The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 27, 2019
Filed:
Dec. 22, 2014
Kawasaki Jukogyo Kabushiki Kaisha, Kobe-shi, Hyogo, JP;
Takashi Harada, Akashi, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
A balancer is provided on robot including a first arm and an arm support for the base end of the first arm to rotate freely via bearing members that have a first axis line extending in the horizontal direction as a central axis; and a gas spring mechanism for causing the first arm to generate torque centered on the first axis line by elastic expansion or elastic contraction in a direction opposite the torque centered on the first axis line that is generated by gravity acting on the first arm between a first angular position and a second angular position in which the slope with respect to the vertical direction is greater than the first angular position.