WO2022151704A1 - 一种含平行四边形的双层三段导轨式平面机器人 - Google Patents

一种含平行四边形的双层三段导轨式平面机器人 Download PDF

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Publication number
WO2022151704A1
WO2022151704A1 PCT/CN2021/108819 CN2021108819W WO2022151704A1 WO 2022151704 A1 WO2022151704 A1 WO 2022151704A1 CN 2021108819 W CN2021108819 W CN 2021108819W WO 2022151704 A1 WO2022151704 A1 WO 2022151704A1
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Prior art keywords
guide rail
plane
slider
curved guide
planar
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PCT/CN2021/108819
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English (en)
French (fr)
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张彦斐
宫金良
兰玉彬
王伟
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山东理工大学
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Priority to AU2021355606A priority Critical patent/AU2021355606B2/en
Publication of WO2022151704A1 publication Critical patent/WO2022151704A1/zh
Priority to US18/220,453 priority patent/US20230347504A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • the invention relates to the technical field of robots, in particular to a double-layer three-segment guide rail type plane robot containing a parallelogram.
  • Parallel robots have the characteristics of high stiffness, large bearing capacity, high precision, small motion load, and easy inverse solutions. Therefore, they are widely used in motion simulators, virtual axis machine tools, somatosensory simulators, medical equipment, and agricultural robots. .
  • Yu Yueqing proposed a planar parallel robot experimental device with three flexible hinges based on the 3-RRR parallel robot.
  • Herve has successfully synthesized a three-degree-of-freedom translational parallel robot based on Lie groups and Lie algebra theory, such as a 3-RRC parallel robot.
  • Huang Zhen proposed a comprehensive method for parallel robots with few degrees of freedom, including a variety of three-degree-of-freedom translational parallel robots, based on the principle of helical theory.
  • Li Qinchuan used the helical theory to carry out the synthesis of the system's symmetrical three-degree-of-freedom parallel robot type.
  • the mechanism only includes a moving pair and a rotating pair (the cylindrical pair is composed of a moving pair and a rotating pair), and most of them are rotating. pair, which makes the mechanism structure simple, and the axis relationship is easy to satisfy.
  • planar three-degree-of-freedom robot has different performance requirements in different application fields, so provide as many as possible with two translational degrees of freedom and one rotational degree of freedom.
  • the type of robot configuration is of great significance to the selection of researchers in this field.
  • the technical problem to be solved by the present invention is to provide a double-layer three-segment guide-rail type planar robot containing parallelograms, which has a novel structure, and has two translational degrees of freedom and one rotational freedom. Spend.
  • a double-layer three-segment rail-type planar robot with parallelograms including a fixed platform, a moving platform, and three branch chains with the same structure connected between the fixed platform and the moving platform
  • the fixed platform is provided with three sections of plane curve guide rail I
  • the moving platform is fixedly connected with three sections of plane curve guide rail II
  • each section of plane curve guide rail I is connected with a corresponding section of plane curve guide rail II through a branch chain.
  • Each branch chain includes a slider I, two parallel connecting rods and a slider II.
  • the slider I is slidably connected to the plane curved guide rail I, and the slider I is rotatably connected to one end of the connecting rod through a rotating pair I.
  • the other end of the connecting rod is rotatably connected with the sliding block II through the rotating pair II, and the sliding block II is slidably connected with the plane curve guide rail II.
  • the distance between II is equal to the distance between the rotating pair I and the rotating pair II connected at both ends of the other connecting rod; the axes of the six rotating pairs I are parallel to each other and are perpendicular to the slider I relative to the plane curved guide rail I.
  • the movement plane I and slider II are relative to the movement plane II of the plane curve guide rail II; the axes of the six rotating pairs II are parallel to each other and are perpendicular to the movement plane I and slider II of the slider I relative to the plane curve guide rail I Relative to the motion plane II of the plane curve guideway II; three sliders II or three sliders I are the prime movers; the three-segment plane curve guideway I is the arc guideway with different circle centers, and the three-section plane curve guideway II is the different circle centers curved rails.
  • the length of the planar curved guide rail I is greater than the length of the planar curved guide rail II, and the width of the planar curved guide rail I is greater than the width of the planar curved guide rail II.
  • the motion platform is fixedly connected with three sections of plane curve guide rail II through three fixing rods.
  • the movement plane I of the three sliders I relative to the plane curved guide rail I is the same plane or a parallel plane.
  • the movement plane II of the three sliding blocks II relative to the plane curved guide rail II is the same plane or a parallel plane.
