Patent ID: 7806020
Filing Date: 2010-10-05
Classification: B25J,Y10T

Abstract:
1. A robot arm for an industrial robot, said robot arm comprising: a wrist housing comprising a through duct coinciding with a center axis of the wrist housing for receiving process cabling, a wrist rotatably connected to the wrist housing, a turn disk rotatably connected to the wrist, wherein the turn disk is adapted for attachment of a tool to a tool holder, a first motor for driving the wrist, a second motor for driving the turn disk, a first drive line for transmitting rotation of the first motor to the wrist, a second drive line for transmitting rotation of the second motor to the turn disk, and a motor space within the wrist housing and surrounding the duct, wherein said first and second motors are arranged within the wrist housing in said motor space so that a drive shaft of the first motor and a drive shaft of the second motor are arranged spaced apart from a center axis of the wrist housing in opposite directions perpendicular to a longitudinal axis of the drive shaft of the first motor and a longitudinal axis of the drive shaft of the second motor, such that a space is formed in the wrist housing between the motors; and wherein the duct is arranged in said space.