Balancing vertical movements
Balancing vertical movementsKeywordsRobots, Springs
Applicant: Janome Sewing Machine Co. Ltd (JP)Patent number : US5982127Publication date: 9 November 1999Title: Spring device for balancing vertical movements of multi-joint robot
The invention relates to a multi-joint robot comprising a vertical threaded shaft, a mount structure having a bracket and operatively connected to said threaded shaft, a stepping motor for rotationally driving the threaded shaft for vertically moving the mount structure along the threaded shaft between an uppermost position and a lowermost position, balancing means including at least one or more tension coil spring(s) and pulley means, the tension coil spring(s)having one end anchored to a bottom of the robot, the opposite end connected to the bracket of the mount structure and an intermediate part thereof put into slide engagement with the pulley means which is arranged at an upper part of the robot above the bracket of the mount structure, so that the tension coil spring(s) or a series of springs may be expanded when the mount structure is at a position below the uppermost position.
