INDUSTRIAL ROBOT

Description

[0001] The invention is based on an industrial robot with parallel kinematics, which is equipped with a robot base, with an effector carrier serving as a holder for an effector and with several actuating arms for moving the effector carrier.

[0002] Such industrial robots with parallel kinematics are used to move, position, and / or process an object in space. They are equipped with a robot base that is stationary or mounted on a movable platform and a movable effector carrier for holding an effector, such as a gripper, a tool, a camera, or a machine element. At least two actuating arms are connected at one end to the robot base and at the other end to the effector carrier. Each actuating arm is moved by an associated drive located on the robot base. Movement of the actuating arms results in movement of the effector carrier. The effector carrier can also be referred to as a tool carrier or a platform.The effector carrier can be used as an effector, for example, a gripper for picking up an object or a tool for processing an object or a machine element such as a bearing or a gear. The effector carrier is equipped with a holder for an effector. Through the coordinated movement of the driven actuating arms, an effector arranged on the effector carrier can be moved in a targeted manner in several dimensions in space. The actuating arms ensure spatial parallelogram guidance of the effector carrier. All actuating arms contribute simultaneously and thus parallel to the movement of the effector carrier. The resulting parallel kinematics enables fast and precise movement of the effector carrier and the effector arranged on it. This movement is a translational movement of the effector carrier.If the industrial robot is equipped with three actuating arms, the movement is translational in three spatial directions. The movement has three degrees of freedom and can be described in a coordinate system with x, y, and z axes. If the industrial robot is equipped with two actuating arms, the movement is translational in two spatial directions. In this case, the movement has two degrees of freedom and can be described in a coordinate system with x and z axes.

[0003] Such robots include, for example, delta robots. These are equipped with at least two actuating arms. Preferably, three actuating arms are provided, which are identically constructed and are typically mounted on the robot base at an angular distance of 120°. The actuating arms have an upper and a lower arm section, which are movably connected to one another. The upper arm section is also referred to as the upper arm. The lower arm section is also referred to as the lower arm. Each of the upper arm sections is driven by an arm drive, for example a motor-gearbox unit. The arm drives are arranged on the robot base. The movement of the upper arm sections is transmitted to the effector carrier via the lower arm sections. The lower arm section usually has two parallel rods or struts running in the longitudinal direction of the arm section.These are movably connected at one end to the corresponding upper arm section and at the other end to the effector carrier. The two struts of a lower arm span a parallelogram. To enable the struts to move the effector carrier in three dimensions in space, they are mounted on the upper arm and the effector carrier so that they can move around several geometric axes. Spherical joints or cardan joints are particularly suitable for this. Since each strut is equipped with two such joints, each lower arm has a total of four spherical joints or cardan joints. With three actuating arms, a total of 12 such joints are required for the lower arms. This makes the setup complex and expensive. In addition, the movement of the effector carrier in three dimensions in space is overdetermined due to the three lower arms, each constructed with a parallelogram made up of two struts and having a total of 12 joints with multiple degrees of freedom.Two of the actuating arms provide movement in two dimensions, for example along an x-axis and a y-axis. However, they cannot prevent the effector carrier from rotating about a z-axis, which is orthogonal to the x-axis and y-axis. The third actuating arm does provide this stabilization of the effector carrier and movement of the effector carrier along the z-axis. However, it is also equipped with two struts and a total of four joints on the lower arm section, even though one strut and two joints should actually be sufficient. The three actuating arms are typically arranged on the robot base so that the corresponding lower arms are each attached to the effector carrier at the same distance, with each actuating arm being assigned an angular range of 120°. This means that the workspace is not rectangular but round.

[0004] In addition to delta robots, other types of parallel kinematic robots with three translational degrees of freedom are also known. The article "Comparison study of architectures of four 3-degree-of-freedom translational parallel manipulators" (Lung-Wen Tsai et al.), for example, discloses a 3-RUU parallel kinematic robot. However, this robot's three actuating arms are identical, and its workspace is not cuboid-shaped.

[0005] The invention is based on the object of providing an industrial robot with parallel kinematics which requires a smaller number of joints for the forearms, which enables a rectangular working area and in which a movement of the effector carrier in three dimensions in space is not overdetermined.

