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Ove Kullborg

Karl-Erik Forslund

Fredrik Persson

Annika Thyselius, Legal Representative

Einar Myklebust

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

The present invention concerns an industrial robot ( ) comprising an upper arm ( ) that can be rotated around a first axis (A), a wrist ( ) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device ( ) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk ( ) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device ( ) comprises a collar section ( ) with a conical envelope surface ( ) attached to the turning disk ( ), through which at least one opening ( ) is arranged for the reception of supply lines (K) that pass through the turning device, whereby the opening has an axial extension along a normal ( ) perpendicular to the envelope surface ( ), where the supply lines are arranged to run through the opening in a direction that has a component parallel to the third axis (C), which opening is arranged to control in a transverse direction and allow in a longitudinal direction displacement of the supply lines. The present invention relates also to a turning device for supply lines in an industrial robot with a robot arm that can be rotated, a method for drawing supply lines, use of the turning device in an industrial robot with a robot arm that can be rotated and use of the industrial robot or the turning device in a welding process.

An industrial robot comprises a manipulator body structure having a plurality of drive mechanisms for driving the various movements of the robot, and control equipment for controlling and driving the drive mechanisms. Each drive mechanism comprises an electric driving motor and reduction gear. Each control equipment comprises a rectifier and a drive device operatively connected to each driving motor. Each of the drive devices is mounted only on selected areas of the body structure other than the motors, and each of the drive devices is spaced a predetermined distance from its respective motor to which it is operatively connected. The robot body structure thereby functions to absorb the waste heat generated by the drive devices, to spread the waste heat therethroughout, and to transfer the waste heat solely by convection to the ambient air.

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Västerås, Sweden

Ove Kullborg