TWI627041B - Desktop robotic arm - Google Patents

Abstract

[Objective] A desktop robotic arm that moves tools such as electric screwdrivers and drills in the X, Y, and Z directions to enable the robotic arm to perform work, a cable that controls power and power from the Y body to the Z body It is provided inside the Y body, and the wire of the cable is further fed into the Z body without exposing the outside.

[Composition] It consists of a work base (1), an X body (2), a Y body (A), and a Z body (9). Z including a connection portion (upper connection portion (72)) for mounting and fixing the Y-axis running base (7) protruding from a slot (upper slot (44)) formed in the Y body (A) Guiding means for guiding the electric wire (51b) for controlling the mechanism section (91b) by slitting (upper slit (44)).

Description

Desktop robotic arm

The invention relates to a desktop robot arm, which is a robot arm that moves tools such as electric screwdrivers and drills in the X, Y, and Z directions to perform work, and performs power and power control from the Y body to the Z body. The cable is provided inside the Y body, and the wires of the cable are fed into the Z body without exposing the outside.

Generally, there is a desktop robotic arm. At the manufacturing site of a factory, etc., tools such as electric screwdrivers, drills, and welding rods are installed, and those tools can be moved in the X, Y, and Z directions to drill holes, threads, etc. Work efficiently.

This structure is firstly composed of a pedestal including a work mounting table that is movable in the X-axis direction, and a Y body that controls a reciprocating movement in the Y (horizontal) axis direction through a pedestal provided on the pedestal, And the Z body which is installed in the Y body and controls the reciprocating movement in the Z (vertical) axis direction. A specific example of this has existed as a desktop robotic arm disclosed in Japanese Patent Application Laid-Open No. 8-229860.

[Xizhi technical literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Laid-Open No. 8-229860

However, since each movable body of the Y body and the Z body uses a motor to reciprocate, each requires a power cable. In addition, a control cable for controlling the movement operation to move in the Y-axis direction and the Z-axis direction is also required. As represented by a tabletop robotic arm disclosed in Japanese Patent Application Laid-Open No. 8-29860, the power supply and control cables are connected from the Y body toward the Z body, each of which is exposed to the outside of the housing.

The power and control cables are thick cables that are gathered together. When the Z body moves toward the Y axis in the Y body, the cable moves back and forth while twisting in the left-right direction. Therefore, the cable has a redundant length in which the Z body can be reciprocated, and has a folded-back state in a substantially U-shape.

However, since the cables greatly expose the exterior of each of the housings of the Y body and the Z body, the cable is an obstacle for the operator during work, and it is likely that hands and objects will catch the cable. In addition, in this case, the product may fall from the hand and may be damaged.

In particular, if the product is a precision machine, the damage is also very large. If the cable is exposed to the outside, the cable will radiate from the outside Electromagnetism, or noise from the outside, not only adversely affects the body, but also adversely affects external equipment.

Therefore, an attempt has been made to accommodate a cable that is exposed to the outside of the casing in the casing. However, in a configuration in which the cable is disposed in the casing, a new problem arises. This is necessary to ensure an appropriate path for a large number of wire harnesses in a cable that sends out power supply and control signals from the Y body toward the Z body.

However, there is a slit for connecting the Z body to the housing of the Y body and reciprocating the Z body in the Y-axis direction. In the case of the configuration in which the wire harness in the cable is sent out to the Z body by this slit, when the Z body is reciprocated in the Y-axis direction, the wire may come into contact with the peripheral edge of the slit and the wire may break.

An object of the present invention (technical problem to be solved) is to prevent a wire harness of a cable such as a power supply and a control signal from the Y main body toward the Z main body from being exposed to the outside of the desktop robot arm, and not cut. The disconnected wiring is realized with a very simple structure.

Here, the inventor intends to solve the above-mentioned problems and concentrates on and studies the overlapping results. By using the first embodiment of the present invention as a table-type robot arm, the operation platform is provided with: The X body of the X mechanism unit that reciprocates the work mounting table in the X-axis direction, a column standing on the work platform, and a Y including a Y-axis traveling base provided with the column reciprocating in the Y-axis direction Y copy of the agency A body and a Z body having a Z mechanism unit that is fixedly mounted on the Y-axis walking abutment and includes a Z mechanism portion that reciprocates in the Z axis direction, such as a tool provided at the tip, and is provided with a mechanism for fixing the equipment to The above-mentioned problem is solved by the guide means for controlling the Z-mechanism portion of the connection portion of the Y-axis running base protruding from the slit formed in the Y body by the slit method.

