DE102018118256B4 - 3a Robot with eccentric torque supply - Google Patents

Abstract

Industrial robots with parallel kinematics with a) a robot base (4), b) a carrier element (5) which can accommodate an end effector (6), c) at least two movable robot arms (1, 2, 3), d) each robot arm ( 1, 2, 3) has an upper arm (11, 12, 13) movably attached to the robot base (4) and a forearm (21, 22, 23) movably arranged on the upper arm (11, 12, 13), e) each Forearm (21, 22, 23) has two parallel forearm rods (21a, 21b, 22a, 22b, 23a, 23b) and each forearm rod (21a, 21b, 22a, 22b, 23a, 23b) via a drive-side forearm joint ( 21a1, 22a1,, 23a1) is movably connected to the upper arm (11, 12, 13) and is movably connected to the carrier element (5) via a forearm joint (21a2, 22a2, 23a2) on the carrier side, f) the centers of the forearm joints on the carrier side ( 21a2, 22a2,, 23a2) of all forearm rods (21a, 21b, 22a, 22b, 23a, 23b) lie in a common carrier element plane (5 ') which is perpendicular to a z-axis of a Ro robot coordinate system and parallel to an xy plane spanned by an x-axis and a y-axis of the robot coordinate system, g) a fastening device (19) for coupling an end effector (6) being present on the carrier element (5) , h) a coupling (27) for coupling a transmission element being present on the carrier element (5), characterized in that i) laterally offset next to the fastening device (19) for coupling the transmission element at least one connection (32) with a supply line fastened to it (29) is available for one type of energy, k) in the plan view of the carrier element level (5 '), the fastening device (19) for the end effector (6) is arranged apart, i.e. not in alignment, with the coupling (27) for the transmission element is.

Description

field of use

The invention relates to an industrial robot with parallel kinematics or serial kinematics, preferably in the form of a so-called delta robot, in which three independently movable robot arms are each attached with their one end pivotable about an upper arm axis on a - mostly stationary - robot base and their attack three other ends articulated on a carrier element.

The robot arms each consist of the upper arm, which is pivotably attached to the robot base in a controlled manner, and a lower arm, each having two forearm rods running parallel to one another, the three drive units for pivoting the upper arms being attached to the robot base. The three pairs of forearm bars create a spatial parallelogram guidance for the carrier element, the carrier element plane of which is therefore always parallel to the base plane, regardless of its position in space.

In particular, for this purpose the upper arm axes are uniaxial joints and the joints arranged on the forearm rods are multi-axis joints, in particular cardan joints

The end effector required for the respective work task, usually a tool such as a gripper, is fastened to the carrier element by means of a fastening device which can be moved and positioned in a controlled manner by means of the robot.

II. Technical background

Such delta robots are often used in industry, for example in packaging technology, in order to grasp a product with a gripper or suction device as an end effector on the carrier element and to transfer it to another position, for example to deposit it in a container.

Since in a robot with parallel kinematics the carrier element plane is always parallel to the base plane regardless of the position of the carrier element in space, an additional pivot axis between the end effector and the carrier element may be necessary and / or a rotation or even rotation may be necessary of the end effector around the z-axis or another axis may be necessary.

Depending on where the driving motor is located for this, there is either a transmission element for torque between the robot base and the carrier element, for example in the form of a drive shaft, which then usually has universal joints at the ends and must be telescopic, and / or a supply line for a Form of energy required on the carrier element, for example a vacuum supply, in order to apply suction air to a suction device used as a tool.

Since the end effector requiring the torque is usually positioned in the center, in the so-called carrier center, of the carrier element, the fastening device for the transmission element is usually also arranged there.

This has the consequence that the supply line for the at least one additional energy required on the carrier element must have a connection away from the carrier center on the carrier element, and since this is a flexible line, usually a hose or an electrical cable, this is depending according to the position of the carrier element in space, it is not straight, but has distortions that are formed by chance, whereby this flexible line undesirably comes into contact with one of the robot arms or the drive shaft and can get caught in them.

