Robot arm
First Claim
1. A robot arm formed of several links, hinges interconnecting said links to form joints, an actuating mechanism comprised of a universal joint connecting an upper link, the latter forming an upper arm link, to a support structure, a uniaxial joint connecting the upper arm link to a lower link, the latter link forming a lower arm link, a lever hinged to a part of the upper arm link which is connected to the universal joint having a first and another lever arm, the first lever arm pointing in the direction of the lower arm link when the lonqitudinal axes of the upper and lower arm links are in alignment with one another, means for applying an upwardly directed force on the first lever arm, the lower arm link being connected to said another lever arm whereby the lever is turned by the lower arm link in the event the lower arm link is turned out of its alignment with the upper arm link, thereby turning said first lever arm in the direction of the universal joint.
1 Assignment
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Accused Products
Abstract
A robot arm consisting of an upper arm link and a lower arm link which are interconnected by a uniaxial joint. The upper arm link is connected with a structure via a universal joint. In order to attain a weight balance, a toggle lever is placed on the upper arm link, on whose one lever arm an upwardly directed equalizing force acts and whose other lever arm is connected to the lower arm link. If both arm links are in alignment with one another, then the point of application of force on the one lever arm has its greatest distance to the universal joint. If, on the other hand, the lower arm link is swung out of its alignment with the upper arm link, then the distance between the point of application of force and the universal joint is decreased.
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Citations
21 Claims
- 1. A robot arm formed of several links, hinges interconnecting said links to form joints, an actuating mechanism comprised of a universal joint connecting an upper link, the latter forming an upper arm link, to a support structure, a uniaxial joint connecting the upper arm link to a lower link, the latter link forming a lower arm link, a lever hinged to a part of the upper arm link which is connected to the universal joint having a first and another lever arm, the first lever arm pointing in the direction of the lower arm link when the lonqitudinal axes of the upper and lower arm links are in alignment with one another, means for applying an upwardly directed force on the first lever arm, the lower arm link being connected to said another lever arm whereby the lever is turned by the lower arm link in the event the lower arm link is turned out of its alignment with the upper arm link, thereby turning said first lever arm in the direction of the universal joint.
Specification