B - Operations – Transporting – 66 – C
Patent
B - Operations, Transporting
66
C
294/4, 342/22.1
B66C 1/42 (2006.01) B25J 19/00 (2006.01) G05B 19/04 (2006.01)
Patent
CA 1120142
Abstract An air pressure counterbalance system is provided for an X Y Z ortho- gonal manipulator wherein the effect of gravity on a manipulator arm joint is counterbalanced both while hydraulic pressure is supplied to the hydraulic motors and also when the motive power is suspended. The air pressure counterbalance force is produced by a piston operating in an air cylinder in the direction of the gravity axis as the manipulator hand is raised or lowered. A selected constant air pressure is supplied to the counterbalance cylinder through an air pressure regulating system. In a preferred embodiment, a program-controlled counterbalance system is provided wherein the weights of various tools to be grasped by the manipulator fingers during a program are stored in CPU memory. The manipulator program selects the appropriate counterbalancing force to compensate for the predetermined tool weight and adjusts an air pressure regulator accordingly.
343749
Gowling Lafleur Henderson Llp
International Business Machines Corporation
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