INDUSTRIAL ROBOT

Abstract

An industrial robot with parallel kinematics includes a robot base, an effector carrier receiving an effector, a first actuating arm, a second actuating arm, and a third actuating arm, wherein each actuating arm is driven at one end and is received on the robot base and is movably connected with its other end to the effector carrier. The actuating arms are adapted to move the effector carrier translationally in three dimensions in space relative to the robot base. The first actuating arm and the second actuating arm are connected to the effector carrier via lower arm joints. All lower arm joints of the first and second actuator arms lie in an effector carrier plane. The effector carrier is secured against rotation about a z-axis perpendicular to the effector carrier plane by the third actuating arm.

Claims

1. An industrial robot with parallel kinematics with a robot base (2, 92, 132), with an effector carrier (3, 53, 93, 133) receiving an effector, with a first actuating arm (4, 54, 134), a second actuating arm (5, 55, 135) and a third actuating arm (6, 96, 136), wherein each actuating arm with its one end is driven and received on the robot base (2, 92, 132) and with its other end is movably connected to the effector carrier (3, 53, 133), wherein the actuating arms (4, 5, 6, 54, 55, 96, 134, 135, 36) are adapted to move the effector carrier (3, 53, 93, 133) translationally in three dimensions in space relative to the robot base (2, 92, 132), wherein the first actuating arm (4, 54, 134) comprises a first arm drive (7, 137) arranged on the robot base (2, 92, 132), a first upper arm (8, 58, 138) coupled to the first arm drive (7, 137) and a first lower arm (9, 59, 139), wherein the first lower arm (9, 59, 139) is movably connected to the first upper arm (8, 58, 138) via at least one first elbow joint (12, 13, 142, 143) and to the effector carrier (3, 53, 93, 133) via at least one first lower arm joint (14, 15, 64, 65, 144, 145) so as to be movable about multiple geometric axes, wherein the second actuating arm (5, 55, 135) comprises a second arm drive (17, 147) arranged on the robot base (2, 92, 132), a second upper arm (18, 68, 148) coupled to the second arm drive (17, 147) and a second lower arm (19, 69, 149), and the second lower arm (19, 69, 149) is movably connected to the second upper arm (18, 68, 148) via at least one second elbow joint (22, 23, 152) and to the effector carrier (3, 53, 93, 133) via at least one second lower arm joint (24, 25, 74, 75, 154) so as to be movable about multiple geometric axes, wherein the third actuating arm (6, 96, 136) comprises an elongated arm section (29, 99, 159) which is directly or indirectly coupled at one end to a third arm drive (27, 97, 157) of the third actuating arm (6, 96, 136) and which is connected at its other end to the effector carrier (3, 53, 93, 133) via at least one third lower arm joint (34, 164, 165) which is movable about two lower arm joint axes, wherein the sum of the number of the first lower arm joints (14, 15, 64, 65, 144, 145), the second lower arm joints (24, 25, 74, 75, 154) and the third lower arm joints (34, 164, 165) is at least three and at most five, wherein the centers of at least three of the first, second and third lower arm joints (14, 15, 24, 25, 34, 64, 65, 74, 75, 144, 145, 154, 164, 165) span an effector carrier plane and the effector carrier (3, 53, 93, 133) is secured against rotation about a z-axis perpendicular to the effector carrier plane by the third actuating arm (6, 96, 136).

2. The industrial robot according to claim 1, wherein the effector carrier (3, 53, 93, 133) is secured against rotation about the z-axis exclusively by the third actuating arm (6, 96, 136).

3. The industrial robot according to claim 1, wherein the at least one third lower arm joint (34, 164, 165) is movable about exactly two lower arm joint axes.

4. The industrial robot according to claim 1, wherein one of the two lower arm joint axes about which the at least one third lower arm joint (34, 164, 165) is movable is perpendicular to a longitudinal axis of the elongated arm section (29, 99, 159) of the third actuating arm (6, 96, 136), and that wherein the other lower arm joint axis of the third forearm joint (34, 164, 165) is parallel to or extends in the effector carrier plane.