According to the second embodiment of the present invention, as a table-type robot arm according to the first embodiment, the guide means is configured as a connection portion with the Y-axis traveling abutment through the slit. The above-mentioned problem is solved by covering the void portion of the electric wire. By using the third embodiment of the present invention as a table-type robot arm according to the first embodiment, the guide means is a pressing member to be disposed on the connecting portion of the Y-axis walking base. The above-mentioned problem is solved by fixing the electric wire by the slit in the vicinity of the slit with the pressing member by the slit method.

By using the fourth embodiment of the present invention as a table-type robot arm as in the first embodiment, the guide means is a guide near the slit formed in the connection portion of the Y-axis traveling abutment. The above problem is solved by a guide groove and a pressing member, wherein the electric wire is disposed in the guide groove, and the electric wire in the guide groove is fixed by the pressing member near the slit.

In a first aspect of the present invention, The guide wire for controlling the Z mechanism portion fixed to the connection portion of the Y-axis running base protruding from the slit formed in the Y body is guided by the slit method. The wires sent from the Y body toward the Z mechanism part of the Z body are guided from around and around the slit by means of guides, so that they do not contact the periphery of the slit opening, and can be performed together with the Y-axis walking base. Move back and forth. Thereby, the electric wires and cables are not exposed to the outside of the Y body and the Z body, and there is no need to worry about disconnection, and it can be realized with a very simple structure.

In the second aspect of the present invention, the guide means covers the gap portion where the electric wire is arranged together with the connecting portion of the Y-axis walking base that passes through the slit, so that the electric wire is arranged on the The gap part is ensured a relatively wide space, and the wires are not densely close to each other, so they are not affected by electromagnetic waves to each other, and a good electrical signal can be sent to the Z body. In addition, the electric wire is a Y-axis running base and is protected from the periphery of the opening and the vicinity of the slit.

In the third aspect of the present invention, because the guide means is a pressing member, the electric wire arranged at the connecting portion of the Y-axis walking abutment is passed through the slit from the vicinity of the slit to the pressing member. With a fixed structure, the wire can be protected from the periphery of the slit opening and its vicinity with a very simple structure.

In a fourth aspect of the present invention, the guide means is composed of a guide groove and a pressing member formed near the slit of the connection portion of the Y-axis traveling abutment, and the guide wire is disposed in the groove. A person who fixes the electric wire of the guide groove by a pressing member near the slit. In such a guide means, the electric wire is stored in the guide groove, and the electric wire is pressed by the pressing member, so that The electric wire does not protrude from the surface of the connection portion, and the electric wire can be protected from the periphery of the slit opening and the vicinity by a very simple structure. In addition, it can also be applied to the case where the groove width is relatively small.

A‧‧‧Y body

S‧‧‧Gap section

1‧‧‧workbench

2‧‧‧X Ontology

3‧‧‧Y Institution Department

4‧‧‧ shell

5‧‧‧ Robot arm cable

6‧‧‧ Reinforcing member

7‧‧‧Y-axis walking abutment

8‧‧‧ Guiding means

8A‧‧‧ is covered

9‧‧‧Z body

11‧‧‧column

21‧‧‧X Agency Department

31b‧‧‧cable station

33‧‧‧ base bracket

35‧‧‧ bracket cover

38‧‧‧Fixed side mount

39‧‧‧Movable side mount

39b‧‧‧Press

41‧‧‧base cover

41a‧‧‧overlay

41b‧‧‧Back Cover

42‧‧‧ Front cover

43‧‧‧side cover

44‧‧‧ Upper slit

44a‧‧‧ opening perimeter

45‧‧‧ Lower slit

51‧‧‧Unit cable

51a‧‧‧cable tube

51b‧‧‧Wire

72‧‧‧ Upper Link

72a‧‧‧ inclined link

72b‧‧‧horizontal film

72c‧‧‧Vertical

73‧‧‧ lower link

73b‧‧‧Horizontal film

73c‧‧‧Vertical film

81‧‧‧Horizontal Covering Department

81a‧‧‧Fix

82‧‧‧Vertical Cover

82a‧‧‧Fix

82b‧‧‧Turn back and bend

83‧‧‧ inclined cover

84‧‧‧Pressing member

85‧‧‧Guide groove

91‧‧‧Z Agency Department

91b‧‧‧Working Tools Department

[FIG. 1] (A) is a front view of the present invention, (B) is an enlarged cross-sectional view of Y1-Y1 arrow of (A), and (C) is an enlarged view of (B) and (Q1).

