Counter balance system and method with one or more mechanical arms

• US 20040035243A1
• Filed: 05/22/2003
• Published: 02/26/2004
• Est. Priority Date: 05/22/2002
• Status: Active Grant

• Current Assignee: Eugene F. Duval
• Original Assignee: Eugene F. Duval
• Inventors: Duval, Eugene F.
• Granted Patent: US 7,428,855 B2
• Time in Patent Office: Days
• US Class Current: 74/589
• CPC Class Codes: B25J 19/0016 using springs
• CPC Class Codes: F16F 1/12 Attachments or mountings F16F1/041, F16F13/02 take precedence; of combinations of vibration damper and mechanical spring for vehicle suspension units B60G15/02
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20329 Joint between elements
• CPC Class Codes: Y10T 74/20558 Variable output force
• CPC Class Codes: Y10T 74/2154 Counterbalanced

Abstract

A system is presented for counterbalancing the gravitation moment on a link when the link is supported at a point. A first spring mechanism balances the link about all axes that pass through the support point. The link can be balanced throughout a large range of motion.

Claims

1. A mechanism comprising:

a mechanical transmission with an input mechanism and an output mechanism; and

wherein a ratio of the motion of the input mechanism to the output mechanism varies continuously such that the effort required to move the output mechanism varies linearly with the motion of the output mechanism and the slope of the effort is a negative constant.

4. A mechanism of claim 1 wherein said mechanical transmission further comprising:

a first variable radius pulley coupled to a second variable radius pulley;

said first variable radius pulley and said second variable radius pulley mounted to rotate about one axis;

a first extension spring with a first end fixed relative to said axis;

a first flexible tension member with one end attached to a free end of said first spring and another end operably coupled with the first variable radius pulley;

a second flexible tension member with one end operably coupled with the second variable radius pulley and another end extending away from said second variable radius pulley;

with the radius of the first variable radius pulley and the radius of the second variable radius pulley varying in such a way that when the another end of the second flexible tension member is moved, the force required to move the second flexible tension member varies linearly with the distance, and the force decreases as the second flexible tension member is moved.

7. The mechanism of claim 4 wherein said first and second flexible tension members are selected from the group consisting of flexible members with indentations and flexible members without indentations.

10. The mechanism of claim 4 wherein a torque between the first and second variable radius pulleys varies parabolically.

13. The mechanism of claim 1 wherein said transmission is comprised of first and second cams and first and second roller follower mechanisms, with the first and second cams torsionally couples to each other and mounted to rotate about one axis.

16. The mechanism of claim 1 wherein said transmission is comprised of a spiral pulley and a cam with a roller follower mechanism and with the spiral pulley and the cam torsionally coupled to each other and mounted to rotate about one axis.

19. The mechanism of claim 1 wherein said transmission is comprised of non-circular gears.

2. A mechanism comprising:

a transmission means, with an input mechanism and an output mechanism, for providing a ratio of the motion of the input mechanism to the output mechanism varies continuously such that the effort required to move the output mechanism varies linearly with the motion of the output mechanism and the slope of the effort is a negative constant.

5. A mechanism of claim 2 wherein said transmission means further comprising:

a first variable radius pulley coupled to a second variable radius pulley;

said first variable radius pulley and said second variable radius pulley mounted to rotate about one axis;

a first extension spring with a first end fixed relative to said axis;

a first flexible tension member with one end attached to a free end of said first spring and another end operably coupled with the first variable radius pulley;

a second flexible tension member with one end operably coupled with the second variable radius pulley and another end extending away from said second variable radius pulley;

with the radius of the first variable radius pulley and the radius of the second variable radius pulley varying in such a way that when the another end of the second flexible tension member is moved, the force required to move the second flexible tension member varies linearly with the distance, and the force decreases as the second flexible tension member is moved.

8. The mechanism of claim 5 wherein said first and second flexible tension members are selected from the group consisting of flexible members with indentations and flexible members without indentations.

11. The mechanism of claim 5 wherein a torque between the first and second variable radius pulleys varies parabolically.

14. The mechanism of claim 2 wherein said transmission means is comprised of first and second cams and first and second roller follower mechanisms, with the first and second cams torsionally couples to each other and mounted to rotate about one axis.

17. The mechanism of claim 2 wherein said transmission means is comprised of a spiral pulley and a cam with a roller follower mechanism and with the spiral pulley and the cam torsionally coupled to each other and mounted to rotate about one axis.

20. The mechanism of claim 2 wherein said transmission means is comprised of non-circular gears.

3. A mechanism comprising:

a transmission means, with an input mechanism and an output mechanism, for providing a ratio of the motion of the input mechanism to the output mechanism varies continuously such that the effort required to move the output mechanism varies linearly with the motion of the output mechanism.

6. A mechanism of claim 3 wherein said transmission means further comprising:

a first variable radius pulley coupled to a second variable radius pulley;

said first variable radius pulley and said second variable radius pulley mounted to rotate about one axis;

a first extension spring with a first end fixed relative to said axis;

a first flexible tension member with one end attached to a free end of said first spring and another end operably coupled with the first variable radius pulley;

a second flexible tension member with one end operably coupled with the second variable radius pulley and another end extending away from said second variable radius pulley;

with the radius of the first variable radius pulley and the radius of the second variable radius pulley varying in such a way that when the another end of the second flexible tension member is moved, the force required to move the second flexible tension member varies linearly with the distance, and the force decreases as the second flexible tension member is moved.

9. The mechanism of claim 6 wherein said first and second flexible tension members are selected from the group consisting of flexible members with indentations and flexible members without indentations.

12. The mechanism of claim 6 wherein a torque between the first and second variable radius pulleys varies parabolically.

15. The mechanism of claim 3 wherein said transmission means is comprised of first and second cams and first and second roller follower mechanisms, with the first and second cams torsionally couples to each other and mounted to rotate about one axis.

18. The mechanism of claim 3 wherein said transmission means is comprised of a spiral pulley and a cam with a roller follower mechanism and with the spiral pulley and the cam torsionally coupled to each other and mounted to rotate about one axis.

21. The mechanism of claim 3 wherein said transmission means is comprised of non-circular gears.