5. The industrial robot according to claim 1, wherein an x-axis perpendicular to the z-axis and a y-axis perpendicular to the z-axis span an xy-plane which is parallel to or coincides with the effector carrier plane, that wherein the first actuating arm (4, 54, 134) applies an accelerating force to the effector carrier (3, 53, 93, 133) in the direction of the x-axis, wherein the second actuating arm (5, 55, 135) applies an accelerating force on the effector carrier (3, 53, 93, 133) in the direction of the y-axis, and that wherein the third actuating arm (6, 96, 136) applies an accelerating force on the effector carrier (3, 53, 93, 133) in the direction of the z-axis.

6. The industrial robot according to claim 5, wherein the first actuating arm (4, 54, 134) secures the effector carrier (3, 53, 93, 133) against rotation about the x-axis.

7. The industrial robot according to claim 5, wherein the third actuating arm (136) secures the effector carrier (133) against rotation about the z-axis and about the y-axis.

8. The industrial robot according to claim 5, wherein the third actuating arm secures the effector carrier against rotation about the z-axis and about the x-axis and about the y-axis.

9. The industrial robot according to claim 5, wherein the second actuating arm (5, 55) secures the effector carrier (3, 53, 93) against rotation about the y-axis.

10. The industrial robot according to claim 1, wherein the first actuating arm (4, 54, 134) is connected to the first upper arm (8, 58, 138) via two first elbow joints (13, 14, 143, 144) and to the effector carrier (3, 53, 93, 133) via two first lower arm joints (14, 15, 64, 65), which are arranged spatially offset.

11. The industrial robot according to claim 10, wherein the second actuating arm (135) is connected to the effector carrier (133) via exactly one second lower arm joint (154), and wherein the third actuating arm (136) is connected to the effector carrier (133) via two third lower arm joints (164, 165), which are arranged spatially offset on the effector carrier.

12. The industrial robot according to 10, wherein a first straight line (167), which connects the centers of the two first lower arm joints (144, 145) to one another, perpendicularly intersects a third straight line (169), which connects the centers of the two third lower arm joints (164, 165) to one another.

13. The industrial robot according to claim 10, wherein the second actuating arm (5, 55) is connected to the effector carrier (3, 53, 93) via two second lower arm joints (24, 25, 74, 75), which are arranged spatially offset, and in that wherein the third actuating arm (6, 96) is connected to the effector carrier (3, 53, 93) via exactly one third lower arm joint (34), which can be moved about exactly two lower arm joint axes.

14. The industrial robot according to claim 13, wherein a first straight line (37, 77) connecting the centers of the two first lower arm joints (14, 15, 64, 65) perpendicularly intersects a second straight line (38, 78) connecting the centers of the two second lower arm joints (24, 25, 64, 75).

15. The industrial robot according to claim 14, wherein a straight line (39, 79), which is perpendicular to the effector carrier plane and passes through a center of the third lower arm joint (34), intersects the second straight line (38, 78).

16. The industrial robot according to claim 15, wherein the first straight line (77), the second straight line (78) and the straight line (79), which is perpendicular to the effector carrier plane and passes through the center of the third lower arm joint, intersect at one point.

17. The industrial robot according to claim 1, wherein the first arm drive (7, 137) and the second arm drive (17, 147) are rotary drives, that wherein a first drive axis of the first arm drive and a second drive axis of the second arm drive are substantially perpendicular to each other.

18. The industrial robot according to claim 1, wherein the third arm drive (27, 157) is a rotary drive, wherein a third upper arm (28, 158) is coupled to the rotary drive and the third upper arm (28, 158) is movably connected to the elongate arm section (29, 159) of the third actuating arm (6, 136) via at least one third elbow joint (32, 162, 63) so as to be movable about exactly two axes.

19. The industrial robot according to claim 17, wherein the first drive axis and the second drive axis span a drive plane, and wherein a third drive axis of the third actuating arm extends in the drive plane.

20. The industrial robot according to claim 19, wherein the third drive axis is perpendicular to the first drive axis or perpendicular to the second drive axis.