  • the present invention has the advantages of introducing three-segment guide rail structures on the fixed platform and the moving platform at the same time, and used in conjunction with the slider I, the rotating pair I, the connecting rod, the rotating pair II and the slider II. It ensures that the robot has the motion characteristics of two translational degrees of freedom and one rotational degree of freedom, and can increase the working space in a specific degree of freedom by independently increasing the length of each guide rail and/or the length of the connecting rod, which improves the design of the robot.
  • the flexibility of the slider I, the two parallel connecting rods and the slider II can form a parallelogram structure. With four vertices, the movement is stable, and at the same time, the structure enables the three sliders I and the three sliders II to be used as prime movers, which improves the flexibility of the selection of the robot's driving mode.
  • Fig. 1 is the structural representation of the present invention
  • Fig. 2 is the structural schematic diagram one of the fixed platform
  • Fig. 3 is the structural schematic diagram two of fixed platform
  • Figure 4 is a schematic diagram 1 of the connection structure between the motion platform and the plane curve guide rail II;
  • Fig. 5 is a schematic diagram 2 of the connection structure between the motion platform and the plane curve guide rail II.
  • a double-layer three-segment rail-type planar robot containing a parallelogram includes a fixed platform 1, a moving platform 6 and three branch chains with the same structure connected between the fixed platform 1 and the moving platform 6.
  • the fixed platform 1 is provided with three sections of plane curve guide rails I1.1
  • the moving platform 6 is fixedly connected with three sections of plane curve guide rails II7
  • each section of plane curve guide rails I1.1 is connected to a corresponding section of plane curve guide rails through a branch chain.
  • II7 is connected
  • each branch chain includes a slider I2, two parallel connecting rods 4 and a slider II5, the slider I2 is slidably connected with the plane curve guide rail I1.1, and the slider I2 passes through the rotating pair I3.
  • a connecting rod 4 The distance between the rotating pair I3 connected at both ends and the rotating pair II11 is equal to the distance between the rotating pair I3 and the rotating pair II11 connected at both ends of the other connecting rod 4; the axes of the six rotating pairs I3 are parallel to each other, and Both are perpendicular to the movement plane I9 of the slider I2 relative to the plane curved guide rail I1.1 and the movement plane II10 of the slider II5 relative to the plane curved guide rail II7; the axes of the six rotating pairs II11 are parallel to each other and are perpendicular to the slider I2
  • the movement plane I9 and slider II5 relative to the plane curve guide rail I1.1 are relative to the plane curve guide rail II7.
  • the movement plane II10; three sliders II5 or three sliders I2 are the prime movers; three-segment plane curve guide rails I1. 1 is the arc guide rail with different circle centers, and the three-segment plane curve guide rail II7 is the arc guide rail with different circle centers.
  • the three-section plane curve guide rail I1.1 is an arc-shaped guide rail with different centers, and the three-section plane curve guide rail II7 is an arc-shaped guide rail with different circle centers.
  • the three branches with the same structure refer to the components contained in the three branches and the connection relationship between the components are the same, but the dimensions of the same components in the three branches may be different.
  • the length of the planar curved guide rail I1.1 is greater than the length of the planar curved guide rail II7, and the width of the planar curved guide rail I1.1 is greater than the width of the planar curved guide rail II7.
  • the moving platform 6 is fixedly connected with the three-section plane curve guide rail II7 through three fixing rods 8 .
  • the three sliders I2 are respectively the same plane or parallel planes with respect to the three moving planes I9 of the three-segment plane curved guide rail I1.1.
  • the three sliding blocks II5 are respectively the same plane or parallel planes with respect to the three moving planes II10 of the three-section plane curve guide rail II7.
