| 摘要 |
A balancer (1), which: is provided on a robot (100) having a first arm (4) and an arm support (32) for supporting the base end of the first arm so as to rotate freely via bearing members (53) that have a first axis line (L1) extending in the horizontal direction as the central axis; and comprises a gas spring mechanism (11) for causing the first arm to generate a torque centered on the first axis line (L1) by elastic expansion or elastic contraction in the direction opposite to the torque centered on the first axis line that is generated by gravity acting on the first arm between a first angular position (P1) and a second angular position (P2) in which the slope with respect to the vertical direction is greater than the first angular position. A first end (1a) is connected to a balancer connecting section (33), which is independent of the first arm, so as to rotate freely around a second axis line (L2) that extends in the horizontal direction. A second end (1b) is connected to a balancer connecting section (43), which is provided on the first arm, so as to rotate freely around a third axis line (L3) that extends in the horizontal direction. The one end and the other end are disposed so as to be positioned in the range where the bearing members are located in the first axis line extension direction. |
