Patent ID: 11958189
Assignee: SHANDONG UNIVERSITY OF TECHNOLOGY
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 2:
3. A single-layer three-section rail-type planar robot containing a double parallelogram, comprising:
a stationary platform (1), wherein the stationary platform (1) is provided with three planar curved rails (1.1) thereon;
three branched chains, disposed on three planar curved rails (1.1), respectively;
wherein each of the three branched chains comprises:
a slider (2), in sliding connection with the planar curved rail (1.1);
two link bars I (4), disposed in parallel; wherein each of the two link bars I (4) is rotatably connected to the slider (2) through a revolute joint I (3);
two link bars II (5), disposed in parallel; wherein the two link bars II (5) are rotatably connected to the respective link bars I (4) through revolute joints II (7); and
a link bar III (10), wherein the link bar III (10) is rotatably connected between the two link bars I (4) and the two link bars II (5) through the revolute joints II (7);

a motion platform (6), rotatably connected to ends of the two link bars II (5) facing away from the respective link bars I (4) through revolute joints III (8);
wherein the three planar curved rails (1.1) are sequentially connected end to end along a same direction; and the three sliders (2) of the three branched chains are capable of moving along the respective planar curved rails (1.1), and three plane of motions (9) of the three sliders (2) along the respective planar curved rails (1.1) comprise: a first plane of motion, a second plane of motion, and a third plane of motion, and the first plane of motion, the second plane of motion, and the third plane of motion are the same plane.