  • the plane curve guide rail I1.1 is the slider I2 that moves in a plane curve along the guide rail;
  • the plane curve guide rail II7 is the slider II5 moves along the guide rail in a plane curve.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Character Spaces And Line Spaces In Printers (AREA)
  • Transmission Devices (AREA)

Abstract

一种含平行四边形的双层三段导轨式平面机器人，包括固定平台(1)、运动平台(6)和连接于固定平台(1)与运动平台(6)之间的三条结构相同的支链，固定平台(1)上设置有三段平面曲线导轨Ⅰ(1.1)，运动平台(6)固定连接有三段平面曲线导轨Ⅱ(7)，每段平面曲线导轨Ⅰ(1.1)均通过一条支链与与其对应的一段平面曲线导轨Ⅱ(7)连接，每条支链均包括滑块Ⅰ(2)、两个平行设置的连接杆(4)以及滑块Ⅱ(5)，滑块Ⅰ(2)与平面曲线导轨Ⅰ(1.1)滑动连接，滑块Ⅰ(2)通过转动副Ⅰ(3)与连接杆(4)的一端转动连接，连接杆(4)的另一端通过转动副Ⅱ(11)与滑块Ⅱ(5)转动连接，滑块Ⅱ(5)与平面曲线导轨Ⅱ(7)滑动连接，三个滑块II(5)或者三个滑块I(2)为原动件，三段平面曲线导轨Ⅰ(1.1)为不同圆心的弧形导轨，三段平面曲线导轨Ⅱ(7)为不同圆心的弧形导轨。该装置具有两个平动自由度和一个转动自由度。

Description

一种含平行四边形的双层三段导轨式平面机器人 技术领域
本发明涉及机器人技术领域，具体是一种含平行四边形的双层三段导轨式平面机器人。
背景技术
并联机器人具有刚度大、承载能力大、精度高、运动负荷小、反解容易等特点，因此在运动模拟器、虚拟轴机床、体感模拟机、医疗设备、农业作业机器人等方面都有广泛的应用。
对于三自由度机器人的研究，很多学者做了大量的工作。余跃庆基于3-RRR并联机器人提出了一种具有3个柔性铰链的平面并联机器人实验装置，该装置能使机构的运动平台实现沿轴X、Y方向的移动以及绕轴Z方向的转动。Herve基于李群和李代数理论成功的综合出了三自由度平移并联机器人，如3-RRC并联机器人。黄真基于螺旋理论原理提出了包括多种三自由度平移并联机器人在内的少自由度并联机器人型综合方法。李秦川利用螺旋理论进行了系统的对称三自由度并联机器人型综合。高峰基于GF集理论综合出了多种结构新颖的对称和非对称的三自由度平移并联机器人。2011年，陈风明等人提出了一种新型两平移一转动RRR-URR-RR并联机器人，对此机构的运动输出特性进行分析，并对自由度进行计算，建立了并联机器人的位置正、反解方程。2016年，常州大学朱伟等人发明了一种两平移一转动并联机器人，通过三个主动驱动的移动运动副驱动动平台运动，实现空间内的两维平动运动和一维旋转运动。2018年，燕山大学李艳文等人提出了一种两平移一转动2RRR-CRR并联机器人，该机构只包含移动副和转动副(圆柱副是由移动副和转动副组合而成)，且多数为转动副，使得机构结构简单，轴线关系容易满足。
尽管国内外学者提供了较多三自由度机器人构型方案，但是平面三自由度机器人在不同应用领域具有不同的性能需求，因此提供尽可能多的具有两个平动自由度和一个转动自由度的机器人构型类型，对本领域的研究人员选型具有重要意义。
发明内容
本发明所要解决的技术问题，就是针对现有技术所存在的不足，提供一种含平行四边形的双层三段导轨式平面机器人，其结构新颖，并且具有两个平动自由度和一个转动自由度。
