Planar parallel robot

The utility model relates to the technical field of robot equipment, in particular to a planar parallel robot which comprises a bottom plate, a plurality of driving units symmetrically installed on the bottom plate, a plurality of small arms correspondingly connected with the driving units and a tail end device connected with the small arms respectively. Each driving unit comprises a robot base installed on the bottom plate, a crossed roller bearing with the outer ring fixed to the robot base, a hollow speed reducer fixed to the inner ring of the crossed roller bearing, a large arm fixedly connected with the hollow speed reducer, a first motor installed on the large arm and a locking air cylinder installed in the robot base. And the locking cylinder is connected with a fixing pin which can be clamped with or separated from the fixing ring. The parallel robot dragging teaching device is completely separated from a power source during dragging teaching and is not affected by motor friction and the reduction rat