[Figure 2] (A) is a perspective view of the Y body in the present invention, (B) is an X1-X1 arrow sectional view of (A), and (C) is an enlarged view of (C) (Q2) in FIG. 1 Illustration.

[Fig. 3] (A) is an exploded perspective view showing a connection state of a Y-axis walking base and a robot arm cable according to the first embodiment of the guide means of the present invention, and (B) is a view showing the Y-axis walking base A perspective view of the connection state of the table and the robot arm cable.

[FIG. 4] (A) is a perspective view showing a second embodiment of the guidance means in the present invention, (B) is a cross-sectional view of the arrow X2-X2 of (A), and (C) is a view showing the guidance means (D) is a cross-sectional view of a main part of a third embodiment showing a modification of the guide means of the third embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The hair As shown in FIG. 1, the work base 1 and the X body 2 provided with the X mechanism portion 21 reciprocating in the X-axis direction are provided on the work base 1, and are erected on the work base 1. And a Y body A provided on the column 11 and having a Y mechanism portion 3 reciprocating in the Y axis direction, and a Z mechanism portion 91 that is fixedly mounted in the Z direction of the Y mechanism portion 3 and accommodates the reciprocating movement The Z body 9 is composed. Each of the X-axis direction and the Y-axis direction is a direction perpendicular to the horizontal direction and perpendicular to the Z-axis direction.

The work base 1 is provided on the front side with an operation unit for performing the operation of the desktop robot arm of the present invention, and the top of the work base 1 is formed into a substantially square or rectangular shape. In addition, an X body 2 is provided on the top of the work base 1 [refer to FIG. 1 (A)]. The X mechanism portion 21 of the X body 2 is composed of a substantially rectangular workpiece table 21a and a work mounting table 21b that is reciprocated in the X-axis direction by a motor on the workpiece table 21a.

A pillar 11 is provided on the top of the pedestal 1, and a Y body A is mounted on the top of the pillar 11. The Y body A is composed of a Y mechanism section 3, a Y body casing 4, and a Y-axis traveling base 7 [refer to Figs. 1 (B) and (C)]. In addition, it includes a Y-axis traveling base 7 and a base bracket 33, a bracket cover 35, and the like for connecting the robot arm cable 5 and the reinforcing member 6.

The base bracket 33 is a flat member having a function as a mounting base for fixing the robot arm cable 5 to the Y-axis traveling base 7. A bracket cover 35 and a cover 8A described later are fixed to the base bracket 33 to protect the bundlers of the electric wires 51b, 51b,... Exposed from the robot arm cable 5.

The Y body base portion 31 is formed so that the cable base 31b protrudes upward from the base bottom portion 31a [refer to FIGS. 1 (B) and (C)]. The top surface of the cable base 31b is a flat surface, and becomes a portion on which a robot arm cable 5 to be described later is placed. A partition wall portion 31c is formed to be vertical to the top surface of the cable base 31b. The cable base 31b and the partition wall portion 31c are formed so as to extend in the Y-axis direction.

The Y-axis traveling base 7 is connected to the partition wall portion 31c through the slide rail 36, so that the Y-axis traveling base 7 can reciprocate in the Y-axis direction (see FIG. 1). The reciprocating movement of the Y-axis traveling base 7 is performed by the belt drive unit 37. The belt driving section 37 is driven by a belt, a pulley and a motor (not shown). A Z body 9 is connected to the Y-axis traveling base 7. The Z body is reciprocally movable in the Y-axis direction [see Figs. 1 (A) and 2 (A)].

The Y-axis traveling base 7 is formed with an upper connection portion 72 from an upper end of the main plate portion 71 and a lower connection portion 73 from a lower end [see FIGS. 1 (B) and (C)]. The main plate portion 71 is a plate portion formed into a rectangular shape such as a rectangle or a square. The upper connecting portion 72 is formed with an inclined connecting piece 72a inclined upward from the upper end of the main plate portion 71, a horizontal piece 72b is formed from an outer end of the inclined connecting piece 72a, and an outer end of the horizontal piece 72b is formed There are vertical pieces 72c.

