Patent ID: 8459139
Filing Date: 2013-06-11
Classification: B25J,Y10T

Abstract:
1. A robot joint driving apparatus comprising: a reversible drive motor; a pair of ball screw parts engaged with the reversible drive motor; a pair of movable members engaged with the pair of ball screw parts and performing a linear movement according to a rotation of the reversible drive motor; a wire connected to the movable members from both directions of the movable members; an idle pulley rotatably installed at a first side of the wire; a joint part rotatably installed at a second side of the wire, opposite the first side; an adjustment unit adjusting a tension of the wire; a load cell installed on the idle pulley to measure the tension of the wire; and a pair of balls and adjustment bolts, wherein the idle pulley is coupled through the two balls and the two adjustment bolts such that the idle pulley moves linearly according to rotation of the adjustment unit.