# US 10,118,286 B2 · Lifting device for use at a manual work station > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,286 B2 - Document ID: US10118286B2 - Status: Granted - Kind: B2 - Application number: 14/914,765 - Filed: 2014-08-26 - Published: 2016-07-21 - Granted: 2018-11-06 - Earliest claimed: 2013-08-28 - Assignees: Lofs Specialmaskiner AB - Applicants: Lofs Specialmaskiner AB - Inventors: Klas-Arne Lof - Web page: https://patentgrep.com/patent/US10118286B2 ## CPC - B25H 1/0028: {Tool balancers} - B25J 1/12: having means for attachment to a support stand - B25J 19/0012: {using fluidic devices} - B25H: WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS (storing or packaging B65) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A lifting device includes a framework (2) and a manipulator arm (8) pivotally connected to the framework. The manipulator arm includes a first end portion (19) and a second end portion (13) adapted to carry a tool (20). A balancing arrangement (7; 30, 39) includes a first part (7a; 30a; 39a) connected to the framework and a second part (7b; 30b; 39b) adapted to interact with the first end portion. At least one of the manipulator arm and the balancing arrangement includes a first balancing device (11; 31; 34), which is extendable to ensure that interaction between the second part and the first end portion is maintained. The first balancing device is adapted to generate a first balancing force which maintains a moment balance about the first joint. The manipulator arm has at least two rotational degrees of freedom in a first spherical coordinate system (17). ## Claims ### Claim 1 A lifting device (1) for use at a manual work station, the lifting device (1) comprising: a framework (2); an elongate manipulator arm (8) pivotally connected to the framework (2) by a first joint (9), which elongate manipulator arm (8) comprises a first end portion (19) and a second end portion (13) located on opposite sides of the first joint (9) as seen in the longitudinal direction of the manipulator arm (8), wherein the second end portion (13) is adapted to carry at least one tool (20); a balancing arrangement (7; 30, 39) comprising a first part (7a; 30a; 39a) connected to the framework (2), so that said framework (2) connects the first part (7a; 30; 39a) of the balancing arrangement (7; 30, 39) and the first joint (9), and a second part (7b; 30b; 39b) connected to the first end portion (19) of the manipulator arm (8), wherein the balancing arrangement (7; 30; 39) comprises a first balancing device (11; 31; 34), which first balancing device (11; 31; 34) is extendable to ensure that the interaction between the second part (7b; 30b; 39b) of the balancing arrangement (7; 30; 39) and the first end portion (19) of the manipulator arm (8) is maintained when the manipulator arm (8) is rotated about the first joint (9), and which first balancing device (11; 31; 34) is adapted to generate a first balancing force which, through the interaction between the first end portion (19) of the manipulator arm (8) and the second part (7b; 30b; 39b) of the balancing arrangement (7; 30; 39), maintains a moment balance about the first joint (9) with respect to the gravitational force acting on the manipulator arm (8) so that the gravitational force is counteracted by the balancing arrangement that acts to rotate the manipulator arm about the first joint in the opposite direction, and wherein the first joint (9) provides the manipulator arm (8) with at least two rotational degrees of freedom relative to the framework (2) at the first joint (9) in a first spherical coordinate system (17) which has a center point that coincides with the rotational center of the first joint (9). ### Claim 2 (depends on 1) Lifting device (1) according to claim 1, further comprising at least one manipulator arm position sensor (41; 42) adapted to continuously measure at least one manipulator arm position parameter indicative of the angular position of the manipulator arm (8) at the first joint (9). ### Claim 3 (depends on 1) Lifting device (1) according to claim 1, wherein the manipulator arm (8) comprises a first member (8a) comprising the first end portion (19) and a second member (8b) comprising the second end portion (13), wherein the second member (8b) is displaceable relative the first member (8a) in the longitudinal direction of the manipulator arm (8). ### Claim 4 (depends on 3) Lifting device (1) according to claim 3, further comprising at least one second member position sensor (43) adapted to continuously measure at least one second member position parameter indicative of the position of the second member (8b) with respect to the first member (8a). ### Claim 5 (depends on 2) Lifting device (1) according to claim 2, further