| 摘要 |
The present invention relates to a gravity compensator of a motor for naturally compensating load moment according to a rotation angle of a load, wherein the load moment results from the gravity torque in accordance with the rotational angle. The gravity compensator comprises: a supporting frame; a rotational shaft which is prepared to allow the rotation thereof in relation to the supporting frame; a load which is fixed to the rotational shaft and is rotated together with the rotational shaft; a driving motor which provides a rotational force to the rotational shaft to drive the rotation of the rotational shaft; and a torsion bar which has one end thereof coupled to the rotational shaft to form a rotating end that rotates together with the rotational shaft and includes the other end thereof coupled to the supporting frame to form a fixed end that does not rotate with the rotational shaft. Gravity compensation can be performed with an even simpler structure compared to the prior art, and thus the invention can be applied to a very small-sized motor. |
