A joint mechanism includes a balancer mechanism for generating an auxiliary torque that counteracts a load torque around the rotational center line of the arm applied to the support member by the weight of the arm. The balancer mechanism includes: a balancer body including a casing rotatably supported with respect to a base, a piston rod inserted into the casing, and a traction means for pulling the piston rod; and a transmission member for converting a traction force generated by the traction means into the auxiliary torque and transmitting the auxiliary torque to the arm. The transmission member is pivotally supported with respect to the base as a separate body from the support member, one end of the transmission member is engaged with an end of the piston rod, and the other end of the transmission member is engaged with the arm.

The invention relates to a handling system comprising a tube lifter with a lifting tube which has a tube interior, and with an end effector, which is mounted on the lifting tube so as to be rotatable about an end effector axis of rotation, a manipulator for displacing the end effector, a coupling device for coupling the tube lifter to the manipulator, wherein the coupling device has a first tube lifter coupling portion and a second manipulator coupling portion, wherein the first and second coupling portions can be connected to one another by means of a connecting device, wherein the manipulator has a driven rotary element which is rotatable about a manipulator axis of rotation, wherein the coupling device comprises a gearbox which is designed to translate a rotary movement of the rotary element about the manipulator axis of rotation into a rotary movement of the end effector about the end effector axis of rotation in the connected state of the first and second coupling portions.

The invention relates to a handling system comprising a tube lifter, having a lifting tube, an end effector and a valve device, a manipulator, and a coupling device for coupling the tube lifter to the manipulator, wherein the coupling device has a first coupling portion on the tube lifter side and a second coupling portion on the manipulator side, wherein the first coupling portion is mounted on the lifting tube so as to be axially displaceable along a control axis, wherein the first coupling portion interacts with the valve device in such a way that the valve device can be actuated by displacing the first coupling portion along the control axis.

A robot includes a lower arm mechanism having a first parallel link structure, an upper arm mechanism having a second parallel link structure, a base portion forming a lower side part of the first parallel link structure, a wrist portion forming a distal side part of the second parallel link structure, an intermediate connection portion forming an upper side part of the first parallel link structure and a proximal side part of the second parallel link structure, and an upper arm biasing unit for applying a biasing force against a rotating operation in a direction that the wrist portion descends to an upper arm configuring a lower side part of the second parallel link structure. According to the robot, the range of the portable mass of an object can be expanded without enlarging an arm drive motor and declining an arm operation speed.

An industrial robot including a base part, an arm part, and a balancer device connected pivatably to the base part and the arm part to apply a repulsive force resisting a load acting on a pivot shaft due to gravity. The balancer device includes a balancer having a cylinder and a piston rod, end parts of the cylinder and the piston rod being pivatably connected with respect to the arm part and the base part, respectively, a coupling member attached to a support part of the base to support pivotably a balancer end part with respect to the support part, and a fastening part fastening a first end face formed at the coupling member and a second end face formed at the balancer end part to push the piston rod inside the cylinder by a fastening force.

This application relates to a gripping apparatus and processing equipment. The gripping apparatus includes: a base; a gripping assembly, spaced apart from the base along a preset direction; a balancing assembly, connected between the base and the gripping assembly and configured to provide a balancing force along the preset direction to balance a gravity of the gripping assembly and a target piece gripped by the gripping assembly; and a sensing assembly, mounted between the base and the gripping assembly and configured to sense a first displacement of the gripping assembly in the preset direction. The balancing assembly is able to drive the gripping assembly to move by a second displacement. The second displacement is greater than or equal to the first displacement. Both displacements occur the same direction.

This application relates to a gripping apparatus and processing equipment. The gripping apparatus includes: a base; a gripping assembly, spaced apart from the base along a preset direction; a balancing assembly, connected between the base and the gripping assembly and configured to provide a balancing force along the preset direction to balance a gravity of the gripping assembly and a target piece gripped by the gripping assembly; and a sensing assembly, mounted between the base and the gripping assembly and configured to sense a first displacement of the gripping assembly in the preset direction. The balancing assembly is able to drive the gripping assembly to move by a second displacement. The second displacement is greater than or equal to the first displacement. Both displacements occur the same direction.

The present invention comprises: a gripper configured to grip a heavy object to be assembled; a cooperative robot for adjusting a location and an angle of the gripper; a balancer for supplementing loading weight of the cooperative robot and supporting the gripper; a loader arm for supporting the balancer and the cooperative robot; a servo gantry configured to support the loader arm at the upper side of an assembly object with which the heavy object is to be assembled, and enable a plane movement of the loader arm in the horizontal direction.

A lifting device (01) for manipulating a load (06), the lifting device (01) comprising a multiaxial kinematic mechanism (04) on which at least one manipulator arm (02) is mounted, the manipulator arm (02) being configured to move about and/or along multiple axes of movement (41, 42, 43, 44, 45) and having a holding means (05) for the load (06), wherein a positioning unit (07, 08, 09, 10, 11) acting on the multiaxial kinematic mechanism (04) and serving to move the manipulator arm (02) and a weight compensation unit (12, 13) for compensating for the weight force (FG) of the load (06) are associated with at least one of the axes of movement (41, 42, 43, 44, 45). Furthermore, a method for manipulating a load by means of at least one lifting device (01) is disclosed.

The invention relates to a positioning module (1) with a base (2) and a positioning element (3) that is movable relative to the base (2), wherein the positioning element (3) is coupled to the base (2) via a leg element (4) of constant length, and the leg element (4) is connected to the positioning element (3) via a joint device (5), and the leg element (4) is assigned a drive module (6) arranged on the base with a drive unit (62), with a drive element (64) that is displaceable along a direction of movement by the drive unit (62), which is connected to the leg element (4) via a joint device (5), and with a force compensation device (7) connected to the drive element (64), wherein a defined force can be exerted on the drive element (64) along the direction of movement of the drive element (64) by means of the force compensation device (7).