comprising a data storage means (26) adapted to store parameter data received from at least one of the manipulator arm position and second member position sensors (41, 42, 43). ### Claim 6 (depends on 2) Lifting device (1) according to claim 2, further comprising a control unit (38) adapted to control the first balancing device (11; 31; 34), which control unit (38) is adapted to adjust the magnitude of the first balancing force in response to parameter data received from at least one of the manipulator arm position and second member position sensors (41, 42, 43). ### Claim 7 (depends on 1) Lifting device (1) according to claim 1, wherein the first balancing device (11; 31; 34) is adapted to provide a constant first balancing force. ### Claim 8 (depends on 1) Lifting device (1) according to claim 1, wherein the first balancing device (11; 31; 34) comprises a cylinder body (11a; 31a) and a piston rod (11b; 31b) slidably mounted in the cylinder body (11a; 31a), wherein the first balancing device (11; 31; 34) further comprises at least one first pressure regulator (28) adapted to control the pressure in a fluid located within the cylinder body (11a; 31a) and acting on the piston rod (11b; 31b) to generate the first balancing force. ### Claim 9 (depends on 1) Lifting device (1) according to claim 1, wherein the second part (7b; 39b) of the balancing arrangement (7; 39) is pivotally connected to the first end portion (19) of the manipulator arm (8) by a second joint (10) and pivotally connected to the framework (2) by a third joint (12). ### Claim 10 (depends on 9) Lifting device (1) according to claim 9, wherein the third joint (12) connects the framework (2) and the first part (7a) of the balancing arrangement (7). ### Claim 11 (depends on 1) Lifting device (1) according claim 1, wherein the first balancing device (1) is arranged so that the first balancing force is applied along a vertical axis (z) extending through the first joint (9) when the gravitational moment is zero. ### Claim 12 (depends on 3) Lifting device (1) according to claim 3, further comprising a data storage means (26) adapted to store parameter data received from at least one of the manipulator arm position and second member position sensors (41, 42, 43). ### Claim 13 (depends on 3) Lifting device (1) according to claim 3, further comprising a control unit (38) adapted to control the first balancing device (11; 31; 34), which control unit (38) is adapted to adjust the magnitude of the first balancing force in response to parameter data received from at least one of the manipulator arm position and second member position sensors (41, 42, 43). ### Claim 14 (depends on 4) Lifting device (1) according to claim 4, further comprising a control unit (38) adapted to control the first balancing device (11; 31; 34), which control unit (38) is adapted to adjust the magnitude of the first balancing force in response to parameter data received from at least one of the manipulator arm position and second member position sensors (41, 42, 43). ### Claim 15 (depends on 5) Lifting device (1) according to claim 5, further comprising a control unit (38) adapted to control the first balancing device (11; 31; 34), which control unit (38) is adapted to adjust the magnitude of the first balancing force in response to parameter data received from at least one of the manipulator arm position and second member position sensors (41, 42, 43). ### Claim 16 (depends on 2) Lifting device (1) according to claim 2, wherein the first balancing device (11; 31; 34) is adapted to provide a constant first balancing force. ### Claim 17 (depends on 14) Lifting device (1) according to claim 14, wherein, the framework (2) comprises a first part (4) with a central through-hole (5), and an arc (3) comprised of an elongate interconnecting member (3b) connected to elongate side members (3a, 3c), the side members (3a, 3c) being attached to the first part (4) at opposite sides of the central through-hole (5) so as to define a space (6) therebetween, the first joint (9) is connected to the framework (2), the first end portion (19) extends through the through-hole (5) and into the space (6) defined between the side members (3a, 3c), the first end portion (19) pivotally connected to the arc (3) by the first joint (9), and the balancing arrangement (7; 30, 39) is accommodated in the space (6) defined between the side members (3a, 3c), the first part (7a; 30a; 39a) being connected to the interconnecting member (3b) so that said framework (2) connects the first part (7a; 30; 39a) of the balancing arrangement (7; 30, 39) and the first joint (9). ### Claim 18 (depends on 1) Lifting device (1) according to claim 1, wherein, the first joint (9) is connected to the side members (3a, 3c) of the framework (2).