線Ｃを中心として回動するアーム９が回動自在に設
けられている、．このアーム９と支Ｕ７の連結部には、
アーム駆動部１０が設けられている。また、アーム９の
後部には、手首駆動部１１が設けられている。さらに、
アーム９の先端には、手首機＄１１１２が設（プられて
ぃる３，手１１構１２には、ケース１３．１４及び取イ
＝Ｊ＃ｌ１５が設けられている。ケース１３は、アーム
９の軸線Ｃに平行な軸線Ｄを中心とし−Ｃ回動するよう
になっている。ケース１４は、ケース１３の軸線Ｄに直
交する軸線Ｅを中心として回動するようになっている、
，取付軸１５は、例えば準装ガン等の作業ツ５
−ル等を取り付けるもので、ケース１４の軸線Ｅに直交
する軸線「を中心として回動するようになっている。An arm 9 is rotatably provided at the upper end of the support column 7, and is rotatable about a horizontal line C parallel to the axis B of the support column 7. At the connecting part of this arm 9 and support U7,
An arm drive section 10 is provided. Furthermore, a wrist drive section 11 is provided at the rear of the arm 9. moreover,
At the tip of the arm 9, a wrist device $1112 is installed (pull field 3, hand 11 structure 12 is provided with a case 13, 14 and a handle J#l 15. The case 14 is configured to rotate -C around an axis D parallel to the axis C of the case 13.The case 14 is configured to rotate around an axis E perpendicular to the axis D of the case 13.
The mounting shaft 15 is used to mount a work tool such as a semi-equipped gun, and is designed to rotate about an axis ``perpendicular to the axis E of the case 14.''
ここで、バランス機構２について説明する。Here, the balance mechanism 2 will be explained.
第２図において、バランス機構２は、筒状のケース３と
、ケース３内に挿入された巻径の異なる４木のコイルバ
ネ１６〜１９と、バネ受け２０と、ロツド２１とよりな
る１．ケース３は上端に支往７に連結される連結部３ａ
を有し、下端外周に鍔部３ｂを有する。In FIG. 2, the balance mechanism 2 includes a cylindrical case 3, four coil springs 16 to 19 with different winding diameters inserted into the case 3, a spring receiver 20, and a rod 21. The case 3 has a connecting part 3a connected to the support 7 at the upper end.
It has a flange portion 3b on the outer periphery of the lower end.
各コイルバネ１６・〜１９は夫々前述の如く巻径が異な
るとともに全長も異なっている。即ち、最外周のコイル
バネ１６は全長Ｌ１で最も長く、その内側に拉置するコ
イルバネ１７〜１９の全長Ｌ２〜Ｌ４は内側のコイルバ
ネほど短くなってぃる（Ｌ＋ ＞Ｌ２＞Ｌ３：’ｔａ
）ｏ上記４木のコイルバネ１６・〜１９は隣り合う」イ
ルと逆向きになるように巻回されている。本実施例の場
合、コイルバネ１６．１８の巻方向は右巻きであり、他
のコイルバネ１７．１９の巻方向６
は左巻きになっている。従って、支柱７が回動するとき
、後述するように各コイルバネ１６・〜１９間の噛合い
が防正される。The coil springs 16 to 19 each have different winding diameters and different overall lengths as described above. That is, the outermost coil spring 16 has the longest overall length L1, and the inner coil springs have the shorter overall lengths L2 to L4 of the coil springs 17 to 19 placed inside thereof (L+>L2>L3:'ta
) The above-mentioned four coil springs 16 to 19 are wound in opposite directions to the adjacent springs. In this embodiment, the winding direction of the coil springs 16, 18 is right-handed, and the winding direction 6 of the other coil springs 17, 19 is left-handed. Therefore, when the support column 7 rotates, the engagement between the coil springs 16 and 19 is prevented, as will be described later.
そのため、各コイルバネ１６− １９の夫々゛［径ｈ向
の間隔ができるだけ小さくしてあり、バランス機構２全
体がコンパクト化されている。又、各コイルバネ１６〜
１９間の噛合いを防０−するため、各コイルバネ１６・
〜１９の間に簡状の什切を設【ノないで済み、軽吊化も
図られている。Therefore, the distance between each of the coil springs 16 to 19 in the radial direction h is made as small as possible, and the balance mechanism 2 as a whole is made compact. Also, each coil spring 16~
In order to prevent meshing between the coil springs 16 and 19,
There is no need to install a short cutout between 19 and 19, and it is also easier to hang.
