WO2006046311A1

WO2006046311A1 - Xy-actuator

Info

Publication number: WO2006046311A1
Application number: PCT/JP2004/016277
Authority: WO
Inventors: Tomio Maeda
Original assignee: Tsubaki Yamakyu Chain Co., Ltd.
Priority date: 2004-10-27
Filing date: 2004-10-27
Publication date: 2006-05-04
Also published as: CN101052576A

Abstract

An XY-actuator comprises a first cam mechanism (A), a second cam mechanism (B), a linear plate (10) reciprocable in the X-direction by the forward and backward rotation of the X-direction output shaft (6) of the second cam mechanism (B), and a pair of slide plates (15, 16) reciprocable in the Y-direction on the linear plate (10) by the forward and backward rotation of the Y-direction output shaft (2) of the first cam mechanism (A). It is capable of transferring a work accurately and at high speed. Further, since it is simple in arrangement, its assembly is easy, and size reduction, size compaction and space saving can be easily attained. Its incorporation into production lines or the like and its installation are easy, and furthermore, it is superior in durability, easy to maintain, capable of cost reduction, and very economical.

Description

Specification

X Y

In the present invention, for example, in an assembly process of various products, a printing machine, an inspection machine, and the like, an object to be conveyed (hereinafter simply referred to as “workpiece”) can be accurately and at high speed. It is related to a two-dimensional linear actuator that can be transported and the device itself has a simpler and more compact configuration (hereinafter referred to as “Χ”).

Background art

Conventionally, as this type of apparatus, for example, there is a conveying apparatus disclosed in Japanese Patent Laid-Open No. 10-1 3 9 1 2 5. The transfer device is arranged in parallel with a pair of input shafts to which a rotational driving force is input so as to be opposed to each other, and can reciprocate in directions that are close to each other and in a direction perpendicular thereto. The first and second feed pars are provided on the input shaft so as to be coaxially and integrally rotatable, and have a cam shape that is symmetrical with respect to the rotation center at 180 °, one being at least one and the other being At least two, and a total of three or more feed cams and clamp cams, and each of the feed cams and clamp cams are engaged with each other at 180 ° symmetrical positions, and the input shaft A pair of feed turrets and a pair of clamping turrets for converting the rotation into a oscillating rotation in a direction orthogonal to each other, the feed turrets and the first and second feedbars A feed motion conversion mechanism that is provided between the feed turrets and converts the rotation of the feed turret into feed motions of the first and second feed bars, and the clamp turrets and the first and second feeds. A clamp motion converting mechanism that is provided between each of the bars and converts the swinging rotation of the clamping turret into the clamp motion of the first and second feed bars, and the clamp of the first and second feed bars. It is a transfer device configured to clamp the workpiece by movement and to transfer the clamped workpiece by the feed movement of the first and second feed bars.

However, in the transfer device according to the above-described prior art, one cam is Since two single-letters are used, and at least three cams (six turrets) are used for the rectangular movement, the equipment itself is complicated and expensive, and the equipment itself is relatively large, resulting in a large installation space. There was a difficulty that was necessary.

Furthermore, the turret is installed in a 180 ° symmetrical position with a 180 ° point-symmetric cam, and it is difficult to reduce the movement accuracy due to cam accuracy and cam turret assembly errors. There was also. .

Therefore, the main object of the present invention is to solve the above-mentioned problems of the prior art, transport the cake accurately and smoothly, enable stable operation, and cope with high-speed operation. It is to provide an XY feature that can.

Another object of the present invention is to provide an XY architect that can be easily simplified and made compact, and can be easily assembled and installed in a production line. Still another object of the present invention is to provide a versatile XY actuator that is excellent in durability, easy to maintain, easy to reduce costs, and extremely economical.

Disclosure of the invention

The present invention

(1) In an XY actuator configured to move a pair of operating bodies in a first direction (X direction) and a second direction (Y direction) perpendicular to this direction,

A first cam mechanism actuated by drive means, having an input shaft connected to the drive means, and first and second output shafts;

An input shaft connected to the first output shaft of the first cam mechanism via a connecting means, and a second cam mechanism having at least one output shaft;

It is connected to the second cam mechanism via a first motion converting means for converting a forward rotation or a reverse rotation of the output shaft of the second cam mechanism into a reciprocating motion, and is capable of reciprocating in the first direction. At least one linear plate disposed;

The first cam is disposed via a second motion converting means that is movably disposed on the linear plate and converts a forward rotation or a reverse rotation of the second output shaft of the first cam mechanism into a reciprocating motion. Connected to the mechanism and arranged to be able to reciprocate in the second direction. A pair of sliding plates, and a pair of actuating bodies are arranged corresponding to the pair of slide braces.

According to the above configuration, workpieces can be transported accurately and smoothly during work processes by various product assembly machines, printing machines, inspection machines, etc. In addition, stable operation is possible. It is possible to provide an XY architect that can handle high-speed work. In addition, the operational characteristics and operational accuracy of the pair of operating bodies are excellent. Moreover, the structure of the device itself is simpler, its assembly is simple, it can be made compact and compact, it is easy to save space, it is easy to install, it can be easily installed in production lines, etc., and it has excellent durability. It is hard to break down, is easy to maintain, can be reduced in cost, is economical, and has a versatile XY feature.

In the present invention,

The second cam mechanism has first and second output shafts, and first and second motion converting means for converting forward rotation or reverse rotation of the first and second output shafts into reciprocating motion. The first and second linear plates respectively connected to the second cam mechanism are disposed so as to be capable of reciprocating in the first direction, and correspond to the first and second linear plates. The first and second slide braids are disposed so as to be reciprocally movable in the second direction;

By the forward rotation or reverse rotation of the first and second output shafts of the second cam mechanism, each of the first and second slide blades is moved in the first direction together with the first and second linear plates. It can be configured to reciprocate.

According to such a configuration, each of the pair of slide blades can reciprocate in the first direction together with the pair of liner plates, i.e., the pair of slide plates can independently move in the first direction. The movement pattern variation of the pair of operating bodies can be expanded.

In the present invention,

One of the first and second slide blades is moved in the second direction by forward rotation or reverse rotation of the second output shaft of the first cam mechanism. It can be configured to be able to move backward.

According to such a configuration, since the pair of slide braces can independently move in the second direction (Y direction), the variation of the operation pattern of the pair of operating bodies can be expanded. In addition, the apparatus configuration is further simplified. In the present invention,

The first and second slide blades reciprocate so as to approach each other or move away from each other in the second direction by forward rotation or reverse rotation of the second output shaft of the first cam mechanism. Can be configured to.

According to such a configuration, since the pair of sliding blades can independently be in the second direction, the variation in the operation pattern of the pair of operating bodies can be expanded.

Furthermore, in the present invention,

The first and second slide blades are configured to reciprocate so as to approach each other and move away from each other in the first direction by forward or reverse rotation of the output shaft of the second cam mechanism. can do.

According to such a configuration, since the pair of slide blades can independently move in the first direction, the variation of the operation pattern of the pair of operating bodies can be expanded.

Furthermore, in the above invention, the first and second slide braces can be configured to be actuating bodies themselves. Brief Description of Drawings

FIG. 1 is a schematic plan view for explaining an operation example of a pair of actuating bodies constituting the XY actuator of the present invention.

FIG. 2 is a schematic cut-away front view illustrating a part of an embodiment of the XY feature according to the present invention.

FIG. 3 is a schematic partial cutaway side view illustrating a part of one embodiment of a vacuum cleaner according to the present invention.

FIG. 4 shows an example of a part of an embodiment of the present invention according to the present invention. FIG.

FIG. 5 is a schematic partially cut-away front view illustrating an example of the XY architect according to the present invention.

FIG. 6 is a schematic partially cut-away side view illustrating an example of the XY architect according to the present invention.

FIG. 7 is a schematic plan view illustrating an example of the XY architect according to the present invention.

FIG. 8 is a schematic view showing an operation example of a pair of operating bodies in the XY actuator according to the present invention. FIG. 9 is a schematic partially cutaway side view illustrating another embodiment of the XY architect according to the present invention.

FIG. 10 is a schematic plan view illustrating another example of the XY architect according to the present invention.

FIG. 11 is a schematic plan view illustrating another embodiment of the XY feature according to the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the XY architect of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is configured so that a workpiece can be conveyed accurately and at high speed during a work process (or when a workpiece is supplied or discharged) by an assembly machine, a printing machine, an inspection machine, or the like. As shown in FIG. 1, the pair of operating bodies S 1 and S 2 is divided into a first direction (hereinafter simply referred to as “X direction”) as a transport direction and a second direction orthogonal to the transport direction. It is configured to move (reciprocate) in the direction (hereinafter simply referred to as “Y direction”).

That is, the workpiece is clamped by the movement of the pair of operating bodies S 1 and S 2 in the Y direction (for example, movements approaching, moving away from each other, or approaching or moving away from each other) Alternatively, it can be separated from the workpiece, and the pair of actuators S 1 and S 2 can move in the X direction (reciprocating movement in the transport direction). The workpiece can be transported in the X direction (conveyance direction) or moved to the original position to transport the next workpiece.

As an embodiment of the XY actuator according to the present invention, a drive means such as a geared motor, an input shaft to which a driving rotational force of the drive means is transmitted, and an output shaft 1 (first output shaft) And a first cam mechanism A having a Y-direction output shaft 2 (second output shaft), a second cam mechanism B having an input shaft 5 and an X-direction output shaft 6, and a first cam mechanism A The connecting means C for transmitting the rotational force of the output shaft 1 to the input shaft 5 of the second cam mechanism B, the linear plate 10 configured to be able to reciprocate in the X direction via the guide means E, the second Motion conversion means D that converts the rotational force of the output shaft 6 for the X direction of the cam mechanism B into the reciprocating movement of the linear plate 10 in the X direction A pair of slide plates configured to be able to reciprocate 15 and 16 and a pair of slide plates A pair of slides with the guide means F that supports the guide plates 15 and 16 on the linear plate 10 so that they can reciprocate in the Y direction, and the Y direction output shaft 2 of the first cam mechanism A It has motion conversion means G that converts the plates 15 and 16 into reciprocating movements in the Y direction (see FIGS. 2, 3, and 7).

Furthermore, a pair of actuating bodies S 1 and S 2 are attached corresponding to the pair of slide plates 15 and 16, or the pair of slide plates 15 and 16 themselves are a pair of actuating bodies S 1. , S 2 (see Figure 7).

As shown in FIG. 2, the first cam mechanism A is composed of an oscillator housed in a box-shaped casing made of metal, for example. In the casing, an oscillator cam, a groove cam, a rib cam, and the like are built-in, and the input shaft is directly connected to the input shaft (or may not be directly connected). The Y-direction output shaft 2 projects from the casing. The driving rotational force of the driving means such as a geared motor is transmitted to the input shaft, and the rotation of this input shaft causes the output shaft 1 to rotate in a predetermined direction and the Y-direction output shaft 2 to be set in advance. It is configured to move appropriately combining forward rotation, reverse rotation, stop, etc. (see Fig. 2).

The second cam mechanism B is substantially the same as the first cam mechanism A, for example, a metal The input shaft 5 and the X-direction output shaft 6 project outside the housing, and the output shaft 1 of the first cam mechanism A When the rotational force is transmitted to the input shaft 5 via the connecting means C, the X-direction output shaft 6 is configured to perform a desired combination of preset forward rotation, reverse rotation, stop, etc. (See Figure 2 and Figure 3).

The connecting means C can use, for example, a chain mechanism, a toothed belt mechanism, a link mechanism, a gear mechanism, etc., and the rotational force of the output shaft 1 is reliably and accurately applied to the input shaft 5. And what is necessary is just to be able to transmit smoothly.

In the example shown in the figure, it is possible to use sprockets that are fixed to the output shaft 1 and the input shaft 5, respectively, and these sprockets are equipped with a chain or a toothed belt (Fig. 2). Figure 3 and Figure 5).

The motion converting means D is configured to smoothly and accurately convert the rotational force of the X direction output shaft 6 of the second cam mechanism B into the reciprocating movement of the linear plate 10 in the X direction. In the illustrated example, the swing arm 7 fixed to the X-direction output shaft 6 of the second cam mechanism B, the roller 8 attached to the tip of the swing arm 7, and the roller 8 are accommodated. And a roller receiver 9 fixed to the lower surface of the linear plate 10 (see Fig. 2, Fig. 3, Fig. 5 and Fig. 6).

By the way, the motion converting means D includes, for example, a pinion fixed to the X-direction output shaft 6 of the second cam mechanism B, a rack that meshes with the pinion and is fixed to the lower surface of the linear plate 10. It can also consist of (not shown). The linear plate 10 is formed, for example, in a substantially rectangular plate shape in which an oblong hole is bored so as not to interfere with the Y-direction output shaft 2 portion of the first cam mechanism A at substantially the center thereof. (See Figure 4).

Further, the guide means E is configured to support the linear plate 10 in a smooth and stable reciprocating manner in the X direction. For example, in the illustrated example, the first cam mechanism A and the second cam mechanism It is composed of a pair of rails 1 1 fixed to the B side, and a guide body 1 2 that is slidably mounted on the rails 11 and fixed to the linear plate 10 by an appropriate number. (See Figure 2, Figure 3, Figure 5, and Figure 6. The rail 11 is fixed by a fixing screw or the like, and the left and right side portions thereof are provided with notched grooves. On the other hand, the guide body 12 has protrusions that match the notched grooves of the rail 11. This guide body 12 is slid only in the X direction with respect to the rail 11 1 so that it does not rattle, separate, or deviate in the other direction (this is formed.

In this embodiment, a pair of rails 11 are provided, but the present invention is not limited to this, and one or more than three may be provided.

Further, the pair of slide plates 15 and 16 are formed in, for example, a substantially elongated rectangular plate shape (see FIG. 7).

The guide means F is configured to support the pair of slide plates 15 and 16 in a smooth and stable reciprocating manner in the Y direction. For example, in the illustrated example, on the upper surface of the linear plate 10 It is composed of a pair of fixed rails 17 and a guide body 18 that is slidably mounted on the rails 17 and fixed to each of the pair of slide plates 15 and 16. (See Figure 5, Figure 6, and Figure 7.)

The rail 17 is fixed by a fixing screw or the like in the same manner as the rail 11. Further, the left and right side portions of the rail 17 are provided with cutout grooves, while the guide body 18 is aligned with the cutout grooves. The guide body 18 is formed so that it slides only in the Y direction relative to the rail 17 and does not rattle, separate, or deviate in other directions.

In this embodiment, a pair of rails 17 are provided. However, the present invention is not limited to this, and one or three or more rails 17 may be provided.

The motion converting means G is configured to smoothly and accurately convert the rotational force of the Y-direction output shaft 2 of the first cam mechanism A to the reciprocating movement of the pair of slide plates 15 and 16 in the Y direction. For example, in the illustrated example, the swing lever 20 fixed to the Y-direction output shaft 2 of the first cam mechanism A, the guide bins 21 attached to both ends of the swing lever 20, A guide block 2 having a guide groove 2 3 for receiving the guide bin 2 1 and being attached to a pair of slide plates 1 5 and 1 6 2 (see Figure 5, Figure 6 and Figure 7).

That is, the guide groove 23 'of the guide block 22 is formed so as to be parallel to the X direction, and the linear output 10 is rotated in the X direction when the direction output shaft 6 rotates forward or backward. The guide bin 2 1 simply passes through the guide groove 2 3 in the guide block 2 2, and the pair of slide plates 1 5 and 1 6 do not move in the Y direction. It is configured to move only in the X direction with 0.