From the pamphlets DE 10 2014 223 410 B4 , DE 102013 014 399 A1 , DE 102008 001 314 A1 , EP 2 774 730 A1 , EP 1 930 133 B1 and JP 2013-039 650 A Generic delta robots are known.

III. Presentation of the invention

Technical task

It is therefore the object of the invention to provide an industrial robot, or robot for short, in particular with parallel kinematics, which minimizes the described disadvantage with regard to the supply line for energy.

Solution of the task

This object is achieved by the features of claim 1. Advantageous embodiments emerge from the subclaims.

The definitions and descriptions of pivot axes, joints and components as well as their positioning required for the following explanations are explained using the description of the figures.

With regard to the industrial robot, i.e. the robot, this object is achieved in that the coupling for the coupling of the transmission element on the one hand and the fastening device for the end effector in the plan view of the carrier element level are not aligned with one another, i.e. are offset from one another. As a result, the arrangement of these two elements can be determined more flexibly within the carrier element.

The connection is preferably arranged closer to the carrier center than the fastening device, in particular the connection is arranged in the carrier center.

As a result, the feed hose or cable leading from the connection upwards to the robot base runs in the middle of the robot and thus optimally far away from the robot arms.

Alternatively, the fastening device can be arranged closer to the carrier center than the connection, or even directly in the carrier center, in which case the transmission element leading away from it, such as the drive shaft, is preferably used to guide the supply line, in particular by placing it around the Transmission element is wound around.

Even if the supply lines are not tied around the transmission element, it is advantageous that the supply line has a helical shape in the relaxed state, which assumes a smaller diameter when elongated in the longitudinal direction, but remains helical and also does not have any bulges when shortened in the axial direction the contour of the helix is generated.

Another possibility - regardless of whether the connection or the coupling or neither is arranged in the carrier center - consists in guiding the supply line in a length-adjustable, in particular telescopic, guide element such as a guide hose or guide, at least in the direction of extension -Cage that runs in the area between the robot base and the carrier element.

By attaching such an element at a distance from the robot arms, the supply line running therein is protected against a collision with a robot arm.

Such a guide hose can consist of a hose stretched between the robot base and the carrier element made of, for example, textile material, preferably a grid-like material, which retains its preferably round cross-section and remains tensioned even when the carrier element comes as close as possible to the robot base

Instead, it can also be a cage which is rigid at least in terms of the shape of the cross-section, which either is the bar in its direction of extension - even if the diameter decreases in the process - or which consists of two parts which can be telescoped into one another.

The robot can be one with parallel kinematics or linear kinematics, so that the upper arms can either be displaced more linearly on the robot base with their end facing away from the carrier or can be pivoted about an upper arm axis on the robot base.

The robot preferably has 3 robot arms and / or the drives for the individual robot arms are each arranged on the robot base and / or the robot has 3 robot arms.

• So kann zwischen je 2 Träger seitigen Unterarm-Gelenken verlaufenden Gelenk stecken zu geraden verlängert ein Träger-Dreieck ergeben, bei dem einer der Zwischenwinkel im Träger-Dreieck kleiner ist als 25°, insbesondere < 20°, insbesondere < 18°, insbesondere gleich oder kleiner 16°. Dadurch wird ein länglicher Arbeitsbereich des Roboters erreicht. Die beiden anderen Zwischenwinkel sind vorzugsweise gleich groß.

While in a D-robot, in which the arms are evenly distributed around the center when viewed from above, the carrier element has an approximately triangular shape, the carrier element can also have an elongated, in particular rectangular, shape, be it around the connection and To be able to accommodate the coupling better next to each other, especially if more than one hose connection is required for a supply line, or because the specific design of the robot suggests this:

• For example, between two forearm joints on each side of the carrier, a joint extending to a straight line can result in a carrier triangle in which one of the intermediate angles in the carrier triangle is less than 25 °, in particular <20 °, in particular <18 °, in particular equal to or less than 16 °. This creates an elongated working area for the robot. The two other intermediate angles are preferably of the same size.