バネ受け２０は各−］イルバネ１６−１９の下端が当接
する階段状の当接部２０ａ〜２０ｄを有し、ボルト２２
にＪ：りケース３の鍔部３ｂに固定されている。The spring receiver 20 has stepped contact portions 20a to 20d with which the lower ends of the springs 16-19 abut, and the bolt 22
J: It is fixed to the flange 3b of the case 3.
ロツド２１はバネ受け２０の中央孔２０ｅを貫通してケ
ース３内に挿入されており、その先端には各コイルバネ
１６・〜１９の上端が当接する当接板２１ａが設けられ
ている。又、ロツド２１Ｉよ下端に旋回ベース６のブラ
ケット６ａの上部に固定された連結具２３に連結される
連結部２ｌｂを右する。The rod 21 is inserted into the case 3 through a central hole 20e of the spring receiver 20, and a contact plate 21a is provided at the tip thereof, with which the upper ends of the coil springs 16 to 19 abut. Also, at the lower end of the rod 21I is a connecting portion 2lb that is connected to a connecting tool 23 fixed to the upper part of the bracket 6a of the swing base 6.
支柱７が旋回ベース６上で垂直方向に起豆しているとき
、バランス機構２は第２図に示す状態である。即ち、最
外周のコイルバネ１６のみがゼ１接板２１ａに当接して
いる。When the support column 7 is vertically raised on the swing base 6, the balance mechanism 2 is in the state shown in FIG. That is, only the outermost coil spring 16 is in contact with the Z1 contact plate 21a.
今、支柱７が支柱駆動部８に耶動されて、前方に回動す
るものとする。支柱７が垂直位置より前方に回動すると
、バランス機構２の両端の連結部３８．２１ｂ間の距離
が延びることになり、その結果ロツド２１はケース３よ
り抜け出るｈ向に変位する。よって、ロツド２１の当接
板２１ａが第２図中矢印Ｘ方向にｆｉｌ！！動し、］イ
ルバネ１６が圧縮される。この傾斜位置で支柱７が停止
すると、支柱７に竹用する重力モーメントとフイルバネ
１６のバネ力とが釣り合い、支柱７はその位置に保持さ
れる。Now, assume that the column 7 is rotated forward by the column drive unit 8. When the support column 7 is pivoted forward from its vertical position, the distance between the connecting parts 38, 21b at both ends of the balance mechanism 2 increases, so that the rod 21 is displaced in the direction h, which causes it to come out of the case 3. Therefore, the contact plate 21a of the rod 21 is fil! in the direction of the arrow X in FIG. ! ], and the spring 16 is compressed. When the support 7 stops at this inclined position, the gravitational moment exerted on the support 7 and the spring force of the foil spring 16 balance, and the support 7 is held at that position.
又、さらに支柱７が回動して＠動角度が大きくなると、
ロツド２１の当接板２１ａが２番目のコイルバネ１７に
も当接する、．従って、支柱７は回動角度が人きくなる
にしだかい重力モーメントが大きくなるが、バランス｝
ｊｉｌ２では外側２本のコイルバネ１６．１７の合力に
より支柱７を保持づる。同様に、支柱７が水平ｙノ向に
向って回動するにしたがい、当接板２１ａがさらに矢印
Ｘ方向に摺動して内側コイルバネ１８．１９にも当接し
、最終的には４木のコイルバネ１６・〜１９のバネ力に
より支柱７をその回動｛１７愉に保持することになる。Also, as the support 7 rotates further and the angle of movement increases,
The contact plate 21a of the rod 21 also contacts the second coil spring 17. Therefore, the gravitational moment of the support column 7 increases as the rotation angle increases, but the balance
At jil2, the support column 7 is held by the resultant force of the two outer coil springs 16 and 17. Similarly, as the support column 7 rotates in the horizontal y direction, the contact plate 21a further slides in the direction of the arrow X and comes into contact with the inner coil springs 18 and 19, and finally The spring force of the coil springs 16 to 19 holds the column 7 in its rotational direction.
