| 摘要 |
The invention relates to an industrial robot having parallel kinematics, said industrial robot comprising a robot base (1, 38), a carrier element (2, 42) for accommodating a gripper or a tool, several movable, elongated actuating units (4, 36), which are connected at one end thereof to drive units (6, 39) arranged on the robot base (1, 38), and the other end of which is movably connected to the carrier element (2, 42), an elongated hollow body (20, 43, 54), which has a continuous cavity and which is flexibly connected to the robot base (1, 38), a joint (35, 49, 65), which has a continuous cavity and which has several degrees of freedom, by means of which joint the elongated hollow body (20, 43, 54) is movably connected to the carrier element (2, 42), and at least one supply line (26, 51, 64) for a gripper arranged on the carrier element (2, 42) or a tool arranged on the carrier element (2, 42), said supply line being guided through the cavity of the elongated hollow body (20, 43, 54) and the cavity of the hollow joint (35, 49, 65) from the robot base to the carrier element (2, 42). |