[0006] This object is achieved by an industrial robot having the features of claim 1. The industrial robot has three actuating arms. Two of these actuating arms are identical or similar in design. A third actuating arm differs in its design from the other two actuating arms. A first actuating arm has a first arm drive arranged on the robot base, a first upper arm coupled to the first arm drive, and a first lower arm. The first lower arm is movably connected to the first upper arm via at least one first elbow joint and to the effector carrier via at least one first lower arm joint. The same applies to a second actuating arm. It has a second arm drive, a second upper arm, a second lower arm, at least one second elbow joint, and at least one second lower arm joint. These components are connected to one another in a manner corresponding to the first actuating arm.The first elbow joint, the second elbow joint, the first forearm joint, and the second forearm joint each have multiple degrees of freedom. This means that they enable a connection that is movable around multiple geometric axes. If the first actuating arm is equipped with two first forearm joints, these are arranged spatially offset from one another on the effector carrier so that they do not interfere with one another. The same applies to the second actuating arm, provided it is equipped with two second forearm joints. The first forearm can have a rod or strut. Alternatively, the first forearm can have two parallel struts or rods that span a parallelogram. In this case, the first actuating arm is essentially constructed like the actuating arms of a typical delta robot.The same applies to the second actuating arm: it can have just one strut or rod, or two parallel struts or rods that span a parallelogram. The first actuating arm and the second actuating arm can both be constructed identically, with both the first lower arm and the second lower arm each having two struts or rods in a parallelogram arrangement. Alternatively, the first and second actuating arms can be constructed similarly, with one of the two actuating arms having just one strut or rod on the lower arm and the other two. In principle, an embodiment is also possible in which both the first actuating arm and the second actuating arm each have exactly one strut or rod as a lower arm.

[0007] The third actuating arm has an elongated arm portion which is coupled at one end directly or indirectly to a third arm drive of the third actuating arm and which is connected at its other end to the effector carrier via at least one third forearm joint.

[0008] The third forearm joint preferably has exactly two degrees of freedom. This allows the elongated arm section to move relative to the effector carrier in exactly two dimensions. The third arm drive is mounted on the robot base. The elongated arm section of the third actuating arm is equipped with one or two third forearm joints.

[0009] The total number of forearm joints of the first actuating arm, the second actuating arm, and the third actuating arm is at least three and at most five. Thus, two actuating arms can be equipped with two forearm joints and one actuating arm with one forearm joint. Alternatively, all three actuating arms can be equipped with only one forearm joint. A design in which two actuating arms are equipped with only one forearm joint and one actuating arm has two or three forearm joints is also possible. The number of forearm joints is thus reduced compared to known delta robots.

[0010] Preferably, each forearm joint is assigned a rod or strut of the corresponding forearm. If, for example, the first actuating arm has two first forearm joints, it is advantageously equipped with two rods or struts that form the forearm and span a parallelogram. Each of the two rods or struts is connected to exactly one forearm joint. This applies accordingly to the second actuating arm and the third actuating arm. The two rods or struts of the first actuating arm are preferably connected to the upper arm via two elbow joints. The same applies to the second actuating arm.

[0011] The forearm joints of the first actuating arm, the second actuating arm, and the third actuating arm are arranged offset on the effector carrier. For example, the forearm joints of the first and second actuating arms can be arranged on the sides of the effector carrier, and the at least one forearm joint of the third actuating arm can be arranged on the side of the effector carrier facing the robot base. The centers of at least three of the first, second, and third forearm joints span a plane referred to as the effector carrier plane. The effector carrier is only moved translationally by the three actuating arms. Rotation of the effector carrier must be prevented. Rotation of the effector carrier about a z-axis perpendicular to the effector carrier plane is prevented by the third actuating arm.

[0012] According to the invention, the first actuating arm is connected to the first upper arm via two first elbow joints and to the effector carrier via two first forearm joints. The two first forearm joints are arranged spatially offset on the effector carrier. In this case, the first actuating arm ensures acceleration of the effector carrier in the x-axis direction while simultaneously preventing rotation of the effector carrier around the x-axis.

[0013] Preferably, rotation of the effector carrier about the z-axis is prevented exclusively by the third actuating arm, with the first actuating arm and the second actuating arm not contributing to this. This distinguishes the industrial robot according to the invention from known delta robots. In known delta robots, rotation about a z-axis perpendicular to the effector carrier plane is prevented jointly by all actuating arms. In known delta robots, this applies accordingly with regard to rotation protection about an x-axis perpendicular to the z-axis and about a y-axis perpendicular to the z-axis. For this reason, the three actuating arms of known delta robots are preferably arranged on the robot base at an angular distance of 120°.

[0014] The third actuating arm generates an accelerating force on the effector carrier in the direction of the z-axis. An x-axis perpendicular to the z-axis and a y-axis perpendicular to the z-axis span an xy-plane that is parallel to or coincides with the effector carrier plane. Preferably, the first actuating arm generates an accelerating force on the effector carrier in the direction of the x-axis, and the second actuating arm generates an accelerating force on the effector carrier in the direction of the y-axis. The x-axis can be aligned perpendicular to the y-axis, but this is not necessarily the case. Unlike in known industrial robots, the three actuating arms are each assigned an angular range of 120° to move and stabilize the effector carrier.Rather, the first actuating arm and the second actuating arm can be connected to the effector carrier in such a way that the x-axis, y-axis, and z-axis, along which the effector carrier experiences an accelerating force from the actuating arms, are perpendicular to each other. This creates an essentially rectangular or cuboid-shaped working area of ​​the industrial robot.

