Patent ID: 8950285
Filing Date: 2015-02-10
Classification: B25J,Y10S,Y10T

Abstract:
1. A robot joint driving device assembly, comprising: a frame; a first joint driving device provided at one outer side of the frame to drive a robot joint unit in a first direction; and a second joint driving device provided at another outer side of the frame to drive the robot joint unit in a second direction perpendicular to the first direction, wherein the first joint driving device includes: a first driving motor movable in regular and reverse directions; a movable member moving rectilinearly according to rotation of the first driving motor by a belt, the movable member including at least one wire connection part, to which a wire unit is connected; the wire unit connected to both sides of the movable member; an idle pulley rotatably provided at one side of the wire unit; and a joint part provided at another side of the wire unit, and wherein the at least one wire connection part includes at least one wire passage hole, into which the wire unit is inserted, and at least one wire coupling hole to fix the wire unit to the movable member by at least one coupling pin.