Vorrichtung zum Gewichtsausgleich der Arme eines Roboters

摘要

According to the invention, a robot has a first arm (3) which is coupled to a base (1) via a first shaft (2). A second arm (6) is coupled to said first arm (3) via a second shaft (5). In order to balance the weight, a lever arm (11) is provided in an extension of the connection line between the first and second shafts. A first chain wheel (8) is rigidly connected to said lever arm (11) at a distance from the first shaft (2). A cylinder-piston unit (12) acts upon the lever arm (11), said cylinder-piston unit (12) resting on the base (1). A second chain wheel (7) is connected to the second shaft (5), and an endless chain (9) runs between the chain wheels (7, 8). The power consumed by the drive mechanism responsible for pivoting the second arm (6) is determined and the coupling point (13) of the cylinder-piston unit (12) on the lever arm (11) is adjusted accordingly.