Patent ID: 8317453
Filing Date: 2012-11-27
Classification: B25J,B66C,Y10T

Abstract:
1. A manipulator, comprising: a linkage including a first link, a second link, a third link and a fourth link, wherein the first link and second links are rotatably connected to a base about first and second connection axes, wherein the third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively, wherein the third and fourth links are rotatably connected to a lift arm about fifth and sixth connection axes respectively, wherein the fifth and sixth connection axes are horizontally displaced from the third and fourth connection axes in the direction of the first and second connection axes; a load balancing device connected between the base and the linkage to support the linkage in a selected position against a load and configured to permit the load to be moved upwards or downwards with a selected amount of force on the lift arm; a control arm, wherein the control arm is rotatably connected to each of the first and second links at seventh and eighth connection axes which are substantially vertically spaced from each other by a fourth connection spacing that is the same as the first connection spacing; and a first bearing surface and a second bearing surface, wherein the first bearing surface is positioned on one of the links and the second bearing surface is positioned on the control arm, wherein the first and second bearing surfaces engage each other to hold the third and fourth links in a selected orientation relative to the first and second links, wherein the first and second connection axes are substantially vertically spaced from each other by a connection spacing, and wherein the third and fourth connection axes are substantially vertically spaced from each other by a second connection spacing that is the same as the first connection spacing, wherein the fifth and sixth connection axes are substantially vertically spaced from each other by a third connection spacing that is the same as the first connection spacing.