The lower connecting portion 73 is formed with an inclined connecting piece 73a inclined downward from the lower end of the main plate portion 71, a horizontal piece 73b is formed from an outer end of the inclined connecting piece 73a, and an outer end of the horizontal piece 73b is formed. A vertical sheet 73c is formed. The inclined connecting piece of the upper connecting portion 72 72a, the horizontal piece 72b and the vertical piece 72c, and the inclined connection piece 731a, the horizontal piece 73b, and the vertical piece 73c of the lower connection portion 73 are formed to be substantially symmetrical in the vertical direction [refer to FIG. 1 (C)].

The Y body case 4 is composed of a base cover 41, a front cover 42 and a side cover 43. The base cover 41 is composed of an upper surface covering portion 41 a covering the upper surface of the Y mechanism portion 3 and a rear surface covering portion 41 b covering the rear surface of the Y mechanism portion 3. The front cover 42 is a rectangle having a longitudinal direction in the Y-axis direction. The side cover 43 is substantially square (including a rectangle).

A base cover 41 is mounted so as to cover the upper and back surfaces of the base body portion 31 of the Y body, and side covers 43 and 43 are mounted on both sides of the base cover 41 [FIG. 1 (A), (See Figure 2 (A)]. The state in which the Y mechanism part 3 is covered with the Y body case 4 is a substantially rectangular parallelepiped in which the Y-axis direction is the longitudinal direction.

A rectangular opening is formed in the front (front) surface of the base cover 41 of the Y body A, and a front cover 42 is attached to the opening. Moreover, side covers 43 are attached to both sides. Openings are formed at the upper and lower ends of the front cover 42. A slit formed between the upper end of the front cover 42 and the upper cover portion 41 a of the base cover 41 is referred to as an upper slit 44. The slit formed between the lower end of the front cover 42 and the base bottom portion 31 a of the Y body base portion 31 is referred to as a lower slit 45 [refer to FIGS. 1 (A) and 2 (A)].

The upper slit 44 and the lower slit 45 are through holes that extend in the Y-axis direction and communicate the inside and outside of the Y body A, respectively. The upper connecting portion 72 of the Y-axis running base 7 is configured to protrude outward from the upper slit 44, and the lower connecting portion 73 is configured to protrude outward from the lower slit 45.

Specifically, the horizontal piece 72b of the upper connection portion 72 passes through the upper slit 44 and the horizontal piece 73b of the lower connection portion 73 passes through the lower slit 45. The Z body 9 is fixed to the vertical piece 72c of the upper connecting portion 72 and the vertical piece 73c of the lower connecting portion 73 (see FIG. 1).

The robot arm cable 5 is composed of a plurality of unit cables 51, 51,... These unit cables 51, 51, ... are all approximately the same length, are arranged in parallel, and adjacent unit cables 51 are fixed. , 51,..., Each of which has a substantially flat belt shape or a flat shape as a whole [refer to FIG. 1 (C), FIG. 3 and the like]. In addition, in such a case, a structure in which a plurality of cables are juxtaposed and integrated into one body is also called a ribbon cable.

Each unit cable 51 contains a large number of thin wires 51b, 51b,... In a cable tube 51a, and each unit cable 51 includes transmission of control signals for power supply and operation to the Z body 9 and the like. Features.

A reinforcing member 6 is fixed to at least one of the lateral portions of the robot arm cable 5 in the width direction. The reinforcing member 6 is a cable made of synthetic resin or the like. The reinforcing member 6 is fixed to the robot arm cable 5, and the reinforcing member 6 is formed as a part of the robot arm cable 5 and the robot arm cable 5. It is possible to stably reciprocate inside the Y body A.

The robot arm cable 5 is placed on the cable stand 31b of the Y body A together with the reinforcing member 6, and one end in the longitudinal direction is The fixed-side mount 38 is fixed to the cable base 31b, and the other end side is fixed to the base bracket 33 fixed to the aforementioned Y-axis traveling base 7 by the movable-side mount 39 (FIG. 3). Reference).