21. The industrial robot according to claim 1, wherein the third arm drive (97) is a linear drive, the drive axis of which is connected to the elongated arm section (99) of the third actuating arm (96) via a third elbow joint (102) which is movable about exactly two axes.

22. The industrial robot according to claim 1, wherein the third arm drive is a linear drive which is received movably on the robot base via a joint designed as a cardan joint, and wherein the elongated arm portion of the third actuating arm is coupled to a linearly movable drive axis of the linear drive.

23. The industrial robot according to claim 21, wherein the drive axis of the linear actuator is secured against rotation about an axis extending along a linear geometric axis of movement of the linear actuator.

24. The industrial robot according to claim 1, wherein the at least one third lower arm joint (34, 164, 165) is arranged above the effector carrier plane.

25. The industrial robot according to claim 1, wherein a center of the at least one third lower arm joint (34, 164, 165) is located in the effector carrier plane.

26. The industrial robot according to claim 1, wherein the at least one first lower arm joint (14, 15, 64, 65, 144, 145) and the at least one second lower arm joint (24, 25, 74, 75, 154) are arranged laterally on the effector carrier (3, 53, 93, 133) and wherein the at least one third lower arm joint (34, 164, 165) is arranged on the side of the effector carrier (3, 53, 93, 133) facing the robot base (2, 132).

27. The industrial robot according to claim 1, wherein the at least one third lower arm joint (34, 164, 165) is a cardan joint.

28. The industrial robot according to claim 1, wherein the elongated arm section (29, 99, 159) of the third actuating arm (6, 96, 136) is provided with a cardan joint (32, 162, 163) at its end facing away from the effector carrier (3, 53, 93, 133).

29. The industrial robot according to claim 1, wherein the elongated arm section (29, 99, 159) of the third actuating arm (6, 96, 136) is designed as an elongated hollow body.

30. The industrial robot according to claim 29, wherein supply lines of an effector arranged on the effector carrier (3, 53, 93, 133) are accommodated in the elongated arm section (29, 99, 159).

31. The industrial robot according to claim 1, comprising an effector drive axis which moves an effector arranged on the effector carrier (3, 53, 93), wherein the effector drive axis comprises an effector drive (41, 81, 82, 111, 112) which is arranged on the third actuating arm (6, 96).

32. The industrial robot according to claim 29, wherein the effector drive axis extends at least in sections in the elongated arm section (29) of the third actuating arm (6).

Description

DRAWING

[0048] The drawing shows examples of embodiments of the invention. Illustrations:

[0049] FIG. 1 First embodiment of an industrial robot in perspective view,

[0050] FIG. 2 Industrial robot according to FIG. 1 in a further perspective view,

[0051] FIG. 3 Effector carrier of the industrial robot according to FIG. 1 in perspective view,

[0052] FIG. 4 Industrial robot according to FIG. 1 in a side view,

[0053] FIG. 5 Industrial robot according to FIG. 1 in a further side view,

[0054] FIG. 6 Industrial robot according to FIG. 1 in a further side view,

[0055] FIG. 7 Second embodiment of an industrial robot in perspective view,

[0056] FIG. 8 Industrial robot according to FIG. 7 in a further perspective view,

[0057] FIG. 9 Industrial robot according to FIG. 7 in a side view,

[0058] FIG. 10 Third embodiment of an industrial robot in perspective view,

[0059] FIG. 11 Industrial robot according to FIG. 10 in a side view,

[0060] FIG. 12 Effector carrier of the industrial robot according to FIG. 10 in perspective view,

[0061] FIG. 13 Fourth embodiment of an industrial robot in perspective view,

[0062] FIG. 14 Fifth embodiment of an industrial robot in perspective view,

[0063] FIG. 15 Industrial robot according to FIG. 14 in a side view,

[0064] FIG. 16 Sixth embodiment of an industrial robot in perspective view,

[0065] FIG. 17 Industrial robot according to FIG. 16 in a further perspective view,

[0066] FIG. 18 Industrial robot according to FIG. 16 in a side view,

[0067] FIG. 19 Side view of an arrangement of several industrial robots according to FIG. 7 in a row.