The bisector of the smallest of the intermediate angles is defined as the x-axis of the robot coordinate system to which the y-axis runs perpendicular, with the carrier element plane running parallel to this x-y plane, while the z-axis is perpendicular to it.

If it is a robot with a parallel kinematheque, at least 2, better all 3 of the upper arm axes, around which each upper arm can be pivoted with respect to the robot base, lie in a common base plane that runs parallel to the carrier element plane. Level represents the zero value of the z-axis.

Especially with such a robot, then only symmetrically to the xz plane, the distance between the forearm bars can be greater in one forearm than in the other two forearms, especially in the case of the robot arm, which is primarily in the plane of symmetry, the xz- Level runs.

This facilitates stable guidance of the carrier element of the robot despite the one very small intermediate angle between the upper arm axes.

It is precisely then that it makes sense for the carrier element to have a greater extent along the y-axis than along the x-axis.

One of the robot arms - in particular the robot arm, whose primary direction of extent, when viewed from above, runs roughly along the bisector of the smallest intermediate angle and / or the robot arm, which is shorter than the two other robot arms - can be arranged with its upper arm pivot axis significantly closer to the kinematic center than the upper arm axes of the other two robot arms.

In this robot arm, with respect to the kinematic center, the upper arm axis is located on the side of the kinematic center opposite the associated lower arm, or the upper arm axis of this robot arm intersects the kinematic center.

In other words, the kinematic center, designed as a straight line, runs through the base triangle or intersects one of the sides of this base triangle, which is formed by the three upper arm axes that are usually in one plane.

The robot base, which is usually designed as a plate, can have a cutout that is open towards its periphery and which runs at least partially above a robot arm - in particular the robot arm, whose primary direction of extent, when viewed from above, runs approximately along the bisector of the smallest intermediate angle and / or the robot arm, which is shorter than the two other robot arms - is arranged so that it does not collide with the robot base when its upper arm is swiveled up beyond the position parallel to the base plane, on the underside of which all three robot arms are preferably attached .

Embodiments

• 1a: einen gattungsgemäßen, rotationssymmetrische Delta-Roboters in einer neutralen Mittellage in der Seitenansicht,
• 1b: den Roboter gemäß 1 a in der Aufsicht von oben,
• 2a: das Träger-Element aus 1b in der Aufsicht auf die Träger-Ebene in einer vergrößerten Detaildarstellung,
• 2b: eine neue Bauform des Träger-Element aus 2a,
• 3a: eine anderes Träger-Element in der Aufsicht auf die Träger-Ebene,
• 3b: einen zu dem Trägerelement aus 3a passenden Delta-Roboter in der Aufsicht auf dessen Basis-Ebene,
• 3c, d: den Roboter gemäß 3b in perspektivischer Darstellung in hinsichtlich der Drehmoment- und Energie-Zufuhr unterschiedlichen Bauformen.

Embodiments according to the invention are described in more detail below by way of example. Show it:

• 1a : a generic, rotationally symmetrical delta robot in a neutral central position in the side view,
• 1b : the robot according to 1 a in the supervision from above,
• 2a : the carrier element 1b in the plan view of the carrier level in an enlarged detail view,
• 2 B : a new design of the carrier element 2a ,
• 3a : Another carrier element in the plan on the carrier level,
• 3b : one to the carrier element 3a matching delta robot in supervision on its base level,
• 3c, d : the robot according to 3b in a perspective view in different designs with regard to the torque and energy supply.

• Die drei unabhängig voneinander beweglichen, gesteuert antreibbaren, Roboterarme 1, 2, 3, sind jeweils mit ihrem einen Ende schwenkbar um eine Oberarmachse 11', 12', 13' an einer - meist ortsfest montierten - Roboter-Basis 4 befestigt sind und mit ihren drei andere Enden gelenkig an einem Trägerelement 5.