本方案是通过如下技术措施来实现的：一种含平行四边形的双层三段导轨式平面机器人，包括固定平台、运动平台和连接于固定平台与运动平台之间的三条结构相同的支链，所述固定平台上设置有三段平面曲线导轨Ⅰ，所述运动平台固定连接有三段平面曲线导轨Ⅱ，每段平面曲线导轨Ⅰ均通过一条支链与与其对应的一段平面曲线导轨Ⅱ连接，每条支链均包括滑块Ⅰ、两个平行设置的连接杆以及滑块Ⅱ，所述滑块Ⅰ与平面曲线导轨Ⅰ滑动连接，所述滑块Ⅰ通过转动副Ⅰ与连接杆的一端转动连接，所述连接杆的另一端通过转动副Ⅱ与滑块Ⅱ转动连接，所述滑块Ⅱ与平面曲线导轨Ⅱ滑动连接，在一条支链中，一个连接杆两 端连接的转动副Ⅰ与转动副Ⅱ之间的距离与另一个连接杆两端连接的转动副Ⅰ与转动副Ⅱ之间的距离相等；六个转动副Ⅰ的轴线互相平行，且均垂直于滑块Ⅰ相对于平面曲线导轨I的运动平面Ⅰ和滑块Ⅱ相对于平面曲线导轨II的运动平面Ⅱ；六个转动副Ⅱ的轴线互相平行，且均垂直于滑块Ⅰ相对于平面曲线导轨I的运动平面Ⅰ和滑块Ⅱ相对于平面曲线导轨II的运动平面Ⅱ；三个滑块II或者三个滑块I为原动件；三段平面曲线导轨Ⅰ为不同圆心的弧形导轨，三段平面曲线导轨Ⅱ为不同圆心的弧形导轨。
优选的，所述平面曲线导轨Ⅰ的长度大于平面曲线导轨Ⅱ的长度，所述平面曲线导轨Ⅰ的宽度大于平面曲线导轨Ⅱ的宽度。
优选的，所述运动平台通过三个固定杆固定连接有三段平面曲线导轨Ⅱ。
优选的，三个滑块Ⅰ相对于平面曲线导轨I的运动平面Ⅰ为同一平面或为平行的平面。
优选的，三个滑块Ⅱ相对于平面曲线导轨II的运动平面Ⅱ为同一平面或为平行的平面。
本发明与现有技术相比，其优点为：在固定平台和运动平台上同时引入三段导轨结构，与滑块Ⅰ、转动副Ⅰ、连接杆、转动副Ⅱ和滑块Ⅱ配合使用，既保证了机器人具有两个平动自由度和一个转动自由度的运动特征，又可以通过独立增加各段导轨长度和/或连接杆的长度实现在特定自由度上增大工作空间，提高了机器人设计的灵活性，所述滑块Ⅰ、两个平行设置的连接杆以及滑块Ⅱ可组成平行四边形结构，具体的，两个连接杆与滑块Ⅰ、滑块Ⅱ的转动连接点为平行四边形的四个顶点，运动平稳，同时该结构使得三个滑块I和三个滑块II均可以做为原动件，提高了机器人驱动方式选择的灵活性。
由此可见，本发明与现有技术相比，具有突出的实质性特点和显著的进步，其实施的有益效果也是显而易见的。
附图说明
为了更清楚地说明本发明的技术方案，下面将对描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明的结构示意图；
图2为固定平台的结构示意图一；
图3为固定平台的结构示意图二；
图4为运动平台与平面曲线导轨Ⅱ的连接结构示意图一；
图5为运动平台与平面曲线导轨Ⅱ的连接结构示意图二。
图中：1-固定平台，1.1-平面曲线导轨Ⅰ，2-滑块Ⅰ，3-转动副Ⅰ，4-连接杆，5-滑块Ⅱ，6-运动平台，7-平面曲线导轨Ⅱ，8-固定杆，9-运动平面Ⅰ，10-运动平面Ⅱ，11-转动副Ⅱ。
具体实施方式
为使得本发明的发明目的、特征、优点能够更加的明显和易懂，下面将运用具体的实施例及附图，对本发明保护的技术方案进行清楚、完整地描述，显然，下面所描述的实施 例仅仅是本发明一部分实施例，而非全部的实施例。基于本专利中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本专利保护的范围。
如图1所示，一种含平行四边形的双层三段导轨式平面机器人，包括固定平台1、运动平台6和连接于固定平台1与运动平台6之间的三条结构相同的支链，所述固定平台1上设置有三段平面曲线导轨Ⅰ1.1，所述运动平台6固定连接有三段平面曲线导轨Ⅱ7，每段平面曲线导轨Ⅰ1.1均通过一条支链与与其对应的一段平面曲线导轨Ⅱ7连接，每条支链均包括滑块Ⅰ2、两个平行设置的连接杆4以及滑块Ⅱ5，所述滑块Ⅰ2与平面曲线导轨Ⅰ1.1滑动连接，所述滑块Ⅰ2通过转动副Ⅰ3与连接杆4的一端转动连接，所述连接杆4的另一端通过转动副Ⅱ11与滑块Ⅱ5转动连接，所述滑块Ⅱ5与平面曲线导轨Ⅱ7滑动连接，在一条支链中，一个连接杆4两端连接的转动副Ⅰ3与转动副Ⅱ11之间的距离与另一个连接杆4两端连接的转动副Ⅰ3与转动副Ⅱ11之间的距离相等；六个转动副Ⅰ3的轴线互相平行，且均垂直于滑块Ⅰ2相对于平面曲线导轨I1.1的运动平面Ⅰ9和滑块Ⅱ5相对于平面曲线导轨II7的运动平面Ⅱ10；六个转动副Ⅱ11的轴线互相平行，且均垂直于滑块Ⅰ2相对于平面曲线导轨I1.1的运动平面Ⅰ9和滑块Ⅱ5相对于平面曲线导轨II7的运动平面Ⅱ10；三个滑块II5或者三个滑块I2为原动件；三段平面曲线导轨Ⅰ1.1为不同圆心的弧形导轨，三段平面曲线导轨Ⅱ7为不同圆心的弧形导轨。优选的，三段平面曲线导轨Ⅰ1.1为不同圆心的圆弧形导轨，三段平面曲线导轨Ⅱ7为不同圆心的圆弧形导轨。