DESCRIPTION OF THE EMBODIMENTS

[0068] FIGS. 1 to 6 show a first embodiment of an industrial robot 1 with parallel kinematics. The industrial robot 1 comprises a robot base 2, an effector carrier 3, a first actuating arm 4, a second actuating arm 5, and a third actuating arm 6. The first actuating arm 4 includes a first arm drive 7, a first upper arm 8 connected to a drive axis of the first arm drive 7, and a first lower arm 9.

[0069] The first lower arm 9 comprises two parallel rods 10, 11. Each of the two rods 10, 11 is movably connected to the first upper arm 8 at its end facing the first upper arm 8 via a first elbow joint 12, 13. Furthermore, each of the two rods 10, 11 is connected to the effector carrier 3 at its end facing the effector carrier 3 via a first lower arm joint 14, 15. The first elbow joints 12, 13 and the first lower arm joints 14, 15 are formed as spherical joints. They have several degrees of freedom. When the first arm drive 7 transmits a rotary motion to the first upper arm 8, this rotary motion is transmitted to the effector carrier 3 via the two rods 10, 11 of the first lower arm 9.

[0070] The second actuating arm 5 has an identical structure as the first actuating arm 4, comprising a second arm drive 17, a second upper arm 18, a second lower arm 19 with two rods 20, 21, two second elbow joints 22, 23 and two second lower arm joints 24, 25. A rotational movement of the second arm drive 17 is transmitted to the effector carrier 3 via the second upper arm 18 and the second lower arm 19.

[0071] The first arm drive 7 and the second arm drive 17 are rotary drives. A first drive axis of the first arm drive 7 is driven for rotation about a first geometric axis 16. A second drive axis of the second arm drive 17 is driven for rotation about a second geometric axis 26. Here, the first arm drive 7 and the second arm drive 17 are arranged on the robot base such that the first geometric axis 16 and the second geometric axis 26 intersect perpendicularly. The first actuating arm 4 and the second actuating arm 5 thus provide a translatory movement of the effector carrier 3 in two dimensions, namely in the direction of an x-axis and in the direction of a y-axis orthogonal thereto. An xy-plane spanned by the x axis and the y axis is parallel to the effector carrier 3. When the effector carrier 3 is moved by the first, second and third actuating arms 4, 5, 6, the effector carrier 3 does not change its orientation relative to the xy-plane. It always remains parallel to it.

[0072] The third actuating arm 6 differs in structure from the first and second actuating arms 4, 5. The third actuating arm 6 has a third arm drive 27, which is arranged on the robot base 2. This is also a rotary drive. A third upper arm 28 is coupled to a drive axis of the third arm drive 27 in a rotationally fixed manner, so that a rotational movement of the third arm drive 27 is transmitted to the third upper arm 28. The third upper arm 28 is connected, via a third elbow joint 32, to an elongated arm section 29 that forms a lower arm of the third actuating arm 6. The elongated arm section 29 is connected to the effector carrier 3 via a third lower arm joint 34. The third elbow joint 32 and the third lower arm joint 34 are formed as a cardan joint. This has exactly two degrees of freedom. The cardan joint is connected to the effector carrier 3 in such a way that the elongated arm section 29 can tilt in two dimensions, namely in the x- and y-directions relative to the effector carrier. This allows the effector carrier 3 and the elongated arm section 29 coupled to the effector carrier 3 to follow a movement initiated by the first actuating arm 4 and the second actuating arm 5. However, rotation of the effector carrier 3 about a z-axis orthogonal to the x-axis and the y-axis is precluded thanks to the third lower arm joint 34, which is in the form of a cardan joint. The z-axis is perpendicular to the xy-plane and is thus perpendicular to the effector carrier 3.

[0073] The third arm drive 27 is also a rotary drive. A drive axis of the third arm drive 27, which will be referred to herein as the third drive axis, is driven for rotation about a third geometric axis 36. The first geometric axis 16 of the first arm drive 7, the second geometric axis 26 of the second arm drive 17 and the third geometric axis 36 of the third arm drive 27 all run in a common plane. Here, the first geometric axis 16 and the third geometric axis 36 are parallel to each other. The second geometric axis 26 runs perpendicular to the first geometric axis 16 and to the third geometric axis 36.