[0015] To prevent rotation of the effector carrier, the effector carrier must be secured not only against rotation around the z-axis, but also against rotation around the x-axis perpendicular to the z-axis, and against rotation around the y-axis perpendicular to the z-axis. The x-axis and the y-axis must be different but not necessarily perpendicular to each other. The following options are available to secure the effector carrier against rotation around the x-axis and the y-axis: 1. The first actuating arm secures the effector carrier against rotation around the x-axis, and the second actuating arm secures the effector carrier against rotation around the y-axis. 2. The first actuating arm secures the effector carrier against rotation around the x-axis, and the third actuating arm secures the effector carrier against rotation around both the z-axis and the y-axis. 3. The third actuating arm secures the effector carrier against rotation around the x-axis, the y-axis, and the z-axis.

[0016] In order to secure the effector carrier against rotation about the x-axis, the effector carrier can be held by two forearm joints arranged offset on the effector carrier, wherein the centers of the two forearm joints lie on a straight line that is preferably perpendicular to the x-axis. These two forearm joints can be two first forearm joints. In this case, the first actuating arm secures the effector carrier against rotation about the x-axis. Alternatively, the third actuating arm can be equipped with two third forearm joints whose centers lie on a straight line perpendicular to the x-axis. The same applies to securing the effector carrier against rotation about the y-axis. For this purpose, the second actuating arm can be equipped with two second forearm joints whose centers lie on a straight line that is preferably perpendicular to the y-axis.Alternatively, the third actuating arm can be equipped with two third forearm joints whose centers lie on a straight line preferably perpendicular to the y-axis.

[0017] The actuating arms stabilize the effector carrier in such a way that it cannot rotate about the z-axis and that it cannot tilt about the x-axis and the y-axis. It always remains aligned parallel to a predetermined plane. This plane can, in particular, be a horizontal plane. The third actuating arm is connected to the effector carrier via at least one third forearm joint. If only a third forearm joint is provided, this has exactly two axes about which it can rotate. These two axes are referred to as forearm joint axes. Since the third forearm joint has exactly two forearm joint axes and thus exactly two degrees of freedom, it enables the elongated arm section of the third actuating arm to follow a movement of the effector carrier in the x-direction and y-direction, which is triggered by the first actuating arm and the second actuating arm.Since the third forearm joint has no further degrees of freedom and the third forearm joint, with the exception of its two forearm joint axes, is rotationally fixedly connected to the elongated arm section of the third actuating arm and to the effector carrier, rotation of the effector carrier about the z-axis orthogonal to the x-axis and the y-axis is prevented by the third actuating arm. The effector carrier is secured by the third actuating arm against rotation about a z-axis perpendicular to the effector carrier plane. It thus ensures torsional rigidity of the effector carrier with respect to the z-axis. If the third actuating arm is equipped with two rods, each of which is connected to the effector carrier via a third forearm joint, the two third forearm joints also preferably have exactly two geometric forearm joint axes around which they are movable.Due to this property, rotation of the effector carrier is already prevented by the third forearm joints.

[0018] The planar movement or kinematics of the effector carrier is not overdetermined due to the special design of the third actuating arm.

[0019] The shape of the workspace has the advantage that several similar industrial robots can be arranged next to each other in close proximity without interfering with each other and without requiring a corresponding control system to prevent collisions between the actuating arms of neighboring industrial robots. This makes it possible to arrange several industrial robots according to the invention on a transport route within a short distance.

[0020] According to an advantageous embodiment of the invention, the effector carrier is secured against rotation about the z-axis exclusively by the third actuating arm. In this case, the first actuating arm and the second actuating arm do not contribute to securing the effector carrier against rotation with respect to the z-axis.

[0021] According to a further advantageous embodiment of the invention, the end of the elongated arm section of the third actuating arm facing the robot base is equipped with a joint that is movable about exactly two geometric axes. This increases the torsional rigidity of the third actuating arm with respect to the z-axis. The joint is preferably designed as a universal joint. If the third arm drive is arranged stationary and immovably on the robot base and the elongated arm section is movably coupled to a drive axis of the third arm drive, the joint is designed as a third elbow joint that connects the elongated arm section to the drive axis of the third arm drive directly or via an additional third upper arm. If the third arm drive is designed as a linear drive, it can be movably mounted on the robot base via the joint.

[0022] In this case, the drive axis of the linear actuator is directly connected to the elongated arm section of the third actuating arm.

[0023] According to a further advantageous embodiment of the invention, one of the two forearm joint axes about which the third forearm joint is movable is perpendicular to a longitudinal axis of the elongated arm section of the third actuating arm. The other forearm joint axis is parallel to the effector support plane or runs in it.

[0024] According to a further advantageous embodiment of the invention, the second actuating arm is connected to the effector carrier via precisely one second forearm joint. The third actuating arm is connected to the effector carrier via two third forearm joints, which are arranged spatially offset on the effector carrier. In this case, the second actuating arm provides an accelerating force on the effector carrier in the direction of the y-axis. The third actuating arm prevents both rotation of the effector carrier about the z-axis and rotation of the effector carrier about the y-axis.

[0025] According to a further advantageous embodiment of the invention, a first straight line connecting the centers of the two first forearm joints intersects perpendicularly a straight line connecting the centers of the two third forearm joints. This straight line can be referred to as the third straight line because it connects the two third forearm joints. In this case, the first forearm joints and the third forearm joints are arranged crosswise on the effector carrier.

