BALANCER FOR ROBOT ARMS.

摘要

A balancer provided so as to balance the moment produced by the gravity working on a robot arm one end portion of which is provided pivotably around a predetermined center of pivotal movement, and the other end portion of which has a joint, is provided with a pressure-operated actuator means (7), a tension transmission member mounting portion (6) attached to a position in the vicinity of the joint of the robot arm (1), a tension transmission member (2) adapted to transmit tension to the robot arm (1) in cooperation with the actuator means (7), and a plurality of pivotable guide means (3, 4, 5) around which the tension transmission member (2) is passed and guided. The tension transmission member (2) is passed around the guide means (3, 4, 5) and tension transmission member mounting portion (6) in order so as to apply tension to the mounting portion (6) in two different directions, and a predetermined level of tension is transmitted to the robot arm (1) by the actuator means (7), whereby counter-torque working in the opposite direction with respect to the moment produced by the gravity is applied to the robot arm (1).