[0074] A movement of the third arm drive 27 causes the third upper arm 28 to rotate about the third geometric axis 36. This movement is transmitted to the effector carrier 3 via the third elbow joint 32, the elongated arm section 29 and the third lower arm joint 34. It results in a translational movement of the effector carrier 3 in the direction of the z-axis.

[0075] FIG. 3 shows the effector carrier with the first lower arm joints 14, 15, the second lower arm joints 24, 25 and the third lower arm joint 34. The two first lower arm joints 14, 15 of the first actuating arm 4 are connected to the effector carrier 3 in the lateral edge region. They are thereby seated at two corners of the rectangular effector carrier 3. A first straight line 37 runs through the center of the first lower arm joint 14 and through the center of the first lower arm joint 15. This first straight line 37 is parallel to one side of the rectangular effector carrier 3. It is parallel to the y-axis and perpendicular to the x-axis. The two second lower arm joints 24, 25 of the second actuating arm 5 are also connected to the effector carrier 3 at the lateral edge. Unlike the first lower arm joints 14, 15, however, the second lower arm joints 24, 25 are not located at two corners of the effector carrier 3, but at the side centers. A second straight line 38 passes through the center of the second lower arm joint 24 and through the center of the second lower arm joint 25. The second straight line 38 is parallel to one side of the rectangular effector carrier 3. It is parallel to the x-axis and perpendicular to the y-axis. The first straight line 37 intersects the second straight line 38 perpendicularly. The intersection of the two straight lines 37, 38 lies in the second lower arm joint 24. The first and second straight lines 37, 38 span a plane that is parallel to the xy-plane and to the effector carrier 3. It is referred to as the effector carrier plane. The third lower arm joint 34 is a cardan joint with two intersecting axes, referred to as lower arm joint axes. They can be seen in FIG. 3. A first of these two lower arm joint axes is rotatable about a geometric axis 33 which is perpendicular to a longitudinal axis of the elongate arm portion 29 of the third actuating arm. A second of these two lower arm joint axes is rotatable about a geometric axis 35 that is parallel to the effector carrier plane. The center of the third lower arm joint corresponds to the intersection of the two geometric axes 33 and 35. A third straight line 39, which is perpendicular to the effector carrier plane and passes through the center of the third lower arm joint 34, intersects the second straight line 38 perpendicularly. The third straight line is parallel to the z-axis. The second straight line 38 and the third straight line 39 intersect at the center of the effector carrier 3. This center is located above the TCP. The first straight line 37 does not pass through this center because the first lower arm joints 14, 15 are not arranged in the center of the sides of the effector carrier 3, but at the corners. This arrangement ensures that the two rods 10, 11 of the first actuating arm 4 do not collide with the two rods 20, 21 of the second actuating arm 5 when the effector carrier 3 is moved.

[0076] The first straight line 37 is parallel to the first geometric axis 16 of the first arm drive 7. The second straight line 38 is parallel to the second geometric axis 26 of the second arm drive 17. The third straight line 39 is perpendicular to the third geometric axis 36 of the third arm drive.

[0077] FIGS. 7 to 9 illustrate a second embodiment of an industrial robot 40. The industrial robot 40 is substantially the same as the industrial robot 1 of the first embodiment example shown in FIGS. 1 to 6, and therefore the same reference numerals are used for matching parts. The industrial robot 40 additionally has two effector drive axes for an effector arranged on the effector carrier 3, which is not shown in the drawing. For this purpose, a first effector drive 41 is arranged on the third upper arm 28 of the third actuating arm 6. It is part of a first effector drive axis. The torque of the first effector drive 41 is transmitted to the effector carrier 3 via a shaft which runs in the elongated arm section 29 of the third actuating arm 6. It is therefore not visible in the drawing. A second effector drive shaft comprises a second effector drive 42 arranged on the robot base 2. The torque of the second effector drive 42 is transmitted to the effector carrier 3 via a shaft 43, which is not arranged in the elongated arm section 29 of the third actuating arm 6. It extends freely from the robot base 2 to the effector carrier 3 and is designed as a telescopic shaft so that it can follow the movement of the effector carrier 3.