[0026] According to a further advantageous embodiment of the invention, the first actuating arm is connected to the effector carrier via two first forearm joints, and the second actuating arm is connected to the effector carrier via two second forearm joints. The first forearm joints and the second forearm joints are arranged spatially offset on the effector carrier. The third actuating arm is connected to the effector carrier via exactly one third forearm joint, which is movable about exactly two forearm joint axes. In this case, the effector carrier is secured against rotation about the x-axis by the first actuating arm, against rotation about the y-axis by the second actuating arm, and against rotation about the z-axis by the third actuating arm.

[0027] According to a further advantageous embodiment of the invention, a first straight line connecting the centers of the two first forearm joints intersects a second straight line connecting the centers of the two second forearm joints perpendicularly. The two first forearm joints and the two second forearm joints are thus arranged crosswise on the effector carrier. The intersection point can be at the edge of the effector carrier or in the middle of the effector carrier, for example, above the tool center point (TCP). If the intersection point is at the edge of the effector carrier, the rods or struts of the first forearm and the rods or struts of the second forearm cannot interfere with each other when the effector carrier moves.

[0028] According to a further advantageous embodiment of the invention, a third straight line, which is perpendicular to the effector support plane and runs through a center of the third forearm joint, intersects the second straight line connecting the centers of the two second forearm joints. The intersection point is advantageously located in the center of the effector support, for example, above the TCP.

[0029] According to a further advantageous embodiment of the invention, the first line, the second line, and the third line intersect at a point. This point is preferably located in the TCP or above the TCP.

[0030] According to a further advantageous embodiment of the invention, the first arm drive and the second arm drive are rotational drives. A first drive axis of the first arm drive and a second drive axis of the second arm drive can run essentially perpendicular to one another. This arrangement is suitable, for example, if the first forearm joints of the first actuating arm and the second forearm joints of the second actuating arm are arranged crosswise on the effector carrier or if the first actuating arm has two first forearm joints and the second actuating arm has a second forearm joint. The first drive axis is the axis driven by the first arm drive, to which the first upper arm is connected in a rotationally fixed manner and via which the torque of the first arm drive is transmitted to the first upper arm. The drive axis can also be designed as a drive flange.The same applies to the second drive axis with respect to the second upper arm. The first drive axis and the second drive axis each rotate about a geometric axis. If the first drive axis is perpendicular to the second drive axis, the two corresponding geometric axes are perpendicular to each other.

[0031] According to a further advantageous embodiment of the invention, the third arm drive is a rotary drive. An upper arm of the third actuating arm is coupled to the rotary drive. This upper arm is referred to below as the third upper arm, as it is the upper arm of the third actuating arm. The third upper arm is movably connected to the elongated arm section of the third actuating arm via a third elbow joint. The torque of the rotary drive is transferred via the upper arm into a translational movement of the elongated arm section. The length of the upper arm can be in a special relationship to the length of the elongated arm section. With a long upper arm, a small angle of rotation of the third arm drive is sufficient to trigger a large z-stroke of the effector carrier. The z-stroke refers to a movement of the effector carrier in the direction of the z-axis.With a shorter upper arm, a larger angle of rotation of the third arm drive is necessary for the same z-stroke. The third elbow joint moves in a circular path when the third upper arm rotates. The longer the third upper arm, the larger the radius of this circular path. The length of the third upper arm and the length of the elongated arm section of the third actuating arm are advantageously selected such that the third upper arm and the elongated arm section are aligned essentially perpendicular to one another when the effector carrier is in the middle of a working range defined by the range of motion of the first actuating arm, the second actuating arm, and the third actuating arm. This position of the effector carrier can be referred to as the starting position. Starting from this starting position, the third upper arm can be rotated by approximately 45° in one direction or the other by the third arm drive.Rotation within this angular range is unproblematic for the third elbow joint. Universal joints, in particular, can cover such an angular range.

[0032] According to a further advantageous embodiment of the invention, the third elbow joint has exactly two axes and thus two degrees of freedom. This increases the torsional rigidity of the third actuating arm with respect to the z-axis.

[0033] According to a further advantageous embodiment of the invention, the first drive axis and the second drive axis define a drive plane. A third drive axis of the third arm drive runs in this drive plane.

[0034] According to a further advantageous embodiment of the invention, the third drive axis runs perpendicular to the first drive axis or perpendicular to the second drive axis.

[0035] According to a further advantageous embodiment of the invention, the first arm drive and the second arm drive are designed as linear drives.

[0036] According to a further advantageous embodiment of the invention, the third arm drive is a linear drive whose drive shaft is connected to the elongated arm section of the third actuating arm via a joint movable about multiple axes. A drive axis of the linear drive moves linearly along a geometric movement axis. This linear movement of the drive axis is transmitted to the elongated arm section of the third actuating arm and from there to the effector carrier. The linear drive can be arranged stationary on the robot base. In this case, the drive axis is connected to the third elbow joint of the third actuating arm. The drive axis and third elbow joint move relative to the robot base. The linear drive does not move relative to the robot base. Alternatively, the linear drive can be movably mounted on the robot base via a third joint, which is preferably designed as a cardan joint.In this case, the linear actuator moves relative to the robot base. The drive axis of the linear actuator is directly connected to the elongated arm section of the third actuating arm.