このように、各コイルバネ１６・〜１９は゛［径方向の
間隔が小さいので、各コイルバネ１６−１９が上記の如
く圧縮される過程で隣り合うコイルバネ同士が干渉しや
すくなる。ところが、コイルバネ１６・〜１９は前述の
如く、コイルバネ１６，１８の巻方向が左巻きで、他の
コイルバネ１７，１９の巻方向が右巻きであり、隣り合
う」イル同士が逆向きに巻回されているので、従来のよ
うにコイルバネ同士が噛合ってしまうことが防止される
。従って、バランス機構２は支柱７がどの回動位置にあ
っても常に安定したバネ力を発揮して支柱７をその伶置
に保持できる。よって、］イルバネ同士の噛合いにより
異常名が発生したり、ある９
いはコイルバネが破損してしまうことが防止される。又
、組立時においては、各コイルパネ１６〜１９がからみ
合うことなくケース３内に挿入できるので、組立作業が
やり易く、組立工程の能率が高められている，１
尚、上記実施例ではｆ業用ロボットの支＋１ ７を保持
するバランス機構として説明したが、これに限らず、工
業用口ボット以外の可動部を有する装置のバランス機構
としても適用できるのは勿論である。In this way, since the radial spacing between the coil springs 16-19 is small, adjacent coil springs tend to interfere with each other during the process in which the coil springs 16-19 are compressed as described above. However, as described above, the coil springs 16 and 19 have a left-handed winding direction, and the other coil springs 17 and 19 have a right-handed winding direction, so that adjacent coil springs are wound in opposite directions. This prevents the coil springs from meshing with each other as in the conventional case. Therefore, the balance mechanism 2 can always exert a stable spring force to maintain the column 7 in that position no matter what rotational position the column 7 is in. Therefore, it is possible to prevent abnormalities from occurring due to engagement between the coil springs, or damage to the coil springs. Furthermore, during assembly, each coil panel 16 to 19 can be inserted into the case 3 without becoming entangled, making the assembly work easier and increasing the efficiency of the assembly process. Although the present invention has been described as a balance mechanism for holding the support 17 of a commercial robot, it is of course applicable not only to this but also as a balance mechanism for devices having movable parts other than industrial robots.
又、上記実施例では４本のコイルバネの巻方向が夫々隣
接するコイルバネの巻方向と逆の向ぎとなるようにした
が、これに限らず、４本のコイルバネ１６〜１９のうち
干渉する危険竹の高いコイルバネのみの巻方向を逆向き
とするようにしても良い。又、コイルバネの本数は上記
実施例の如く４本に限らず、２本以上あれば良い。Further, in the above embodiment, the winding directions of the four coil springs are opposite to the winding directions of the adjacent coil springs, but the present invention is not limited to this, and there is a risk of interference among the four coil springs 16 to 19. The winding direction of only the tall bamboo coil spring may be reversed. Further, the number of coil springs is not limited to four as in the above embodiment, but may be two or more.
又、＋記バランス機構の取伺は上記実施例に限らず、ロ
ツドを上方にして上一記実施例と逆向きになるようにし
ても良い。Further, the arrangement of the balance mechanism described above is not limited to the above embodiment, but may be arranged so that the rod is oriented upward and the direction is opposite to that of the above embodiment.
１ ０
発明の効果
上述の如く、本発明なるバランス機構は、同心円状に隣
接する少なくとも２つのコイルバネの巻方向を互いに逆
向きにしたため、コイルバネ同士の噛合いを防止でき、
コイルバネ間の１−渉により生ずる異常音の発生、バネ
の破損等を防止でき、しかも各コイルバネ間の半径１ノ
向の間隔をできるだけ小さくして機構全体の」ンパクト
化を図れるとともに、各コイルバネ間の什切が不要にな
り軽量化を図ることもできる．，ざらには、絹立時複数
の各コイルバネ同１がからまないため、１１ヤη業が容
易になり短時間で組立てることができる等の特長を有す
る。10 Effects of the Invention As described above, in the balance mechanism of the present invention, since the winding directions of at least two concentrically adjacent coil springs are opposite to each other, it is possible to prevent the coil springs from meshing with each other.
It is possible to prevent the generation of abnormal noise and damage to the springs caused by 1-crossing between the coil springs, and also to make the entire mechanism more compact by minimizing the distance between each coil spring in the radial direction. It is also possible to reduce the weight by eliminating the need for a tidying block. In particular, since the coil springs do not get tangled when the coil is erected, it is easy to assemble the coils in a short time.
