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In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkag

In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkage and a load balancing device. The linkage includes a first link, a second link, a third link and a fourth link. The first link and second links are rotatably connected to a base about first and second connection axes. The third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively. 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. The load balancing device is configured 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. The manipulator may be provided as part of a load maneuvering system that further includes a transport system that may be similar to that used on an overhead crane.

대표청구항 ▼

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 li

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; anda 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. 2. A manipulator as claimed in claim 1, wherein the third and fourth links are directly connected to the first and second links respectively. 3. A manipulator as claimed in claim 1, wherein the first and second connection axes are substantially vertically spaced from the fifth and sixth connection axes. 4. A manipulator as claimed in claim 1, wherein the second bearing surface guides the first bearing surface in a straight line. 5. A manipulator as claimed in claim 4, wherein the first bearing surface is an outer surface of a roller and the second bearing surface is a rolling surface. 6. A manipulator as claimed in claim 1, wherein the first and second links extend from the base at a first angle relative to the horizontal and wherein the third and fourth links extend towards the lift arm at a second angle relative to the horizontal that is the negative of the first angle. 7. A manipulator as claimed in claim 1, further comprising an end effector connected to the lift arm, wherein the end effector is configured to hold a load and to be directly handled by an operator. 8. A manipulator as claimed in claim 7, wherein the end effector is rotatably connected to the lift arm. 9. A manipulator as claimed in claim 1, wherein the load balancing device includes a cylinder that is positionable to hold the linkage at a selectable position within a range of movement for the linkage. 10. A manipulator as claimed in claim 9, further comprising a lift controller, a pressure regulator and a sensing means, wherein the sensing means is configured to send signals to the lift controller indicative of whether movement of the lift arm urges the cylinder to retract or extend, wherein the cylinder includes a first cylinder chamber and a second cylinder chamber and the lift controller is configured to control differential pressure between the first and second chambers based on the signals, so as to permit the cylinder to extend or retract in response to the signals. 11. A manipulator as claimed in claim 10, wherein the sensing means includes a pressure sensor positioned to send signals to the lift controller indicative of the pressure in the first chamber. 12. A load maneuvering system, comprising: a transport system; anda manipulator including: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 base is connected to the transport system and is movable horizontally thereby, 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; anda 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. 13. A load maneuvering system as claimed in claim 12, wherein the third and fourth links are directly connected to the first and second links respectively. 14. A load maneuvering system as claimed in claim 12, wherein the first and second connection axes are substantially vertically spaced from the fifth and sixth connection axes. 15. A load maneuvering system as claimed in claim 12, wherein the second bearing surface guides the first bearing surface in a straight line. 16. A load maneuvering system as claimed in claim 15, wherein the first bearing surface is an outer surface of a roller that is positioned on the fourth link and the rolling surface is positioned on the control arm. 17. A load maneuvering system as claimed in claim 12, wherein the first and second links extend from the base at a first angle relative to the horizontal and wherein the third and fourth links extend towards the lift arm at a second angle relative to the horizontal that is the negative of the first angle. 18. A load maneuvering system as claimed in claim 12, further comprising an end effector connected to the lift arm, wherein the end effector is configured to hold a load and to be directly handled by an operator. 19. A load maneuvering system as claimed in claim 18, wherein the end effector is rotatably connected to the lift arm. 20. A load maneuvering system as claimed in claim 12, wherein the load balancing device includes a cylinder that is positionable to hold the linkage at a selectable position within a range of movement for the linkage. 21. A load maneuvering system as claimed in claim 20, further comprising a lift controller, a pressure regulator and a sensing means, wherein the sensing means is configured to send signals to the lift controller indicative of whether movement of the lift arm urges the cylinder to retract or extend, wherein the cylinder includes a first cylinder chamber and a second cylinder chamber and the lift controller is configured to control differential pressure between the first and second chambers based on the signals, so as to permit the cylinder to extend or retract in response to the signals. 22. A load maneuvering system as claimed in claim 21, wherein the sensing means includes a pressure sensor positioned to send signals to the lift controller indicative of the pressure in the first chamber. 23. A load maneuvering system as claimed in claim 12, wherein the transport system includes a pair of runway rails that extend in a first horizontal direction, a bridge that is movable on the runway rails, wherein the bridge has a pair of bridge rails thereon that extend in a second horizontal direction that is perpendicular to the first horizontal direction, and a carriage that is movable on the bridge rails, wherein the base is connected to the carriage.