[0037] According to a further advantageous embodiment of the invention, the drive axis of the linear drive is secured against rotation about an axis that runs along the adjustment path of the linear drive. This increases the torsional rigidity of the third actuating arm with respect to the z-axis.

[0038] According to a further advantageous embodiment of the invention, the third forearm joint is arranged above the effector carrier plane.

[0039] According to a further advantageous embodiment of the invention, a center of the third forearm joint is located in the effector carrier plane.

[0040] According to a further advantageous embodiment of the invention, the first forearm joints and the second forearm joints are arranged laterally on the effector carrier. The third forearm joint is arranged on the side of the effector carrier facing the robot base.

[0041] According to a further advantageous embodiment of the invention, the third forearm joint is a universal joint. This is characterized by having exactly two axes, which are preferably perpendicular to each other. The center of the universal joint corresponds to the intersection point of the two axes. Universal joints are also called cardan joints.

[0042] According to a further advantageous embodiment of the invention, the elongated arm section of the third actuating arm is equipped with a universal joint at its end facing away from the effector carrier. This universal joint forms the third elbow joint of the third actuating arm.

[0043] According to a further advantageous embodiment of the invention, the elongated arm portion of the third actuating arm is designed as an elongated hollow body.

[0044] According to a further advantageous embodiment of the invention, supply lines of an effector arranged on the effector carrier are accommodated in the elongated arm section. The joints arranged on the elongated arm section with multiple degrees of freedom can also have a hollow space, thus forming a continuous channel for the supply lines all the way to the effector carrier.

[0045] According to a further advantageous embodiment of the invention, the industrial robot has an effector drive axis that moves an effector arranged on the effector carrier. This axis is also referred to as the fourth axis. The effector drive axis comprises an effector drive arranged on the third actuating arm. It can be arranged, for example, on the elongated arm section or on a third upper arm of the third actuating arm.

[0046] According to a further advantageous embodiment of the invention, the effector drive axis runs at least partially in the elongated arm section of the third actuating arm.

[0047] According to a further advantageous embodiment of the invention, the arm drive of the third actuating arm is arranged on the outside of the robot base. Furthermore, the at least one elbow joint of the third robot arm points towards the center of the industrial robot and / or the center of the workspace. This allows the elongated arm section of the third actuating arm to only be tilted to a limited extent in relation to the x / y plane, and thus to transfer maximum torsional rigidity about the z-axis and, if necessary, also about the y-axis to the effector carrier. Furthermore, this arrangement allows sufficient space in the center of the robot base for coaxial gear motors, which in turn makes it possible to arrange the drive axes perpendicular to one another.In comparison, with known delta robots there is the need to either equip the arm drives with expensive angular gears or at least arrange one of the drives at a different height on the robot base.

[0048] Further advantages and advantageous embodiments of the invention can be found in the following description, the drawings and the claims. drawing

[0049] The drawings illustrate exemplary embodiments of the subject matter of the invention. They show: Figure 1first embodiment of an industrial robot in perspective view, Figure 2industrial robot according to Figure 1 in a further perspective view, Figure 3Effector carrier of the industrial robot according to Figure 1 in perspective view, Figure 4Industrial robot according to Figure 1 in a side view, Figure 5Industrial robot according to Figure 1in another side view, Figure 6Industrial robot according to Figure 1 in a further side view, Figure 7 second embodiment of an industrial robot in perspective view, Figure 8 industrial robot according to Figure 7 in another perspective view, Figure 9Industrial robot according to Figure 7 in a side view, Figure 10 third embodiment of an industrial robot in perspective view, Figure 11 industrial robot according to Figure 10 in a side view, Figure 12Effector carrier of the industrial robot according to Figure 10 in perspective view, Figure 13 fourth embodiment of an industrial robot in perspective view, Figure 14 fifth embodiment of an industrial robot in perspective view, Figure 15 industrial robot according to Figure 14 in a side view, Figure 16sixth embodiment of an industrial robot in perspective view, Figure 17Industrial robot according to Figure 16in another perspective view, Figure 18Industrial robot according to Figure 16 in a side view, Figure 19Side view of an arrangement of several industrial robots according to Figure 7 in a row. Description of the embodiments

[0050] In the Figures 1 to 6 A first embodiment of an industrial robot 1 with parallel kinematics is shown. The industrial robot 1 has 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 comprises 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.

[0051] The first forearm 9 has 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 forearm joint 14, 15. The first elbow joints 12, 13 and the first forearm joints 14, 15 are designed as spherical joints. They have several degrees of freedom. When the first arm drive 7 transmits a rotational movement to the first upper arm 8, this rotational movement is transmitted to the effector carrier 3 via the two rods 10, 11 of the first forearm 9.