[0078] FIGS. 10 to 12 show a third embodiment of an industrial robot 50. It is substantially similar to the industrial robot 40 according to FIGS. 7 to 9 and also has a first and a second effector drive 41, 42. Matching parts therefore have the same reference numerals. The third actuating arm 6 matches the third actuating arm of the industrial robot 1 according to FIGS. 1 to 6. The difference with the industrial robot 1 and the industrial robot 40 is that the first lower arm joints 64, 65 of the first actuating arm 54 are not arranged at the corners of the effector carrier 53 but in the middle of the sides of the effector carrier 53 just like the second lower arm joints 74, 75 of the second actuating arm 55. FIG. 12 shows the effector carrier 53 of the industrial robot 50 with the first lower arm joints 64, 65, the second lower arm joints 74, 75 and the third lower arm joint 34. For clarity, the shaft 43 of the second effector drive 42 is not shown in FIG. 12. The lower arm joints 64, 65, 74, 75 are arranged crosswise on the effector carrier 53. This results in a first straight line 77, which passes through the centers of the first two lower arm joints 64, 65, and a second straight line 78, which passes through the centers of the second two lower arm joints 74, 75, intersecting at the center of the effector carrier 53. The point of intersection is immediately in or at the third lower arm joint 34. The first straight line 77 and the second straight line 78 span a plane referred to as the effector carrier plane. The first straight line 77 is perpendicular to the x-axis and parallel to the y-axis. The second straight line 78 is parallel to the x-axis and perpendicular to the y-axis. Consistent with FIG. 3, the third lower arm joint 34 has two intersecting lower arm joint axes that are rotatable about two geometric axes 33, 35. The center of the third lower arm joint 34 corresponds to the intersection of the geometric axes 33 and 35. A third straight line 79 is perpendicular to the effector carrier plane of the first straight line 77 and the second straight line 78 and passes through the center of the third lower arm joint 34. The third straight line 79 intersects the first straight line 77 and the second straight line 78. All three straight lines 77, 78, 79 intersect at a point. This point is located above the TCP. To prevent the rods 60, 61 of the first actuating arm 54 from colliding with the rods 70, 71 of the second actuating arm 55, the rods 70, 71 of the second actuating arm 55 are arranged at a greater distance on the second upper arm 68 than the rods 60, 61 of the first actuating arm 54 on the first upper arm 58.

[0079] FIG. 13 shows a fourth embodiment of an industrial robot 80, which is substantially the same as the industrial robot 1 shown in FIGS. 1 to 5. The same reference numerals have been used for matching parts. The industrial robot 80 differs from the industrial robot 1 in that two effector drives 81, 82 are arranged on the elongated arm section 29 of the third actuating arm 6. The two effector drives 81, 82 are thereby attached laterally to the elongated arm section 29. The torque of the effector drives 81, 82 is guided to the effector carrier 3 via two shafts 83, 84. An effector arranged on the effector carrier 3 can be connected there to the two shafts 83, 84. The effector is not shown in the drawing.