This is also the case with this industrial robot according to the invention 10 existing basic structure, in this case in the form of a so-called delta robot 10 due to the existing three robot arms 1 , 2 , 3 , with parallel kinematics is best shown using the 1a, b , 2a detect:

• The three robotic arms that move independently of one another and can be driven in a controlled manner 1 , 2 , 3 , are each pivotable at one end about an upper arm axis 11 ' , 12 ' , 13 ' on a - mostly stationary - robot base 4th are attached and with their three other ends articulated to a support element 5 .

The robotic arms 1 , 2 , 3 , each consist of the one on the robot base 4th controlled pivotable upper arm 11 , 12th , 13th and one, two forearm bars that run parallel to each other 21a , b , 22nd a, b, 23 a, b, exhibiting, forearm 21 , 22nd , 23 , the three drive units each in the form of a rotary drive 7th , 8th , 9 for swiveling the upper arms 11 , 12th , 13th at the robot base 4th are attached while the forearms 21 , 22nd , 23 are not actively driven by their own motor.

The three pairs of forearm bars 21a , b , 22nd a, b, 23 a, b, cause a spatial parallelogram guidance of the carrier element 5 , its support element level 5 ' regardless of its positioning in space, it is always parallel to the base plane 4 ' lies what is best the 3c, d show.

The upper arm axes are used for this 11 ' , 12 ' , 13 ' only uniaxial joints and those on the forearm bars 21a , b , 22nd a, b, 23 a, b, joints arranged on both sides, multi-axis joints, in particular cardan joints, as best in 3b to recognize.

These forearm joints are on that of the robot base 4th End facing as base-side forearm joints 21a1, 21b1, 22a1, etc. and on which the carrier element 5 The end facing it is referred to as the forearm joints 21a2, 21b2, 22a2 etc. on the wearer's side.

As best in 2a As can be seen, the forearm joints 21a2, 21b2, 22a2, etc. on the wearer's side are located, as are their joint lines 24 ' , 25 ' , 26 ' between each pair 21a2 and 21b2, 22a2 and 22b2, 23a2 and 23b2, of the wearer's forearm joints 21a2 , 21b2, 22a2 in a common plane, the carrier plane 5 ' . The ones in this carrier level 5 ' lying on the joint lines 24 ' , 25 ", 26 erected vertical verticals 14 ', 15', 16 'meet at a point that acts as the carrier center TZ referred to as.

The sum of all positions that this carrier center TZ due to the dimensioning and arrangement of the components of the robot 10 can achieve is called a mechanical work area 17th which is a three-dimensional work area and is the center point 19th of the work area becomes the center 19th the projection 18th of the work area 17th defined on the xy plane. Especially if this projection 18th has a geometrically undefined shape can be used as the center 19th the center of gravity of the area of this projection 18th to get voted.

• - Mindestens zwei, meist alle drei, der Oberarmachsen 11', 12' 13' und/oder mindestens vier, meist alle sechs, der trägerseitigen Gelenke an dem Trägerelement 5 liegen jeweils in einer gemeinsamen Ebene, der Basis-Ebene 4' einerseits und der Träger-Ebene 5' andererseits, welche parallel zueinander liegen und die Ausrichtung der x-y-Ebene festlegen, wobei die z-Richtung hierauf senkrecht steht.

On such a delta robot 10 a robot coordinate system is usually defined as follows:

• - At least two, usually all three, of the upper arm axes 11 ' , 12 ' 13 ' and / or at least four, mostly all six, of the joints on the carrier side on the carrier element 5 each lie in a common level, the base level 4 ' one hand and the carrier level 5 ' on the other hand, which are parallel to each other and define the orientation of the xy plane, the z direction being perpendicular to it.

As a kinematic center concentration camp denotes a straight line that runs parallel to the z-direction and is the intersection of three planes that go through the centers of the connecting lines 24 , 25th , 26th of the pairs of base-sided forearm joints and runs perpendicular to these.

This kinematic center is used as the concrete position of the z-axis concentration camp and the point of intersection of the kinematic center as the origin of the robot coordinate system concentration camp with the base level 4 ' .

