Document Type and Number:
Japanese Patent JPWO2022059632
Kind Code:
A1
Abstract:
Provided is a balancer including: a housing that is attached to one of a first member and a second member that is rotationally driven with respect to the first member about a rotation axis in a robot including the first member and the second member, so as to be rotatable, by means of first bearings, about a first attachment axis parallel to the rotation axis; a rod that has one end attached to an other another one of the first member and the second member so as to be rotatable, by means of a second bearing, about a second attachment axis parallel to the rotation axis; a force generating means that generates a force in a direction in which the rod is drawn into the housing or in a direction in which the rod is pushed out of the housing; and a sensor that detects a positional relationship between the housing and the rod in a direction orthogonal to the first attachment axis and the second attachment axis.
Application Number:
JP2022550539A
Publication Date:
March 24, 2022
Filing Date:
September 13, 2021
Export Citation:
