TWO-LAYER THREE-RAIL PLANAR ROBOT WITH PARALLELOGRAM

Abstract

Disclosed is a two-layer three-rail planar robot with a parallelogram, including a fixed platform, a moving platform, and three branched chains. Three planar curved rails I are provided on the fixed platform. Three planar curved rails II are fixedly connected to the moving platform. Each planar curved rail I is connected to a planar curved rail II corresponding to the planar curved rail I by one of the branched chains. Each of the branched chains includes a slider I, two connecting rods provided in parallel, a slider II. The slider I is slidably connected to the planar curved rail I. The slider I is rotatably connected to one end of each connecting rod by a revolute pair I, the other end of the connecting rod is rotatably connected to the slider II by a revolute pair II. The slider II is slidably connected to the planar curved rail II.

Claims

1. A two-layer three-rail planar robot with a parallelogram, comprising a fixed platform (1), a moving platform (6), and three branched chains of a same structure connected between the fixed platform (1) and the moving platform (6), wherein three planar curved rails I (1.1) are provided on the fixed platform (1), three planar curved rails II (7) are fixedly connected to the moving platform (6), each planar curved rail I (1.1) is connected to a planar curved rail II (7) corresponding to the planar curved rail I (1.1) by one of the branched chains, each of the branched chains comprises a slider I (2), two connecting rods (4) provided in parallel, and a slider II (5), the slider I (2) is slidably connected to the planar curved rail I (1.1), the slider I (2) is rotatably connected to one end of each connecting rod (4) by a revolute pair I (3), the other end of the connecting rod (4) is rotatably connected to the slider II (5) by a revolute pair II (11), the slider II (5) is slidably connected to the planar curved rail II (7), and in one of the branched chains, a distance between a revolute pair I (3) and a revolute pair II (11) connected at two ends of one connecting rod (4) is equal to a distance between a revolute pair I (3) and a revolute pair II (11) connected at two ends of the other connecting rod (4); axes of the six revolute pairs I (3) are parallel to each other, and are all perpendicular to a moving plane I (9) of the slider I (2) relative to the planar curved rail I (1.1) and a moving plane II (10) of the slider II (5) relative to the planar curved rail II (7); axes of the six revolute pairs II (11) are parallel to each other, and are all perpendicular to the moving plane I (9) of the slider I (2) relative to the planar curved rail I (1.1) and the moving plane II (10) of the slider II (5) relative to the planar curved rail II (7); the three sliders II (5) or the three sliders I (2) are driving links; and the three planar curved rails I (1.1) are arc-shaped rails with different centers, and the three planar curved rails II (7) are arc-shaped rails with different centers; the three planar curved rails II (7) are fixedly connected to the moving platform (6) by three fixed rods (8).

2. The two-layer three-rail planar robot with a parallelogram of claim 1, wherein a length of the planar curved rail I (1.1) is greater than a length of the planar curved rail II (7), and a width of the planar curved rail I (1.1) is greater than a width of the planar curved rail II (7).

3. (canceled)

4. The two-layer three-rail planar robot with a parallelogram of claim 1, wherein moving planes I (9) of the three sliders I (2) relative to the planar curved rails I (1.1) are a same plane or parallel planes.

5. The two-layer three-rail planar robot with a parallelogram of claim 1, wherein moving planes II (10) of the three sliders II (5) relative to the planar curved rails II (7) are a same plane or parallel planes.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0013] For clearer descriptions of the technical schemes in the present invention, the following briefly introduces the accompanying drawings required for description. Apparently, the accompanying drawings in the following description show merely some embodiments of the present invention, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts.

[0014] FIG. 1 is a schematic structural diagram according to the present invention.

[0015] FIG. 2 is a schematic structural diagram one of a fixed platform.

[0016] FIG. 3 is a schematic structural diagram two of a fixed platform.

[0017] FIG. 4 is a schematic structural diagram one of a connection between a moving platform and a planar curved rail II.

[0018] FIG. 5 is a schematic structural diagram two of a connection between a moving platform and a planar curved rail II.