[0080] FIGS. 14 and 15 show a fifth embodiment of an industrial robot 90. The first actuating arm 4 and the second actuating arm 5 of the industrial robot 90 as well as the arrangement of the first lower arm joints, the second lower arm joints and the third lower arm joint 34 are identical to the industrial robot 1 according to FIGS. 1 to 6. In FIG. 14, only the first lower arm joint and the second lower arm joint 25 can be seen. The same reference numerals have been used for the matching parts. The industrial robot 90 differs from the industrial robot 1 with respect to the third actuating arm 96. The third arm drive 97 of the third actuating arm 96 is a linear actuator. The third arm drive 97 is disposed on the robot base 92. A drive axis of the linear actuator is moved along the geometric movement axis 106. The linear motion of the drive axis is transmitted via a third elbow joint 102 to the elongated arm section 99 of the third actuating arm 96, and from there to the effector carrier 93. This results in linear movement of the effector carrier 93 in the direction of the z-axis. The third elbow joint 102 is designed as a cardan joint. In accordance with the industrial robots 1, 40, 50 and 80, the third actuating arm 96 is connected to the effector carrier 93 via a third lower arm joint 34 designed as a cardan joint. The entire third actuating arm 96 is secured against rotation about the z-axis. This applies to the third arm drive 97 designed as a linear drive, the third elbow joint 102, the elongated arm section 99, the third lower arm joint 34 and attachment of the third lower arm joint 34 to the effector carrier 93. A rotation of the effector carrier 93 about the z-axis is thus excluded. The geometric axis of motion 106 is perpendicular to the plane spanned by the first geometric axis 16 of the first arm drive 7 of the first actuating arm 4 and by the second geometric axis 26 of the second arm drive 17 of the second actuating arm 5. In accordance with the industrial robots 1, 40, 50 and 80, the first arm drive 7 and the second arm drive 17 are designed as rotary drives. Like the industrial robot 80 in FIG. 13, the industrial robot 90 has two effector drive axes. For this purpose, two effector drives 111, 112 are arranged on the elongated arm section 99 of the third actuating arm 96. The two effector drives 111, 112 are thereby attached laterally to the elongated arm section 99. The torque of the effector drives 111, 112 is guided to the effector carrier 93 via two shafts 113, 114. An effector arranged on the effector carrier 93 can be connected there to the two shafts 113, 114. The effector is not shown in the drawing.

[0081] FIGS. 16 to 18 illustrate a sixth embodiment of an industrial robot 130 having a robot base 132, an effector carrier 133, a first actuating arm 134, a second actuating arm 135, and a third actuating arm 136. The first actuating arm 134 includes a first arm drive 137, a first upper arm 138 connected to a drive axis of the first arm drive 137, and a first lower arm 139. The first lower arm 139 includes two parallel rods 140, 141. Each of the two rods 140, 141 is movably connected to the first upper arm 138 at its end facing the first upper arm 138 via a first elbow joint 142, 143. Further, each of the two rods 140, 141 is movably connected at its end facing the effector carrier 133 to the effector carrier 133 via a first lower arm joint 144, 145. The first elbow joints 142, 143 and the first lower arm joints 144, 145 are formed as spherical joints. They have multiple degrees of freedom.

[0082] The second actuating arm 135 has a second arm drive 147, a second upper arm 148, a second lower arm 149 with only one rod 150. This rod 150 is connected to the second upper arm 148 via a second elbow joint 152 and to the effector carrier 133 via a second lower arm joint 154. The second elbow joint 152 and the second lower arm joint are spherical joints.

[0083] The third actuating arm 136 includes a third arm drive 157, a third upper arm 158, and an elongated arm section 159 formed by two rods 160, 161. Each of the two rods 160, 161 is connected to the third upper arm 158 via a third elbow joint 162, 163 and to the effector carrier 133 via a third lower arm joint 164, 165. The two third elbow joints 162, 163 and the two lower arm joints 164, 165 are formed as cardan joints. Each of these joints has two geometric joint axes about which it is movable.

[0084] The number of all lower arm joints of the first actuating arm 134, the second actuating arm 135 and the third actuating arm 136 is thus five, as in the previous embodiments.

[0085] A first straight line 167 extending through the centers of the first two lower arm joints 144, 145 perpendicularly intersects a third straight line 169 extending through the centers of the third two lower arm joints 164, 165.

[0086] The advantage of the industrial robot according to the sixth embodiment over the previous embodiments is that the rods 140, 141 of the first lower arm 139, the rod 150 of the second lower arm 149 and the rods 160, 161 of the elongated arm section 159 of the third actuating arm interfere less with each other when the effector carrier moves, since they do not come as close as in the other embodiments.

