Patent ID: 7849761

Claim:
A wrist unit, intended to be connected to a robot arm in an industrial robot, the wrist unit comprising: a wrist housing, a wrist part forming a tilt pivotally journalled in the wrist housing for rotation about an axis of rotation of the tilt, a turn disc rotatably journalled in the tilt for rotation about an axis of rotation of the turn disc, wherein the axis of rotation of the turn disc is configured to be perpendicular to the axis of rotation of the tilt, a first transmission configured to transmit rotation to the tilt about the axis of rotation of the tilt, and a second transmission configured to transmit rotation to the turn disc about the axis of rotation of the turn disc, wherein the second transmission comprises a drive-shaft tube arranged symmetrically along the symmetry axis of the wrist housing, the drive-shaft tube is configured to form a continuous channel, the channel is configured to receive and accommodate continuous cabling.