| 摘要 |
The present invention concerns an industrial robot comprising a base (2, 24) to which the lower arm is arranged to rotate around a first axis (A), an upper arm (8, 20) rotatably arranged to a second axis (B) at the lower arm (6, 22), a wrist joint (10, 28) that can be rotated by the upper arm and is supported at a joint (C, E) at the outer free end (12, 30) of the upper arm, at which wrist joint is arranged a turning means (14, 32) for fixation of a tool, a driving means arranged in the lower arm or in the base, which driving means transfers by a transmission a rotational motion from the driving means to the wrist joint. The said transmission comprises a belt transmission (26, 38, 106) with an endless belt arranged at a driving shaft (34) of the driving means, whereby the belt extends essentially along the complete longitudinal extent of the upper arm and where the belt is arranged at the wrist joint at the outer free end for transmission of a rotational motion to the tool. The present invention also concerns a method for an industrial robot, and a use of a belt transmission. |
