Patent ID: 8635929
Filing Date: 2014-01-28
Classification: B25J,Y10T

Abstract:
1. A robot joint driving apparatus comprising: a driving motor rotated in regular and reverse directions; a movable member to move rectilinearly through driving force transmitted from the driving motor; a cable assembly connected to the movable member in both directions; an idle pulley to contact one end of the cable assembly and rotated; and an output pulley to contact the other end of the cable assembly and rotated to directly drive a joint unit, wherein lines of the cable assembly are connected at least once in parallel among the idle pulley, the movable member, and the output pulley, wherein the cable assembly includes a first line at one side of the cable assembly provided between the output pulley and the idle pulley, a second line provided adjacent to the first line in parallel with the first line, a third line provided adjacent to the second line in parallel with the second line, and a fourth line provided adjacent to the third line in parallel with the third line.