[0087] FIG. 19 shows four industrial robots 40 according to the second embodiment example in a side-by-side arrangement. The distance between each two adjacent industrial robots 40 is the same in each case. In the area of the effector carriers, the rectangular working areas 120 of the industrial robots 40 are shown by dashed rectangles. The first and the second industrial robot from the left are set with their effector carriers in such a way that both effector carriers are located at the edge of the working area assigned to them in the immediate vicinity. Nevertheless, the actuating arms and the effector carriers of the two industrial robots do not collide. The illustration shows that the industrial robots can be arranged very close to each other or behind each other without the working areas of the actuating arms overlapping. Collision can thus be ruled out without the need for a special control system for this purpose.

[0088] All features of the invention can be essential to the invention either individually or in any combination with each other.

REFERENCE FIGURES

[0089] 1 Industrial robot [0090] 2 Robot base [0091] 3 Effector carrier [0092] 4 First actuating arm [0093] 5 Second actuating arm [0094] 6 Third actuating arm [0095] 7 First arm drive [0096] 8 First upper arm [0097] 9 First lower arm [0098] 10 Rod [0099] 11 Rod [0100] 12 First elbow joint [0101] 13 First elbow joint [0102] 14 First lower arm joint [0103] 15 First lower arm joint [0104] 16 First geometric axis [0105] 17 Second arm drive [0106] 18 Second upper arm [0107] 19 Second lower arm [0108] 20 Rod [0109] 21 Rod [0110] 22 Second elbow joint [0111] 23 Second elbow joint [0112] 24 Second lower arm joint [0113] 25 Second lower arm joint [0114] 26 Second geometric axis [0115] 27 Third arm drive [0116] 28 Third upper arm [0117] 29 Elongated arm section [0118] 32 Third elbow joint [0119] 33 Geometric axis of first lower arm joint axis [0120] 34 Third lower arm joint [0121] 35 Geometric axis of second lower arm joint axis [0122] 36 Third geometric axis [0123] 37 First straight line [0124] 38 Second straight line [0125] 39 Third straight line [0126] 40 Industrial robot [0127] 41 First effector drive [0128] 42 Second effector drive [0129] 43 Shaft [0130] 50 Industrial robot [0131] 53 Effector carrier [0132] 54 First actuating arm [0133] 55 Second actuating arm [0134] 58 First upper arm [0135] 59 First lower arm [0136] 60 Rod [0137] 61 Rod [0138] 64 First lower arm joint [0139] 65 First lower arm joint [0140] 68 Second upper arm [0141] 69 Second lower arm [0142] 70 Rod [0143] 71 Rod [0144] 74 Second lower arm joint [0145] 75 Second lower arm joint [0146] 77 First straight line [0147] 78 Second straight line [0148] 79 Third straight line [0149] 80 Industrial robot [0150] 81 Effector drive [0151] 82 Effector drive [0152] 83 Shaft [0153] 84 Shaft [0154] 90 Industrial robot [0155] 92 Robot base [0156] 93 Effector carrier [0157] 96 Third actuating arm [0158] 97 Third arm drive [0159] 99 Elongated arm section [0160] 102 Third elbow joint [0161] 106 Geometric axis of motion [0162] 111 Effector drive [0163] 112 Effector drive [0164] 113 Shaft [0165] 114 Shaft [0166] 120 Working area [0167] 130 Industrial robot [0168] 132 Robot base [0169] 133 Effector carrier [0170] 134 First actuating arm [0171] 135 Second actuating arm [0172] 136 Third actuating arm [0173] 137 First arm drive [0174] 138 First upper arm [0175] 139 First lower arm [0176] 140 Rod [0177] 141 Rod [0178] 142 First elbow joint [0179] 143 First elbow joint [0180] 144 First lower arm joint [0181] 145 First lower arm joint [0182] 147 Second arm drive [0183] 148 Second upper arm [0184] 149 Second lower arm [0185] 150 Rod [0186] 152 Second elbow joint [0187] 154 Second lower arm joint [0188] 157 Third arm drive [0189] 158 Third upper arm [0190] 159 Elongated arm section [0191] 160 Rod [0192] 161 Rod [0193] 162 Third elbow joint [0194] 163 Third elbow joint [0195] 164 Third lower arm joint [0196] 165 Third lower arm joint [0197] 167 First straight line [0198] 169 Third straight line