A linkage with dynamic-state balance and small fluctuation load features on its crankshaft would both enhance a motor’s efficiency and load rate and reduce its input power by ensuring that the motor is driving as uniform load as possible. It could then be widely applicable to the saving of energy in oil pumping equipment. This paper presents a new model of oscillating block six-bar linkages in which the net crankshaft torque is reduced to a small fluctuation in load by adding the counterweights to the crank and rocking bar. The kinematics and kinetics models of this linkage under the counterbalance were therefore established. Factors influencing the net crankshaft torque fluctuations were analyzed. All parameters of design scheme were optimized using the MATLAB optimization toolbox. Analyses contrasting the effects of energy saving were performed under the actual load conditions.