[0052] The second actuating arm 5 is constructed identically to the first actuating arm 4. It has 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.

[0053] The first arm drive 7 and the second arm drive 17 are rotational drives. A first drive axis of the first arm drive 7 is driven to rotate about a first geometric axis 16. A second drive axis of the second arm drive 17 is driven to rotate about a second geometric axis 26. 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 ensure a translational 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, and 6, the effector carrier 3 does not change its orientation relative to the xy plane. It always remains parallel to it.

[0054] The third actuating arm 6 differs in its 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 rotational drive. A third upper arm 28 is rotationally fixedly coupled to a drive axis of the third arm drive 27, 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, which forms a forearm of the third actuating arm 6. The elongated arm section 29 is connected to the effector carrier 3 via a third forearm joint 34. The third elbow joint 32 and the third forearm joint 34 are designed as a universal 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 relative to the effector carrier in two dimensions, namely in the x- and y-directions. This allows the effector carrier 3 and the elongated arm section 29 coupled to the effector carrier 3 to follow a movement triggered 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 forearm joint 34, which is designed as a cardan joint. The z-axis is perpendicular to the xy-plane and thus runs perpendicular to the effector carrier 3.

[0055] The third arm drive 27 is also a rotary drive. A drive axis of the third arm drive 27, hereinafter referred to as the third drive axis, is driven to rotate 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 extend in a common plane. The first geometric axis 16 and the third geometric axis 36 are parallel to one another. The second geometric axis 26 extends perpendicular to the first geometric axis 16 and the third geometric axis 36.

[0056] 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 forearm joint 34. It results in a translational movement of the effector carrier 3 in the direction of the z-axis.

[0057] Figure 3shows the effector carrier with the first forearm joints 14, 15, the second forearm joints 24, 25, and the third forearm joint 34. The two first forearm joints 14, 15 of the first actuating arm 4 are connected to the effector carrier 3 in the lateral edge area. They are located at two corners of the rectangular effector carrier 3. A first straight line 37 runs through the center of the first forearm joint 14 and through the center of the first forearm 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 forearm joints 24, 25 of the second actuating arm 5 are also connected to the effector carrier 3 at the lateral edge. In contrast to the first forearm joints 14, 15, the second forearm joints 24, 25 are not located at two corners of the effector carrier 3, but at the center of the sides.A second straight line 38 runs through the center of the second forearm joint 24 and through the center of the second forearm joint 25. The second straight line 38 is parallel to one side of the rectangular effector support 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 point of the two straight lines 37, 38 lies in the second forearm joint 24. The first and second straight lines 37, 38 span a plane that is parallel to the xy-plane and to the effector support 3. It is referred to as the effector support plane. The third forearm joint 34 is a cardan joint with two intersecting axes, which are referred to as forearm joint axes. They are shown in . Figure 3recognizable. A first of these two forearm joint axes is rotatable about a geometric axis 33, which is perpendicular to a longitudinal axis of the elongated arm section 29 of the third actuating arm. A second of these two forearm joint axes is rotatable about a geometric axis 35, which is parallel to the effector carrier plane. The center of the third forearm joint corresponds to the intersection point of the two geometric axes 33 and 35. A third straight line 39, which is perpendicular to the effector carrier plane and runs through the center of the third forearm 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 in the center of the effector carrier 3. This center lies above the TCP. The first straight line 37 does not pass through this center because the first forearm joints 14, 15 are not arranged in the middle 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.

[0058] 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.

[0059] In the Figures 7 to 9 A second embodiment of an industrial robot 40 is shown. The industrial robot 40 essentially corresponds to the industrial robot 1 of the first embodiment according to Figures 1 to 6agree, which is why the same reference numbers are used for corresponding parts. The industrial robot 40 additionally has two effector drive axes for an effector arranged on the effector carrier 3, 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 axis comprises a second effector drive 42 which is 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 runs freely from the robot base 2 to the effector carrier 3. It is designed as a telescopic shaft so that it can follow the movement of the effector carrier 3.

[0060] In the Figures 10 to 12 A third embodiment of an industrial robot 50 is shown. It is essentially similar to the industrial robot 40 according to Figures 7 to 9 and also has a first and a second effector drive 41, 42. Corresponding parts therefore have the same reference numerals. The third actuating arm 6 corresponds to the third actuating arm of the industrial robot 1 according to Figures 1 to 6 The difference from the industrial robot 1 and the industrial robot 40 is that the first forearm 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 forearm joints 74, 75 of the second actuating arm 55. Figure 12shows the effector carrier 53 of the industrial robot 50 with the first forearm joints 64, 65, the second forearm joints 74, 75 and the third forearm joint 34. For better clarity, Figure 12the shaft 43 of the second effector drive 42 is not shown. The forearm joints 64, 65, 74, 75 are arranged crosswise on the effector carrier 53. This results in a first straight line 77, which runs through the centers of the two first forearm joints 64, 65, and a second straight line 78, which runs through the centers of the two second forearm joints 74, 75, intersecting in the middle of the effector carrier 53. The intersection point is located directly in or at the third forearm joint 34. The first straight line 77 and the second straight line 78 span a plane, which is 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. The third forearm joint 34 has, in accordance with Figure 3two intersecting forearm joint axes that are rotatable about two geometric axes 33, 35. The center of the third forearm joint 34 corresponds to the intersection point of the geometric axes 33 and 35. A third straight line 79 is perpendicular to the effector support plane of the first straight line 77 and the second straight line 78 and runs through the center of the third forearm 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 one point. This point is located above the TCP. In order 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 are arranged on the first upper arm 58.