第１図は本発明になるバランス機構の一実施例が適用さ
れた工業用ロボットの斜視図、第２図は本発明の要部を
拡入して示す縦断面図である。
１・・・工業用ロボット、２・・・バランス機構、３・
・・ケース、６・・・旋回ベース、７・・・支柱、１６
−１９・・・コイルバネ、２０・・・バネ受【ノ、２１
・・・ロツド、．１１
Ｍ１
図FIG. 1 is a perspective view of an industrial robot to which an embodiment of the balance mechanism according to the present invention is applied, and FIG. 2 is an enlarged vertical sectional view showing the main parts of the present invention. 1...Industrial robot, 2...Balance mechanism, 3.
...Case, 6...Swivel base, 7...Strut, 16
-19...Coil spring, 20...Spring holder [ノ, 21
...Rotsud... 11 M1 Figure
Claims (1)
該複数のコイルバネのバネ力により回動自在に設けられ
た可動部をその回動位置に保持するバランス機構におい
て、 前記同心円状に隣接する少なくとも２つのコイルバネの
巻方向を互いに逆向きにしたことを特徴とするバランス
機構。[Claims] A plurality of coil springs having different winding diameters are arranged concentrically,
In the balance mechanism for holding a rotatably provided movable part in its rotational position by the spring force of the plurality of coil springs, the winding directions of the at least two concentrically adjacent coil springs are opposite to each other. Features a balance mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1187637A JPH0716904B2 (en) | 1989-07-20 | 1989-07-20 | Balance mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1187637A JPH0716904B2 (en) | 1989-07-20 | 1989-07-20 | Balance mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0355192A true JPH0355192A (en) | 1991-03-08 |
| JPH0716904B2 JPH0716904B2 (en) | 1995-03-01 |
Family
ID=16209601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1187637A Expired - Fee Related JPH0716904B2 (en) | 1989-07-20 | 1989-07-20 | Balance mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0716904B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998017443A1 (en) * | 1996-10-18 | 1998-04-30 | Kabushiki Kaisha Yaskawa Denki | Articulated robot |
| EP0947296A2 (en) * | 1998-03-31 | 1999-10-06 | Fanuc Ltd. | Spring balancer apparatus |
| EP1125696A1 (en) * | 2000-02-17 | 2001-08-22 | KUKA Roboter GmbH | Weight balancing device for a robot arm |
| KR20020086394A (en) * | 2002-10-09 | 2002-11-18 | 장준수 | Spring Balancing Structure of Arm of Industrial Articulated Robot |
| JP2012067761A (en) * | 2012-01-10 | 2012-04-05 | Hitachi Automotive Systems Ltd | Variable displacement pump |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5247552U (en) * | 1975-09-30 | 1977-04-04 | ||
| JPS56119391A (en) * | 1980-02-25 | 1981-09-18 | Shin Meiwa Ind Co Ltd | Weight equalizer for rotary arm |
| JPS6020891A (en) * | 1983-07-15 | 1985-02-02 | 三菱電機株式会社 | Industrial robot |
-
1989
- 1989-07-20 JP JP1187637A patent/JPH0716904B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5247552U (en) * | 1975-09-30 | 1977-04-04 | ||
| JPS56119391A (en) * | 1980-02-25 | 1981-09-18 | Shin Meiwa Ind Co Ltd | Weight equalizer for rotary arm |
| JPS6020891A (en) * | 1983-07-15 | 1985-02-02 | 三菱電機株式会社 | Industrial robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998017443A1 (en) * | 1996-10-18 | 1998-04-30 | Kabushiki Kaisha Yaskawa Denki | Articulated robot |
| EP0947296A2 (en) * | 1998-03-31 | 1999-10-06 | Fanuc Ltd. | Spring balancer apparatus |
| EP0947296A3 (en) * | 1998-03-31 | 2000-02-02 | Fanuc Ltd. | Spring balancer apparatus |
| EP1125696A1 (en) * | 2000-02-17 | 2001-08-22 | KUKA Roboter GmbH | Weight balancing device for a robot arm |
| US6564667B2 (en) | 2000-02-17 | 2003-05-20 | Kuka Roboter Gmbh | Device for compensating the weight of a robot arm |
| KR20020086394A (en) * | 2002-10-09 | 2002-11-18 | 장준수 | Spring Balancing Structure of Arm of Industrial Articulated Robot |
| JP2012067761A (en) * | 2012-01-10 | 2012-04-05 | Hitachi Automotive Systems Ltd | Variable displacement pump |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0716904B2 (en) | 1995-03-01 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |