US5415057A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Balancer device for a robot arm
Assignee: Fanuc Corp
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Filing: 1993-03-01
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Granted: 1995-05-16
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Expires: 2013-03-01
Abstract
Abstract A balancer device for balancing the moment generated by gravity on a robot arm, which is mounted at the one end thereof for rotation about a rotation axis and having an articulation on the opposite end, comprises a fluid-pressure operated spring means (7), an attachment portion (6) provided on the robot arm near the articulation, a tension transmitting member (2) for applying tension to the robot arm (1) by cooperation with the fluid-pressure operated spring means (7), and a plurality of guide means (3, 4, 5) provided for rotation extending and guiding the tension transmitting member (2). The tension transmitting member (2) is extended so as to pass the plurality of guide means (3, 4, 5) and the attachment portion (6), and to apply tension to the robot arm (1), whereby the balancer device balances the moment by gravity on the robot arm (1).
Inventors
- 👤 Ryo Nihei
- 👤 Yasuo Naito
- 👤 Takeshi Okada
- 👤 Tsutomu Miyagawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 05:14
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/0008; B25J19/0012; Y; Y10; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
164 words
A balancer device for balancing the moment generated by gravity on a robot arm, said robot arm being mounted, at the one end thereof, for rotation about a rotation axis and having an articulation on the opposite end, said balancer device comprising: a fluid-pressure operated spring means having a working element which can advance and retract along a linear axis; an attachment portion provided on the robot arm near said articulation; a tension transmitting member for applying tension to said attachment portion by cooperation with said fluid-pressure operated spring means; a plurality of rotational guide means for extending and guiding said tension transmitting member; and said tension transmitting member being extended so as to operationally connect said plurality of guide means and said attachment portion, and to extend from said attachment portion in two different directions and to apply the tension to said attachment portion in said two different directions, whereby said balancer device balances the moment generated by gravity on said robot arm.
Claim 2
Dependent Claim
164 words
A balancer device for balancing the moment generated by gravity on a robot arm, said robot arm being mounted, at the one end thereof, for rotation about a rotation axis and having an articulation on the opposite end, said balancer device comprising: a fluid-pressure operated spring means having a working element which can advance and retract along a linear axis; an attachment portion provided on the robot arm near said articulation; a tension transmitting member for applying tension to said attachment portion by cooperation with said fluid-pressure operated spring means; a plurality of rotational guide means for extending and guiding said tension transmitting member; and said tension transmitting member being extended so as to operationally connect said plurality of guide means and said attachment portion, and to extend from said attachment portion in two different directions and to apply the tension to said attachment portion in said two different directions, whereby said balancer device balances the moment generated by gravity on said robot arm.
Claim 3
Dependent Claim
93 words
The balancer device according to claim 1 wherein at least one guide means of said plurality of guide means is attached to said working element of said fluid pressure operated spring means; the other guide means being positioned outside of said robot arm so that said tension transmitting member applies said tension to said attachment portion in suitable directions; and said fluid pressure operated spring means being controlled so as to advance or retract in response to the movement of said robot arm in order to maintain said tension transmitting member under tension.
Claim 4
Dependent Claim
25 words
The balancer device according to claim 1 wherein said fluid pressure operated spring means is attached to a robot where said balancer device is mounted.
Claim 5
Dependent Claim
24 words
The balancer device according to claim 1 wherein said fluid pressure operated spring means is an air cylinder in which working fluid is air.
Claim 6
Dependent Claim
42 words
The balancer device according to claim 4 wherein said fluid pressure operated spring means is controlled by a controller comprising an air pressure source and a pressure regulating valve so that the pressure within said cylinder is maintained at a constant pressure.
Claim 7
Dependent Claim
18 words
The balancer device according to claim 1 wherein said fluid pressure operated spring means is a hydraulic cylinder.
Claim 8
Dependent Claim
24 words
The balancer device according to claim 1 wherein said tension transmitting member is a wire, and said a plurality of guide means are pulleys.
Claim 9
Dependent Claim
17 words
The balancer device according to claim 7 wherein said a plurality of guide means are fixed pulleys.
Claim 10
Dependent Claim
24 words
The balancer device according to claim 1 wherein said tension transmitting member is a chain, and said a plurality of guide means are sprockets.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-05-15 | 1998-11-14 | 1999-05-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-05-15 | 2002-11-14 | 2003-05-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-05-15 | 2006-11-14 | 2007-05-16 | $7700.00 | Window Closed / Lapsed |