[0061] Figure 13shows a fourth embodiment of an industrial robot 80, which essentially corresponds to the industrial robot 1 according to Figures 1 to 5 corresponds. The same reference numbers were used for identical 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 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.

[0062] In the Figures 14 and 15A fifth embodiment of an industrial robot 90 is shown. The first actuating arm 4 and the second actuating arm 5 of the industrial robot 90 as well as the arrangement of the first forearm joints, the second forearm joints and the third forearm joint 34 are identical to the industrial robot 1 according to Figures 1 to 6 agree. In Figure 14only the first forearm joint and the second forearm joint 25 are visible. The same reference numbers were used for the corresponding parts. The industrial robot 90 differs from the industrial robot 1 with regard to the third actuating arm 96. The third arm drive 97 of the third actuating arm 96 is a linear drive. The third arm drive 97 is arranged on the robot base 92. A drive axis of the linear drive is moved along the geometric movement axis 106. The linear movement 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 leads to a 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 industrial robots 1, 40, 50, and 80, the third actuating arm 96 is connected to the effector carrier 93 via a third forearm 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 forearm joint 34, and the attachment of the third forearm joint 34 to the effector carrier 93. Rotation of the effector carrier 93 about the z-axis is thus impossible. The geometric movement axis 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.The first arm drive 7 and the second arm drive 17 are designed as rotary drives in accordance with the industrial robots 1, 40, 50, and 80. Like the industrial robot 80 in . Figure 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 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.

[0063] In the Figures 16 to 18A sixth embodiment of an industrial robot 130 is shown, comprising 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 comprises 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 has 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. Furthermore, each of the two rods 140, 141 is connected to the effector support 133 via a first forearm joint 144, 145 at its end facing the effector support 133. The first elbow joints 142, 143 and the first forearm joints 144, 145 are designed as spherical joints. They have multiple degrees of freedom.

[0064] The second actuating arm 135 has a second arm drive 147, a second upper arm 148, and a second lower arm 149 with a single 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.

[0065] The third actuating arm 136 has 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 forearm joint 164, 165. The two third elbow joints 162, 163 and the two forearm joints 164, 165 are designed as universal joints. Each of these joints has two geometric joint axes around which it is movable.

[0066] The number of all forearm 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.

[0067] A first straight line 167 passing through the centers of the two first forearm joints 144, 145 intersects perpendicularly a third straight line 169 passing through the centers of the two third forearm joints 164, 165.

[0068] The advantage of the industrial robot according to the sixth embodiment compared to 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 with each other less during a movement of the effector carrier, since they do not come as close to each other as in the other embodiments.

[0069] Figure 19shows four industrial robots 40 according to the second exemplary embodiment in a side-by-side arrangement. The distance between any two adjacent industrial robots 40 is the same. In the area of ​​the effector carriers, the rectangular work areas 120 of the industrial robots 40 are represented by dashed rectangles. The first and second industrial robots from the left are adjusted with their effector carriers so that both effector carriers are located in close proximity at the edge of their assigned work area. 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 one another or one behind the other without the work areas of the actuating arms overlapping. A collision can thus be ruled out without the need for a special controller. Reference numbers

[0070] 1 Industrial robot 2 Robot base 3 Effector carrier 4 First actuating arm 5 Second actuating arm 6 Third actuating arm 7 First arm drive 8 First upper arm 9 First forearm 10 Rod 11 Rod 12 First elbow joint 13 First elbow joint 14 First forearm joint 15 First forearm joint 16 First geometric axis 17 Second arm drive 18 Second upper arm 19 Second forearm 20 Rod 21 Rod 22 Second elbow joint 23 Second elbow joint 24 Second forearm joint 25 Second forearm joint 26 Second geometric axis 27 Third arm drive 28 Third upper arm 29 Elongated arm section 32 Third elbow joint 33 Geometric axis of the first Forearm joint axis 34 Third forearm joint 35 Geometric axis of the second forearm joint axis 36 Third geometric axis 37 First straight line 38 Second straight line 39 Third straight line 40 Industrial robot 41 First effector drive 42 Second effector drive 43 Shaft 50 Industrial robot 53 Effector carrier 54 First actuating arm 55 Second actuating arm 58 FirstUpper arm 59 First forearm 60 Rod 61 Rod 64 First forearm joint 65 First forearm joint 68 Second upper arm 69 Second forearm 70 Rod 71 Rod 74 Second forearm joint 75 Second forearm joint 77 First straight line 78 Second straight line 79 Third straight line 80 Industrial robot 81 Effector drive 82 Effector drive 83 Shaft 84 Shaft 90 Industrial robot 92 Robot base 93 Effector carrier 96 Third actuating arm 97 Third arm drive 99 Elongated arm section 102 Third elbow joint 106 Geometric motion axis 111 Effector drive 112 Effector drive 113 Shaft 114 Shaft 120 Workspace 130 Industrial robot 132 Robot base 133Effector carrier 134First actuating arm 135Second actuating arm 136Third actuating arm 137First arm drive 138First upper arm 139First forearm 140Rod 141Rod 142First elbow joint 143First elbow joint 144First forearm joint 145First forearm joint 147Second arm drive 148Second upper arm 149Second forearm 150Rod 152Second elbow joint 154SecondForearm joint 157 Third arm drive 158 Third upper arm 159 Elongated arm section 160 Rod 161 Rod 162 Third elbow joint 163 Third elbow joint 164 Third forearm joint 165 Third forearm joint 167 First straight line 169 Third straight line