On the carrier element 4th the end effector required for the respective work task, for example a tool in the form of the in 1 indicated sucker 27 attached as a gripper for gripping products P by suction, which for this purpose is usually from the carrier element 5 from striving downwards.

Such a delta robot is in 1a , 1b , 2a shown in the common, symmetrical design, in the three upper arm axes 11 ' , 12 ' 13 ' Form an equilateral triangle, which therefore has three equally large intermediate angles, and the same for the joint segments 24 , 25th , 26 between the wearer's forearm joints applies, as in 1b and for the carrier element 5 in 2a to recognize.

3a shows, however, a carrier element 5 , in which two joint stretches 25th , 26th are at a small intermediate angle α1 'of less than 25 ° to each other, the bisector of which 20th is defined as the x-direction of the robot coordinate system and in which the third joint line 24 the forearm joint on the wearer's side is also significantly larger than the other two joint segments of the same size 25th , 26th .

The carrier element 5 therefore has an elongated, roughly rectangular shape.

One to the carrier element 5 the 3a matching delta robot that is only symmetrical to the xz plane 10 indicates 3b in the top view of the robot base 4th as well as the 3c and 3d in perspective with slightly different configurations.

With regard to the features according to the invention shows 2a first of all the known design of a carrier element 5 , at which in the carrier center TZ the fastening device on the underside 19th for attaching the end effector is arranged, and in alignment above it on the upper side, the coupling 27 for fastening a transmission element brought up from the robot base 30th , as in 1a shown.

The connection 32 for a supply line for energy, on the other hand, there is a device apart from the fastening 19th and also the clutch 27 arranged, away from the carrier center TZ .

In contrast, according to the invention in 2 B just the connection 32 arranged in the carrier center and the coupling 27 apart from that. In addition, there is the connection 32 of an element 31 such as a hose.

• Im Träger-Zentrum TZ ist der Anschluss 32 für die Zufuhrleitung 29 für Energie angeordnet, während die Kupplung 27 zum Ankurbeln eines Übertragungselementes 30 abseits davon angeordnet ist. Deshalb ist die Kupplung 27 über einen Riementrieb 33 mit einem Ritzel wirkverbunden, welches konzentrisch um das Trägerzentrum TZ herum angeordnet ist und wirkverbunden ist mit der im Trägerzentrum TZ, jedoch nach unten abragenden Befestigungsvorrichtung 19 für den Endeffektor 7.

The same arrangement is also found in the elongated rectangular support element 5 in 3a again:

• In the carrier center TZ is the connection 32 for the supply line 29 arranged for energy while the clutch 27 for cranking a transmission element 30th is arranged apart from it. That's why the clutch 27 via a belt drive 33 with a pinion, which is concentric around the carrier center TZ is arranged around and is operatively connected to the one in the carrier center TZ , but downwardly protruding fastening device 19th for the end effector 7th .

Also in 3c can be seen that the connection 32 for the feed pipe 29 in the carrier center TZ of the carrier element 5 is located, the drive shaft 30th on the other hand offset to the side ..

In this 3c can also be seen that the supply line 29 inside a hose 31 is received, which between the robot base 4th and the carrier element 5 runs.

3d shows, however, a solution in which the drive shaft 30th for torque transmission in a clutch 27 that ends in the carrier center TZ of the carrier element 5 is arranged, but the drive shaft 30th insofar as a guide for the supply line 29 serves as the supply line 29 in at least one turn helically loosely around the drive shaft 30th is wound around, thereby causing excessive bulges in the supply line 29 to prevent sideways when the distance between the support element 5 and the robot base 4th is decreased.

