Abstract: The invention refers to a ball joint comprising a ball with an attached arm, a proximal shell having a wear surface, and a distal shell having a wear surface and having an opening for passage of the arm. The ball is held between the wear surface of the proximal shell and the wear surface of the distal shell, while the arm is passed through the opening in the distal shell. Furthermore, the ball joint comprises a biasing element by which the proximal shell and the distal shell are biased with a force towards each other, wherein the biasing element is adjustable in order to adjust the force with which the proximal shell and the distal shell are biased towards each other.

Abstract: A method for manufacturing a joint. A ball is mounted on a pin. Spherical surfaces on at least two socket parts are machined. Grinding paste is applied on the ball and/or on the surfaces of the socket parts. The pin is connected to an equipment that rotates the ball. The ball is assembled between the socket parts. A pressure is applied between the socket parts and the ball. The ball is rotated and tilted over the working range of the joint. The ball and the socket parts are cleaned from the grinding paste. The joint is assembled by mounting the socket parts on a ball. A robot obtainable with the method.

Abstract: 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.

Abstract: The invention relates to a joint having a male unit and a female unit. The external surface of the male unit is of complementary shape to the internal surface of the female unit. The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit has two socket parts. According to the invention biasing means is provided for biasing each of the socket parts towards the male unit.

Abstract: 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.

Abstract: The present invention concerns an industrial robot (1) comprising an upper arm (2) that can be rotated around a first axis (A), a wrist (6) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device (3, 30) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk (8, 33) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device (3, 30) comprises a collar section (10, 36) with a conical envelope surface (12, 45) attached to the turning disk (8, 33), through which at least one opening (14,40) 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 (16) perpendicular to the envelope surface (12), 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 di

Abstract: The present invention concerns an industrial robot (1) comprising an upper arm (2) that can be rotated around a first axis (A), a wrist (6) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device (3, 30) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk (8, 33) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device (3, 30) comprises a collar section (10, 36) with a conical envelope surface (12, 45) attached to the turning disk (8, 33), through which at least one opening (14,40) 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 (16) perpendicular to the envelope surface (12), 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 di

Abstract: 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.

Abstract: An industrial robot comprises a plurality of robot arms which are movable in relation to each other and support a tool holder. The tool holder comprises an output shaft journal, to which a turning disc is attached. To electrically insulate a tool applied to the tool holder and the robot, an insulating layer is arranged between the turning disc and the shaft journal.

Abstract: A driving unit comprising an electric motor and a reduction gear unit preferably intended for an industrial robot. A gear case (11) supports a motor (10) with a shaft (12) extending into the gear case and provided with a bevel pinion (13). An intermediate shaft (15) is rotatably journalled with two bearings (16). On the intermediate shaft are fixed a larger bevel gear (14) and between the bearings a smaller cylindrical gear (17). An output shaft (20) provided with a larger cylindrical gear (18) is rotatably journalled and parallel with the intermediate shaft (15). The gears are arranged such that the bevel pinion (13) is in engagement with the larger bevel gear (14) and the smaller cylindrical gear (17) is in engagement with the larger cylindrical gear (18). The motor shaft (12) is oriented approximately perpendicular to the output shaft (20).

Abstract: The invention relates to an industrial robot of a so-called agile type which has a lower arm (16) with double-sided journalling in a stand (12) consisting of two separated, upright parts (12a, 12b), the arm (16) being pivotable in the space between the stand parts. A pivot shaft (24) for pivoting the upper arm of the robot via a crank and a parallel link rod from one of the stand parts (12a) and through a lead-in opening (28) in the lower arm (16). From the other stand part (12b) there extends a drive shaft (30), which is substantially coaxially opposite to the pivot shaft (24) of the crank (22) and which is connected to the lower arm (16).