Invention Grant
- Patent Title: Variable gravitational torque compensation apparatus and control method therefor
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Application No.: US16082254Application Date: 2017-03-03
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Publication No.: US11192241B2Publication Date: 2021-12-07
- Inventor: Hwi-su Kim , Young-su Son , Chan-hun Park , Dong-il Park , Hyun-min Do , Tae-yong Choi , Doo-hyeong Kim , Jin-ho Kyung
- Applicant: KOREA INSTITUTE OF MACHINERY & MATERIALS
- Applicant Address: KR Daejeon
- Assignee: KOREA INSTITUTE OF MACHINERY & MATERIALS
- Current Assignee: KOREA INSTITUTE OF MACHINERY & MATERIALS
- Current Assignee Address: KR Daejeon
- Agency: Hauptman Ham, LLP
- Priority: KR10-2016-0026117 20160304,KR10-2016-0041633 20160405
- International Application: PCT/KR2017/002317 WO 20170303
- International Announcement: WO2017/150933 WO 20170908
- Main IPC: B25J9/12
- IPC: B25J9/12 ; B25J19/00 ; B25J18/04 ; B25J19/02 ; B25J9/16 ; B25J13/08

Abstract:
In an apparatus for adjustable counterbalance mechanism and a method for controlling the apparatus, the apparatus includes a reference surface, a link, an elastic member, a wire, an idle roller and a compensation torque. The link has a first end rotationally connected to the reference surface to form a rotational center, and a weight center of the link is spaced apart from the rotational center. The elastic member has a first end combined with the link. The wire has a first side combined with a second end of the elastic member, and a second side combined with the reference surface. The idle roller is combined with the link to support a portion between first and second ends of the wire. The compensation torque controller is equipped to the link, to control the position of the idle roller and an elastic force of the elastic member.
Public/Granted literature
- US20190022853A1 VARIABLE GRAVITATIONAL TORQUE COMPENSATION APPARATUS AND CONTROL METHOD THEREFOR Public/Granted day:2019-01-24
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