System of externally holding and guiding supply lines to moving implements of manipulators

A manipulator system comprising:

• a base (2);
• a pivot member (6) on said base;
• a swing arm (3) pivotally connected to said pivot member at one end thereof for rotation about a first pivot axis (34) to said pivot member (6), said swing arm having an opposite end and a longitudinal axis between its one and opposite ends extending perpendicularly to said first pivot axis;
• an upper arm (4) having one end pivotally connected to said swing arm at a second pivot axis (8), said upper arm having an opposite end, and a longitudinal axis extending between its one and opposite ends and extending perpendicularly to said second pivot axis;
• a wrist (5) pivotally connected to said opposite end of said upper arm;
• a tool (39) connected to said wrist;
• a supply line (10) comprising a bundle of individual lines extending from said base along said swing arm and said upper arm and being connected to said tool;
• a first holder having a tubular portion receiving said supply line rotatably mounted to said swing arm for rotation about said first pivot axis;
• a second holder having a tubular portion receiving said supply line and pivotally mounted to said upper arm for rotation about said second pivot axis;
• said pivot axes of said first and second holders lying in a common plane with said longitudinal axis of said swing arm and being positioned at a lateral side of said swing arm;
• and a third holder having a tubular portion rotatably mounted to said upper arm at said opposite end of said upper arm and with a rotation axis which, with said pivot axis of said second holder, lie in a common plane with said longitudinal axis of said upper arm, said second and third holders being disposed on one lateral side of said upper arm.