List of reference symbols

1

Robotic arm

2

Robotic arm

3

Robotic arm

4th

Robot base

4 '

Base level

5

Support element

5 '

Carrier level

6th

End effector, sucker

7th

Rotary drive

8th

Rotary drive

9

Rotary drive

10

Industrial robots, robots

11

upper arm

11 '

Humerus axis

12th

upper arm

12 '

Humerus axis

13th

upper arm

13 '

Humerus axis

14th

Perpendicular bisector

15th

Perpendicular bisector

16

Perpendicular bisector

17th

Workspace

18th

Projection of the work area

19th

Fastening device

20th

Bisector

21

forearm

21a, b

Forearm bar

21a1

forearm joint on the drive side

21a2

forearm joint on the wearer's side

22nd

forearm

22a, b

Forearm bar

22a1

forearm joint on the drive side

22a2

forearm joint on the wearer's side

23

forearm

23a, b

Forearm bar

23a1

forearm joint on the drive side

23a2

forearm joint on the wearer's side

24

Link

25th

Link

26th

Link

24 '

Joint line

25 '

Joint line

26 '

Joint line

27

coupling

28

Cutout

29

Supply line

30th

drive shaft

31

Guide element

32

connection

33

Belt drive

α1, α2, α3

Intermediate angle

TZ

Carrier center

concentration camp

kinematic center

Claims (18)

