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A counterbalance apparatus for supporting a load includes a base, a load bearing arm, a toggle linkage, and first and second resilient members for applying a force to the load bearing arm. The load bearing arm has pivot points forming a parallelogram linkage, and is adapted to support the load at a

A counterbalance apparatus for supporting a load includes a base, a load bearing arm, a toggle linkage, and first and second resilient members for applying a force to the load bearing arm. The load bearing arm has pivot points forming a parallelogram linkage, and is adapted to support the load at a distal end. The toggle linkage can include an adjustment member positioned to define a distance relative to the attachment point. The first resilient member is adapted to apply a force to the load bearing arm and may have a first end connected to a first portion of the parallelogram linkage and a second end connected to the adjustment member. Movement of the toggle linkage to the load bearing position engages the forces of the resilient members and movement of the adjustment member varies the distance to adjust a support vector adapted to counterbalance the load vector.

대표청구항 ▼

1. A counterbalance apparatus for supporting a load having a load vector applied in a direction of the vector of gravity, comprising: a base movable between a load bearing and a non-loading position;a load bearing arm with a plurality of pivot points forming a parallelogram linkage, the load bearing

1. A counterbalance apparatus for supporting a load having a load vector applied in a direction of the vector of gravity, comprising: a base movable between a load bearing and a non-loading position;a load bearing arm with a plurality of pivot points forming a parallelogram linkage, the load bearing arm projecting from the base at a first attachment point at a proximal end and adapted to support the load at a distal end;a first resilient member for applying a force to the load bearing arm having a first end connected to a first portion of the parallelogram linkage and a second end connected to a second attachment point of the base; and a second resilient member for applying a force to the load bearing arm having a first end connected to a second portion of the parallelogram linkage and a second end connected to the second attachment point of the base; andwherein movement of the base from the non-load bearing position to the load bearing position engages the forces of the first and second resilient members to apply a support vector to counterbalance the load vector. 2. The counterbalance apparatus of claim 1, in which the first and second resilient members are adapted to produce a linear extension force. 3. The counterbalance apparatus of claim 1, in which the first and second resilient members are adapted to produce a linear compression force. 4. The counterbalance apparatus of claim 1, wherein the first and second resilient members are each a pair of resilient members. 5. The counterbalance apparatus of claim 1, in which the parallelogram linkage comprises at least one parallelogram. 6. The counterbalance apparatus of claim 5, in which the parallelogram linkage comprises at least one compound parallelogram. 7. The counterbalance apparatus of claim 1, in which the load is reversibly coupled to a distal pivot point of the load bearing arm by a load release mechanism. 8. The counterbalance apparatus of claim 1, wherein the support vector counterbalances the load vector with at least two degrees of freedom. 9. The counterbalance apparatus of claim 1, in which the base is connected to a fixed support. 10. The counterbalance apparatus of claim 1, in which the base is connected to a fixed support by a grounded pin connection. 11. The counterbalance apparatus of claim 1, further comprising a brake adapted to maintain a position with respect to the load. 12. The counterbalance apparatus of claim 1, wherein the first and second resilient members are each a zero length spring. 13. The counterbalance apparatus of claim 1, wherein the first and second resilient members are each a non-zero length spring. 14. The counterbalance apparatus of claim 1 configured to be fully passive in configuration. 15. The counterbalance apparatus of claim 1 configured to be semi-automated in configuration. 16. The counterbalance apparatus of claim 1 configured to be fully automated in configuration. 17. The counterbalance apparatus of claim 1 configured to be a fully automated robotic arm for a medical application.