US 12,440,962 B2
Joint apparatuses for robot
Yong Jae Kim, Cheonan-si (KR); Seong Ho Yun, Goyang-si (KR); and Jae Hyun Park, Icheon-si (KR)
Assigned to NAVER Corporation, Gyeonggi-do (KR); and Korea University of Technology and Education Industry-University Cooperation Foundation, Chungcheongnam-do (KR)
Filed by NAVER CORPORATION, Seongnam-si (KR); and Korea University of Technology and Education Industry-University Cooperation Foundation, Cheonan-si (KR)
Filed on Nov. 1, 2024, as Appl. No. 18/935,096.
Application 18/935,096 is a continuation of application No. PCT/KR2023/006150, filed on May 4, 2023.
Claims priority of application No. 10-2022-0055215 (KR), filed on May 4, 2022.
Prior Publication US 2025/0058458 A1, Feb. 20, 2025
Int. Cl. B25J 9/10 (2006.01); B25J 9/00 (2006.01)
CPC B25J 9/104 (2013.01) [B25J 9/0006 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot joint device, comprising:
an upper arm unit including a first rotating pulley, a second rotating pulley and a third rotating pulley sequentially arranged in one direction;
a forearm unit including a fixing pulley, the fixing pulley being configured to come into a rolling-contact with the third rotating pulley;
a connection unit including a first pivot shaft and a second pivot shaft, the first pivot shaft passing through the third rotating pulley and being connected to the upper arm unit, and the second pivot shaft passing through the fixing pulley and being connected to the forearm unit;
a first cable unit wound around the first rotating pulley in a first direction, the first cable unit being bent between the second rotating pulley and the third rotating pulley, and the first cable unit being fixed to the fixing pulley; and
a second cable unit wound around the first rotating pulley in a second direction opposite to the first direction, the second cable unit being bent between the second rotating pulley and the third rotating pulley, and the second cable unit being fixed to the fixing pulley.