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Karl-Erik Forslund

Ove Kullborg

Catarina Forssén, Legal Representative

Annika Thyselius, Legal Representative

Leif Tellden

A wrist unit to be arranged in an industrial robot including a control system and a manipulator. The manipulator includes a robot arm and a wrist unit arranged on the robot arm and including a wrist housing arranged for rotation about a fourth axis of rotation, a wrist part/tilt pivotally journalled in the wrist housing for rotation about a fifth axis of rotation. A second transmission is configured to transmit rotation form a second drive unit to the turn disc about the sixth axis of rotation where the control system controls the first and second drive units.

Wrist unit to a robot arm

A robot arm for an industrial robot. The robot arm includes a wrist housing, a wrist, and a turn disc. The wrist is rotatably connected to the wrist housing and the turn disc is rotatably connected to the wrist. A first motor drives the wrist and a second motor drives the turn disc. A first driving rope transmits the motor rotation to the wrist, and a second driving rope transmits the motor rotation to the drive pulley.

Industrial robot

An industrial robot including a hollow arm pan ( ) rotatable around its longitudinal axis (A) through which a cable set ( ) is drawn through and connected to a robot unit ( ) rotatable around an axis (A). The arm part and the robot unit are arranged for both rotation and bending relative to one another. The cable set ( ) is guided and supported by a supporting means ( ) rotatably arranged within arm part ( ) so that the bending movement is accommodated by the part of the cable that is located between the supporting means ( ) and the robot unit ( ) and the rotational movement is accommodated by the part of the cable set that is located within the arm part ( ) before the supporting means ( ) when viewed from the power source (D).

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Västerås, Sweden

Karl-Erik Forslund