[0019] Reference numerals: 1—fixed platform, 1.1—planar curved rail I, 2—slider I, 3—revolute pair I, 4—connecting rod, 5—slider II, 6—moving platform, 7—planar curved rail II, 8—fixed rod, 9—moving plane I, 10—moving plane II, and 11—revolute pair II.

DETAILED DESCRIPTION OF EMBODIMENTS

[0020] To make the inventive objectives, features, and advantages of the present invention clearer and more comprehensible, the technical schemes that the present invention seeks to protect is clearly and completely described below with reference to specific embodiments and the accompanying drawings. Apparently, the embodiments described below are merely some rather than all of the embodiments of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] As shown in FIG. 1, a two-layer three-rail planar robot with a parallelogram includes a fixed platform 1, a moving platform 6, and three branched chains of the same structure connected between the fixed platform 1 and the moving platform 6. Three planar curved rails I 1.1 are provided on the fixed platform 1. Three planar curved rails II 7 are fixedly connected to the moving platform 6. Each planar curved rail I 1.1 is connected to a planar curved rail II 7 corresponding to the planar curved rail I 1.1 by one of the branched chains. Each of the branched chains includes a slider I 2, two connecting rods 4 provided in parallel, and a slider II 5. The slider I 2 is slidably connected to the planar curved rail I 1.1. The slider I 2 is rotatably connected to one end of each connecting rod 4 by a revolute pair I 3, and the other end of the connecting rod 4 is rotatably connected to the slider II 5 by a revolute pair II 11. The slider II 5 is slidably connected to the planar curved rail II 7. In one of the branched chains, a distance between a revolute pair I 3 and a revolute pair II 11 connected at two ends of one connecting rod 4 is equal to a distance between a revolute pair I 3 and a revolute pair II 11 connected at two ends of the other connecting rod 4. Axes of the six revolute pairs I 3 are parallel to each other, and are all perpendicular to a moving plane I 9 of the slider I 2 relative to the planar curved rail I 1.1 and a moving plane II 10 of the slider II 5 relative to the planar curved rail II 7. Axes of the six revolute pairs II 11 are parallel to each other, and are all perpendicular to the moving plane I 9 of the slider I 2 relative to the planar curved rail I 1.1 and the moving plane II 10 of the slider II 5 relative to the planar curved rail II 7. The three sliders II 5 or the three sliders I 2 are driving links. The three planar curved rails I 1.1 are arc-shaped rails with different centers, and the three planar curved rails II 7 are arc-shaped rails with different centers. Preferably, the three planar curved rails I 1.1 are circular arc-shaped rails with different centers, and the three planar curved rails II 7 are circular arc-shaped rails with different centers.

[0022] In this technical scheme, the three branched chains with the same structure refer to that the three branched chains include the same components and have the same connection relationships between the components. However, the same components in the three branched chains may have different sizes.

[0023] The length of the planar curved rail I 1.1 is greater than the length of the planar curved rail II 7, and the width of the planar curved rail I 1.1 is greater than the width of the planar curved rail II 7.

[0024] The moving platform 6 is fixedly connected to the three planar curved rails II 7 by three fixed rods 8.

[0025] As shown in FIGS. 2 and 3, three moving planes I 9 of the three sliders I 2 respectively relative to the three planar curved rails I 1.1 are the same plane or parallel planes.

[0026] As shown in FIGS. 4 and 5, three moving planes II 10 of the three sliders II 5 respectively relative to the three planar curved rails II 7 are the same plane or parallel planes.

[0027] In this technical scheme, the planar curved rail I 1.1, as implied by the name, is configured for the slider I 2 to make a curved planar movement along the rail; and the planar curved rail II 7, as implied by the name, is configured for the slider II 5 to make a curved planar movement along the rail.

[0028] All embodiments are described in the present invention by using the progressive method. Each embodiment describes only the difference from other embodiments. For the same or similar parts among all embodiments, reference may be made to the relevant parts.

[0029] The foregoing description of the disclosed embodiments is presented to enable a person skilled in the art to implement or use the present invention. Various modifications to these embodiments are readily apparent to a person skilled in the art. The general principle defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not to be limited to these embodiments shown herein, but are to be accorded with the broadest scope consistent with the principles, novel features, and creative characteristics disclosed herein.