This movable-side mounting device 39 is reciprocated in the Y-axis direction together with the Y-axis traveling base 7 and the base bracket 33. The robot arm cable 5 and the reinforcing member 6 are mounted on the fixed-side mounting device 38 and the movable side. A roller-shaped turn-back portion having a substantially C-shape or a substantially arc shape is formed between the fixtures 39, and is arranged on the cable stand 31b (see FIG. 3).

In the present invention, since the bundles of electric wires 51b, 51b,... Of the robot arm cable 5 for controlling the Z mechanism section 91 are sent from the Y body A toward the Z mechanism section 91 of the Z body 9, the base moves with the Y axis. The upper connecting portion 72 of the table 7 passes through the slit (upper slit 44) together [refer to FIGS. 1 (B), (C), and 2]. In the present invention, the slit through which the bundle of electric wires 51b, 51b,... Passes is referred to as an upper slit 44. The connecting portion of the Y-axis running base 7 passing through the upper slit 44 is an upper connecting portion 72.

Furthermore, the guide means 8 is provided in order to pass the bundle of electric wires 51b, 51b, ... to the upper slit 44. The guide means 8 has a function of enclosing the electric wires 51b, 51b,... Through the upper slit 44 so as to be non-contact with the opening peripheral edge 44a of the upper slit 44.

The guiding means 8 is a plurality of embodiments. The first embodiment is a person covered by 8A. This covered 8A is a large structure that can pass through the upper slit 44 together with the upper connecting portion 72 of the Y-axis running base 7. A flat portion having a tubular portion having a void portion S inside.

The covering 8A is composed of a horizontal covering portion 81 and a vertical covering portion 82, and an inclined covering portion 83 formed at a corner portion of the vertical covering portion 82 and the vertical covering portion 82. The horizontal covering portion 81 and the vertical covering portion 82 are formed with fixing pieces 81a and fixing pieces for fixing the Y-axis traveling base 7 and the base bracket 33 fixed to the Y-axis traveling base 7. The piece 82a can be fixed to the Y-axis running base 7 by a fixing tool such as a small screw (refer to FIG. 3).

The Y-axis walking base 7 has an inclined connecting piece 72a, a horizontal piece 72b, a vertical piece 72c, and a horizontal covering portion 81, an inclined covering portion 83, and a vertical covering portion 82 covered with 8A. Square shaped tubular passage. In this tubular passage, bundles of electric wires 51b, 51b, ... are accommodated. The opening on the outer side of the Y body A in the tubular passage is present in the Z body 9, and the bundles of electric wires 51b, 51b, ... are fed in. Inside the Z body 9.

In particular, the vertical covering portion 82 covered with 8A and the vertical piece 71c of the Y-axis running base 7 constitute a flat tubular portion having a substantially rectangular cross-section with the void portion S [FIG. 2 (B) Refer to Figure 3 (B)]. The flat tubular portion constituted by the 8A and Y-axis running base 7 passes through the upper slit 44 so that the electric wires 51b, 51b,... Do not contact the opening periphery 44a of the upper slit 44 and its vicinity. To protect the wires 51b, 51b, ... (see Figure 2).

Further, a folded-back bent portion 82b is formed at an end edge of the upper end of the vertical covering portion 82 covered with the aforementioned 8A [refer to FIG. 2 (C)]. The fold The bent-back portion 82b is a smooth shape of the upper end of the vertical covering portion 82 so that the bundles of electric wires 51b, 51b,... Are not caught, and breakage can be prevented.

The second embodiment of the guide means 8 is constituted by a pressing member 84 and a guide groove 85 formed in the upper connecting portion 72 of the Y-axis traveling base 7 described above (2 (A), (B) Reference]. The guide groove 85 is a groove having a substantially concave cross section formed by the inclined connecting piece 72a, the horizontal piece 72b, and the vertical piece 72c that cross the Y-axis running base 7. In this guide groove 85, bundles of electric wires 51b, 51b, ... are accommodated.

A thin-plate-shaped pressing member 84 is fixed so as to cover the bundles of electric wires 51b, 51b,... Stored in the guide groove 85, and to make the both sides of the guide groove 85 in the width direction into a substantially bridge shape. In particular, the pressing member 84 is fixed to a portion of the guide groove 85 passing through the upper slit 44 at the upper connecting portion 72 of the Y-axis walking base 7 so that the bundle of the electric wires 51b, 51b,... Does not contact the opening periphery 44a. And its vicinity. Moreover, the pressing member 84 may be fixed to the guide groove 85 formed in the inclined connection piece 72a.

