SINGLE-LAYER THREE-SECTION RAIL-TYPE PLANAR ROBOT CONTAINING A DOUBLE PARALLELOGRAM

Abstract

A single-layer three-section rail-type planar robot containing a double parallelogram, is composed of a stationary platform, a motion platform and three branched chains with the same structure connecting the stationary platform and the motion platform, the stationary platform is provided with three planar curved rails, each planar curved rail is connected to the motion platform through a branched chain, and each branched chain includes a slider, two link bars I arranged in parallel, two link bars II arranged in parallel, and link bar III, select one revolute joint I in each branched chain to form three revolute joints I as the main driving joint or three sliders as the driving parts.

Claims

1. A single-layer three-section rail-type planar robot containing a double parallelogram, comprising: a stationary platform (1), a motion platform (6) and three branched chains with a same structure connecting the stationary platform (1) and the motion platform (6); wherein the stationary platform (1) is provided with three planar curved rails (1.1), each planar curved rail (1.1) is connected to the motion platform (6) through a branched chain, and each branched chain comprises a slider (2), two link bars I (4) arranged in parallel, two link bars II (5) arranged in parallel, and a link bar III (10), the slider (2) is connected with a planar curved rail (1.1) in a sliding mode, the slider (2) is rotatably connected with one end of the two link bars I (4) by a revolute joint I (3), other end of the two link bars (4) is rotatably connected with the link bar III (10) by a revolute joint II (7), both ends of the link bar III (10) are rotatably connected with the two link bars II (5) by the revolute joint II (7), and other end of the two link bars II (5) is rotatably connected with the motion platform (6) by a revolute joint III (8); wherein in a branched chain, a distance between the revolute joint I (3) and the revolute joint II (7) connected at both ends of one of the two link bars I (4) is equal to a distance between the revolute joint I (3) and the revolute joint II (7) connected at both ends of other one of the two link bars I (4), and a distance between the revolute joint II (7) and the revolute joint III (8) connected at both ends of one of the two link bars II (5) is equal to a distance between the revolute joint II (7) and the revolute joint III (8) connected at both ends of other one the two link bars II (5); wherein axes of the six revolute joints I (3) are parallel to each other, all perpendicular to a plane of motion (9) of the slider (2) relative to the planar curved rail (1.1); axes of the six revolute joints II (7) are parallel to each other, perpendicular to the plane of motion (9) of the slider (2) relative to the planar curved rail (1.1); axes of the six revolute joints III (8) are parallel to each other, perpendicular to the plane of motion (9) of the slider (2) relative to the planar curved rail I (1.1); wherein one revolute joint I (3) is selected in each of the branched chain to form three revolute joints I (3) as a main driving joint or three sliders (2) as driving parts; the three planar curved rails (1.1) are arc-shaped with different circle centers.

2. The single-layer three-section rail-type planar robot containing a double parallelogram as claimed in claim 1, wherein the three planes of motion (9) of the three sliders (2) respectively relative to the three planar curved rails (1.1) are same planes or parallel planes.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0010] 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.

[0011] FIG. 1 is a schematic structural diagram according to the present invention.

[0012] FIG. 2 is a schematic structural diagram one of a fixed platform.

[0013] FIG. 3 is a schematic structural diagram two of a fixed platform.

[0014] Reference numerals: 1—stationary platform, 1.1—planar curved rail, 2—slider, 3—revolute joint I, 4—link bar I, 5—link bar II, 6—motion platform, 7—revolute joint II, 8—revolute joint III, 9—plane of motion, 10—link bar III.

DETAILED DESCRIPTION OF EMBODIMENTS

[0015] 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.

[0016] As shown in FIG. 1, a single-layer three-section rail-type planar robot containing a double parallelogram, is composed of a stationary platform 1, a motion platform 6 and three branched chains with the same structure connecting the stationary platform 1 and the motion platform 6, characterized in that: the stationary platform 1 is provided with three planar curved rails 1.1, each planar curved rail 1.1 is connected to the motion platform 6 through a branched chain, and each branched chain includes a slider 2, two link bars I 4 arranged in parallel, two link bars II 5 arranged in parallel, and link bar III 10, the slider 2 is connected with a planar curved rail 1.1 in a sliding mode, the slider 2 is connected with one end of the two link bars I 4 by revolute joint I 3, the other end of the two link bars 4 is connected with the link bar III 10 by revolute joint II 7, both ends of the link bar III 10 are connected with the two link bars II 5 by revolute joint II 7, and the other end of the two link bars II 5 is connected with the motion platform 6 by revolute joint III 8; in a branched chain, the distance between the revolute joint I 3 and the revolute joint II 7 connected at both ends of one link bar I 4 is equal to that between the revolute joint I 3 and revolute joint II 7 connected at both ends of the other link bar I 4, and the distance between the revolute joint II 7 and the revolute joint III 8 connected at both ends of one link bar II 5 is equal to that between the revolute joint II 7 and the revolute joint III 8 connected at both ends of the other link bar II 5; the axes of the six revolute joints I 3 are parallel to each other, all perpendicular to the plane of motion 9 of the slider 2 relative to the planar curved rail 1.1; the axes of the six revolute joints II 7 are parallel to each other, perpendicular to the plane of motion 9 of the slider 2 relative to the planar curved rail 1.1; the axes of the six revolute joints III 8 are parallel to each other, perpendicular to the plane of motion 9 of the slider 2 relative to the planar curved rail I 1.1; select one revolute joint I 3 in each branched chain to form three revolute joints I 3 as the main driving joint or three sliders 2 as the driving parts; three planar curved rails 1.1 are arc-shaped, with different circle centers. Preferably, three planar curved rails 1.1 are circular arc-shaped, with different circle centers.

[0017] 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.

[0018] 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 1.1 are the same plane or parallel planes.

[0019] In this technical scheme, the planar curved rail 1.1, as implied by the name, is configured for the slider 2 to make a curved planar movement along the rail.

[0020] 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.

[0021] 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.