Industrial robots with parallel kinematics with a) a robot base (4), b) a carrier element (5) which can accommodate an end effector (6), c) at least two movable robot arms (1, 2, 3), d) wherein each robot arm (1, 2, 3) has an upper arm (11, 12, 13) movably attached to the robot base (4) and one to the upper arm (11, 12, 13) movably arranged forearm (21, 22, 23), e) each forearm (21, 22, 23) having two parallel forearm bars (21a, 21b, 22a, 22b, 23a, 23b) and each forearm -Bar (21a, 21b, 22a, 22b, 23a, 23b) movable with the upper arm (11, 12, 13) via a forearm joint (21a1, 22a1,, 23a1) on the drive side and a forearm joint (21a2, 22a2, 23a2) on the carrier side ) is movably connected to the carrier element (5), f) wherein the centers of the forearm joints (21a2, 22a2,, 23a2) of all forearm rods (21a, 21b, 22a, 22b, 23a, 23b) on the carrier element are in a common carrier element plane (5 '), which runs perpendicular to a z-axis of a robot coordinate system and parallel to an xy spanned by an x-axis and a y-axis of the robot coordinate system -Plane, g) a fastening device (19) for coupling an end effector (6) is present on the carrier element (5), h) a coupling (27) for coupling a transmission element is present on the carrier element (5), characterized that i) laterally offset next to the fastening device (19) for coupling the transmission element there is at least one connection (32) with an attached supply line (29) for one type of energy, k) in the plan view of the carrier element level (5 ') the fastening device (19) for the end effector (6) is arranged on the side, ie not in alignment, with the coupling (27) for the transmission element. Industrial robots Claim 1 , characterized in that - the center perpendiculars (14, 15, 16) lying in the carrier element plane (5 ') extend to the joint lines (24', 25 ', 26') of the centers of the two forearm joints (21a2, 22a2, , 23a2) of the robot arms (1, 2, 3) cut in a carrier element center (TZ), - viewed from above on the carrier element plane (5 ') - either the connection (32) closer to the carrier center ( TZ) is arranged than the fastening device (19), in particular the connection (32) is arranged in the carrier center (TZ), - or the fastening device (19) is arranged closer to the carrier center (TZ) than the connection (32 ), in particular the fastening device (19) is arranged in the carrier center (TZ). Industrial robot according to one of the preceding claims, characterized in that the supply line (29) is wound around the transmission element, in particular the drive shaft (30). Industrial robot according to one of the preceding claims, characterized in that the supply line (29) has a helix shape when arranged vertically in the unloaded initial state, in particular with an angle of inclination with respect to the axial direction of the helix of more than 60 °, preferably more than 70 °, better than 80 °. Industrial robot according to one of the preceding claims, characterized in that - the at least one supply line (29) is in a guide cage which extends in the area between the robot base (4) and the carrier element (TZ) and is adjustable in length in its direction of extension, in particular an expandable guide cage or guide hose is guided, - the guide cage or guide hose is attached to the robot base (4) and / or to the carrier element and / or to the transmission element. Industrial robot according to one of the preceding claims, characterized in that - the upper arms (11, 12, 13) are either attached to the robot base (4) so as to be linearly displaceable or - the upper arms (11, 12, 13) are pivotably attached to the robot Base (4) are attached, the upper arm axes (11 ', 12', 13 ') of the three robot arms (1, 2, 3) spanning a triangle in a projection (18) on the xy plane. Industrial robot according to one of the preceding claims, characterized in that the drives for moving the upper arms (11, 12, 13) are arranged on the robot base (4). Industrial robot according to one of the preceding claims, characterized in that the industrial robot has three robot arms (11, 12, 13). Industrial robot according to one of the preceding claims, characterized in that - the joint sections (24 ', 25', 26 ') extending between 2 carrier-side forearm joints (21a2, 22a2,, 23a2) to form straight lines are extended to form a carrier triangle in the carrier plane (5 '), one of the intermediate angles (α1, α2, α3) of the support triangle is less than 25 °, in particular the angle is less than 20 °, preferably less than 18 °, particularly preferably less than or equal to 16 °. Industrial robot according to one of the preceding claims, characterized in that - the bisector through the smallest of the three intermediate angles (α1, α2, α3) runs parallel to the x-axis of the robot coordinate system, - the y-axis runs perpendicular to the x-axis and perpendicular to the z-axis, - in particular the two other intermediate angles (α1, α2, α3) are of the same size and the robot is constructed symmetrically to the xz plane. Industrial robot according to one of the preceding claims, characterized in that - the two upper arm axes (11 ', 12', 13 '), which delimit the smallest of the three angles, run in a common base plane (4') which defines the xy- Level, and that the intersection of the z-axis with this xy-plane corresponds to the zero value of the z-axis - in particular the upper arm axes (11 ', 12', 13 ') of all three robot arms (1, 2, 3) in a common Base level (4 ') lie. Industrial robot according to one of the preceding claims, characterized in that - in one of the robot arms (1, 2, 3) the distance between the centers of the forearm joints (21a1, 22a1, 23a1) on the drive side and / or the forearm joints (21a2, 22a2, 23a2 ) is greater than the two other robot arms (1, 2, 3), - in particular that the first robot arm (1, 2, 3) has a greater distance than the second robot arm (1, 2, 3) and the third robot arm (1, 2, 3) and - the distance between the second and third robot arms (1, 2, 3) is the same. Industrial robot according to one of the preceding claims, characterized in that - in one of the robot arms (1, 2, 3) the distance between the connecting section (24, 25, 26) of the drive-side forearm joints (21a1, 22a1, 23a1) and / or the joint section (24 ', 25', 26 ') of the forearm joints (21a2, 22a2, 23a2) on the wearer side is smaller than in the two other robot arms (1, 2, 3), - in particular that in the first robot arm (1, 2, 3) the distance is smaller than with the second robot arm (1, 2, 3) and with the third robot arm (1, 2, 3) and - the distance with the second and third robot arm (1, 2, 3) is the same. Industrial robot according to one of the preceding claims, characterized in that the carrier element (5) has a greater extent along the y-axis than along the x-axis. Industrial robot according to one of the preceding claims, characterized in that - the kinematic center (KZ) is a straight line parallel to the z-axis in which the three planes intersect, each passing through the middle of the connecting path (24, 25, 26) of the Centers of the two drive-side forearm joints (21a1, 22a1, 23a1) of a robot arm (1, 2, 3) and runs perpendicular to this connecting line and Axis and in particular the zero point of the xyz robot coordinate system. Industrial robot according to one of the preceding claims, characterized in that the fastening device (19) for coupling an end effector (6) is arranged on the underside of the carrier element (5). Industrial robot according to one of the preceding claims, characterized in that the coupling (27) for coupling an end effector (6) is arranged on the upper side of the carrier element (5). Industrial robot according to one of the preceding claims, characterized in that the transmission element is a drive shaft (30).

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