In the third embodiment of the guide means 8, the guide groove 85 is not provided, and only the pressing member 84 [refer to FIGS. 8 (C) and (D)]. In addition, the pressing member 84 is composed of an approximately door-shaped embracing portion 84a and a fixing piece 84b. The embracing portion 84a is used to surround the electric wires 51b, 51b,... 72 people on the link. Further, in a modification of the third embodiment, the pressing member 84 forms the hairpin curve of the embracing portion 84a, and a wire is also housed therein. 51b, 51b, ...

The Z body 9 is composed of a Z mechanism portion 91 and a housing 92 [refer to FIG. 2 (A)]. The Z mechanism portion 91 is composed of a mounted portion 91a and a working tool portion 91b. The mounted portion 91a is the upper connecting portion 32b and the lower connecting portion 32c of the base 32 by the Y-axis traveling base 32, and bolts and screws. The other fixtures are fixed, and the Z body 9 is reciprocated in the Y-axis direction by the Y-axis walking base 7 of the Y body A.

The work tool section 91b is operated by reciprocating movement in the Z-axis direction, that is, in the up-down direction, by a motor drive (not shown). Various tools, such as a screwdriver, a drill, and a welding device, can be attached to the tip of the said working tool part 91b.

In the present invention, as described above, in the upper slit 44 formed in the Y body A, the bundles of the plurality of electric wires 51b, 51b, ... of the robot arm cable 5 can pass through, so that the electric wires 51b, 51b, ... are not exposed. The outside of the table-type robot arm prevents the electric wires 51b, 51b,... From coming into contact with the opening peripheral edge 44a of the upper slit 44 and does not cause disconnection or the like.

Therefore, the guide means 8 generated by the covered 8A or the like is mounted on the Y-axis traveling base 7 and the plurality of electric wires 51b, 51b are connected from the upper slit 44 together with the upper connecting portion 72 of the Y-axis traveling base 7 The bundles of... Are sent out into the Z body 9, and the bundles of the wires 51 b, 51 b,.

In the present invention, the guide means 8 has been described as a structure in which the electric wires 51b, 51b, ... pass through the upper slit 44, but it is not limited. It is necessary to pass through the upper slit 44 side, and the wires 51b, 51b,... May be configured to pass through the lower slit 45.

In this case, although not specifically illustrated, the Y-axis traveling base 7 is provided in the up-down direction and the guide means 8 is provided on the lower slit 45 side. Accordingly, the configuration in which the guide means 8 is provided on the lower slit 45 side can be substantially the same as the configuration in which the guide means 8 are provided on the upper slit 44.

Claims (4)

A table-type robot arm includes an operation table, an X body provided with an X mechanism portion that moves the operation table to and fro in the X-axis direction, a column standing on the operation table, and a device provided with the device. The Y body of the Y mechanism part of the Y-axis walking abutment that reciprocates in the Y-axis direction of the column, and the connecting part provided with the fixing part fixed to the aforementioned Y-axis walking abutment. The Z body of the reciprocating Z mechanism section is provided with guiding means for guiding the wires for controlling the Z mechanism section to pass through the slit together with the connecting section, The connecting portion fixed to the Y-axis walking base is provided with the slit formed on the Y body and configured to reciprocate the Y-axis walking base. For example, the tabletop robotic arm of the first scope of the patent application, wherein the aforementioned guiding means is covered, and the Y-axis traveling abutment is passed through the slit of the Y-axis traveling abutment for reciprocating the Y-axis traveling abutment. The connecting portions together constitute a gap portion in which the electric wires are arranged. For example, the tabletop robotic arm of the first scope of the patent application, wherein the guide means is a pressing member, and the electric wire arranged at the connecting portion of the Y-axis walking base is passed through the slit method. The vicinity of the slit is surrounded by the embracing portion of the pressing member. For example, the tabletop robotic arm of the first scope of the patent application, wherein the guide means is composed of a guide groove and a pressing member formed near the slit in the connection portion of the Y-axis walking base, and the wire is The guide groove is arranged in the guide groove, and the electric wire of the guide groove is stored in the guide groove and the pressing member near the slit.