在本技术方案中，三条结构相同的支链指的是三条支链包含的部件以及部件之间的连接关系相同，但三条支链中的相同部件的尺寸可以不同。
所述平面曲线导轨Ⅰ1.1的长度大于平面曲线导轨Ⅱ7的长度，所述平面曲线导轨Ⅰ1.1的宽度大于平面曲线导轨Ⅱ7的宽度。
所述运动平台6通过三个固定杆8与三段平面曲线导轨Ⅱ7固定连接。
如图2-3所示，三个滑块Ⅰ2分别相对于三段平面曲线导轨I1.1的三个运动平面Ⅰ9为同一平面或为平行的平面。
如图4-5所示，三个滑块Ⅱ5分别相对于三段平面曲线导轨II7的三个运动平面Ⅱ10为同一平面或为平行的平面。
在本技术方案中，平面曲线导轨Ⅰ1.1，顾名思义就是滑块Ⅰ2沿着导轨做平面曲线运动；平面曲线导轨Ⅱ7，顾名思义就是滑块Ⅱ5沿着导轨做平面曲线运动。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参考即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点、创造性的特点相一致的最宽的范围。

Claims (5)

  1. 一种含平行四边形的双层三段导轨式平面机器人，包括固定平台(1)、运动平台(6)和连接于固定平台(1)与运动平台(6)之间的三条结构相同的支链，其特征在于：所述固定平台(1)上设置有三段平面曲线导轨Ⅰ(1.1)，所述运动平台(6)固定连接有三段平面曲线导轨Ⅱ(7)，每段平面曲线导轨Ⅰ(1.1)均通过一条支链与与其对应的一段平面曲线导轨Ⅱ(7)连接，每条支链均包括滑块Ⅰ(2)、两个平行设置的连接杆(4)以及滑块Ⅱ(5)，所述滑块Ⅰ(2)与平面曲线导轨Ⅰ(1.1)滑动连接，所述滑块Ⅰ(2)通过转动副Ⅰ(3)与连接杆(4)的一端转动连接，所述连接杆(4)的另一端通过转动副Ⅱ(11)与滑块Ⅱ(5)转动连接，所述滑块Ⅱ(5)与平面曲线导轨Ⅱ(7)滑动连接，在一条支链中，一个连接杆(4)两端连接的转动副Ⅰ(3)与转动副Ⅱ(11)之间的距离与另一个连接杆(4)两端连接的转动副Ⅰ(3)与转动副Ⅱ(11)之间的距离相等；六个转动副Ⅰ(3)的轴线互相平行，且均垂直于滑块Ⅰ(2)相对于平面曲线导轨I(1.1)的运动平面Ⅰ(9)和滑块Ⅱ(5)相对于平面曲线导轨II(7)的运动平面Ⅱ(10)；六个转动副Ⅱ(11)的轴线互相平行，且均垂直于滑块Ⅰ(2)相对于平面曲线导轨I(1.1)的运动平面Ⅰ(9)和滑块Ⅱ(5)相对于平面曲线导轨II(7)的运动平面Ⅱ(10)；三个滑块II(5)或者三个滑块I(2)为原动件；三段平面曲线导轨Ⅰ(1.1)为不同圆心的弧形导轨，三段平面曲线导轨Ⅱ(7)为不同圆心的弧形导轨。
  2. 根据权利要求1所述的含平行四边形的双层三段导轨式平面机器人，其特征在于：所述平面曲线导轨Ⅰ(1.1)的长度大于平面曲线导轨Ⅱ(7)的长度，所述平面曲线导轨Ⅰ(1.1)的宽度大于平面曲线导轨Ⅱ(7)的宽度。
  3. 根据权利要求1所述的含平行四边形的双层三段导轨式平面机器人，其特征在于：所述运动平台(6)通过三个固定杆(8)固定连接有三段平面曲线导轨Ⅱ(7)。
  4. 根据权利要求1所述的含平行四边形的双层三段导轨式平面机器人，其特征在于：三个滑块Ⅰ(2)相对于平面曲线导轨I(1.1)的运动平面Ⅰ(9)为同一平面或为平行的平面。
  5. 根据权利要求1所述的含平行四边形的双层三段导轨式平面机器人，其特征在于：三个滑块Ⅱ(5)相对于平面曲线导轨II(7)的运动平面Ⅱ(10)为同一平面或为平行的平面。
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