Claims

1. 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), characterized in that the third actuating arm (6, 96, 136) differs in structure from the first actuating arm and from the second actuating arm (5, 55, 135), and that 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.

2. Industrial robot according to claim 1, characterized in that 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. Industrial robot according to claim 1 or 2, characterized in that the at least one third lower arm joint (34, 164, 165) is movable about exactly two lower arm joint axes.

4. Industrial robot according to claim 1, 2 or 3, characterized in that 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 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. Industrial robot according to any one of the preceding claims, characterized in that 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 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, that 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 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. Industrial robot according to claim 5, characterized in that the first actuating arm (4, 54, 134) secures the effector carrier (3, 53, 93, 133) against rotation about the x-axis.

7. Industrial robot according to claim 5 or 6, characterized in that the third actuating arm (136) secures the effector carrier (133) against rotation about the z-axis and about the y-axis.

8. Industrial robot according to claim 5, characterized in that 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. Industrial robot according to claim 5 or 6, characterized in that the second actuating arm (5, 55) secures the effector carrier (3, 53, 93) against rotation about the y-axis.

10. Industrial robot according to any one of claims 1 to 9, characterized in that the second actuating arm (135) is connected to the effector carrier (133) via exactly one second lower arm joint (154), and that 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.

11. Industrial robot according to any one of the preceding claims, characterized in that 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.

12. Industrial robot according to any one of claims 1 to 9, characterized in that 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 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.

13. Industrial robot according to claim 12, characterized in that 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).

14. Industrial robot according to claim 13, characterized in that 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).

15. Industrial robot according to claim 14, characterized in that 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.

16. Industrial robot according to any one of the preceding claims, characterized in that the first arm drive (7, 137) and the second arm drive (17, 147) are rotary drives, that 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.

17. Industrial robot according to any one of the preceding claims, characterized in that the third arm drive (27, 157) is a rotary drive, in that 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.

18. Industrial robot according to claims 16 or 17, characterized in that the first drive axis and the second drive axis span a drive plane, and in that a third drive axis of the third actuating arm extends in the drive plane.

19. Industrial robot according to claim 18, characterized in that the third drive axis is perpendicular to the first drive axis or perpendicular to the second drive axis.

20. Industrial robot according to any one of claims 1 to 16, characterized in that 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.

21. Industrial robot according to any one of claims 1 to 16, characterized in that 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 in that the elongated arm portion of the third actuating arm is coupled to a linearly movable drive axis of the linear drive.

22. Industrial robot according to claim 20 or 21, characterized in that 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.

23. Industrial robot according to any one of the preceding claims, characterized in that the at least one third lower arm joint (34, 164, 165) is arranged above the effector carrier plane.

24. Industrial robot according to any one of claims 1 to 22, characterized in that a center of the at least one third lower arm joint (34, 164, 165) is located in the effector carrier plane.

25. Industrial robot according to any one of the preceding claims, characterized in that 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 that 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).

26. Industrial robot according to any one of the preceding claims, characterized in that the at least one third lower arm joint (34, 164, 165) is a cardan joint.

27. Industrial robot according to any one of the preceding claims, characterized in that 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).

28. Industrial robot according to any one of the preceding claims, characterized in that the elongated arm section (29, 99, 159) of the third actuating arm (6, 96, 136) is designed as an elongated hollow body.

29. Industrial robot according to claim 28, characterized in that supply lines of an effector arranged on the effector carrier (3, 53, 93, 133) are accommodated in the elongated arm section (29, 99, 159).

30. Industrial robot according to any one of the preceding claims, characterized in that it has an effector drive axis which moves an effector arranged on the effector carrier (3, 53, 93), in that the effector drive axis comprises an effector drive (41, 81, 82, 111, 112) which is arranged on the third actuating arm (6, 96).

31. Industrial robot according to claim 28 or claim 30, characterized in that the effector drive axis extends at least in sections in the elongated arm section (29) of the third actuating arm (6).