| 摘要 |
PCT No. PCT/JP93/00256 Sec. 371 Date Nov. 4, 1993 Sec. 102(e) Date Nov. 4, 1993 PCT Filed Mar. 1, 1993 PCT Pub. No. WO93/17839 PCT Pub. Date Sep. 16, 1993.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).
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