When the Y-direction output shaft 2 rotates forward or backward, the guide pin 21 pushes against the inner wall of the guide groove 2 3 and the guide block 2 2 (a pair of slide plays. 卜 1 5 and 1 6) Is configured to move in the Y direction.

By the way, the linear plate 10 is composed of, for example, one rectangular plate in the illustrated example, but is composed of two (a pair) linear plates 10 a and 10 b that are substantially elongated rectangular plates. (Refer to Fig. 9, Fig. 10 and Fig. 11) That is, a pair of linear shakers 1 0 a and 1 0 b are formed so as to be movable in the X direction by the guide means E, respectively. Furthermore, the second cam mechanism B is provided with a pair of X-direction output shafts 6 a and 6 b (first and second output shafts), and the rotational force of the pair of X-direction output shafts 6 a and 6 b Can be converted smoothly and accurately into the reciprocating motion of each linear plate 1 O a, 10 b in the X direction via the motion conversion means D. A pair of linear plates 1 0 a, 1 0 b becomes different movement state (for example, movement range, movement timing, etc. are different) It can also be configured as follows.

Specifically, the swing arm 7 is fixed to the pair of output shafts 6 a and 6 b for the X direction, and the tip portions of the pair of linear plates 10 a and 10 b and the swing arm 7 are respectively Are connected to each other via a roller 8 and a roller receiver 9. Then, by adjusting the length of the swing arm 7 (the distance from the X-direction output shafts 6a, 6b to the roller 8), etc., the pair of linear plates 1 0a, 1 0b are Since it can be moved independently in the X direction, the variation of the operation pattern of the pair of actuators S 1 and S 2 is expanded (see Fig. 11).

Also, only one of the pair of slide plates 1 5 and 1 6 operates. You may comprise so that it may connect with the output shaft 2 for Y directions through the conversion means G. That is, one (or the other) slide plate 16 connected to the heel direction output shaft 2 via the motion converting means G is formed so as not to move in the heel direction. It can also be configured to move in the Υ direction so as to move closer to the slide brace 16 (see Fig. 10).

In addition, the pair of slide plates 15 and 16 can be configured so as to be in different heel direction movement states (for example, different movement ranges, movement timings, and the like). Specifically, by adjusting the distance between the output shaft 2 for the heel direction and the guide bin 21 of the swing lever 20, each of the pair of slide blades 15 and 16 has its own pattern. Moving in the Υ direction, the variation of the operation pattern of the pair of actuators S 1 and S 2 will be more widespread.

It should be noted that the shape, dimensions, arrangement position, number, material, and the like of the components constituting the Υactuator of the present invention are not limited to those shown in the drawings, but within the scope of the object of the present invention. Various changes can be made.

In particular, in the guide means E of the linear plate 1 0 (1 0 a, 1 0 b) and the guide means F of the slide plate 1 5, 1 6, the linear plate 1 0 is a slide plate 1 5, 1 6 Depending on the shape, size, number, etc., the specific means, the shapes of these constituent members, the fixing means for these constituent members, etc. can be selected appropriately.

In addition, the motion converting means G for connecting the output shaft 2 for the heel direction of the first cam mechanism A and the slide plates 15 and 16 and the output shaft 6 for the X direction of the second cam mechanism B (6 a, 6 b ) And linear plate 10 in motion conversion means D, select the specifications and specific means appropriately according to the accuracy, price, components used, etc. be able to.

Next, the case where the XY actuator according to the present invention is used as, for example, a transfer device will be described.

First, when a driving means such as a geared motor is operated, the driving rotational force of the driving means is transmitted to the input shaft of the first cam mechanism A to operate the first cam mechanism A, and this first cam mechanism A The rotational force of the output shaft 1 of the second cam mechanism B enters via the connecting means C. The second cam mechanism B is actuated by transmission to the force shaft 5 (see Fig. 2).

Then, the X direction output shaft 6 of the second cam mechanism B rotates, and the rotational force of the X direction output shaft 6 is transmitted to the linear plate 10 via the motion conversion means D. That is, the swing arm 7 fixed to the X-direction output shaft 6, the roller 8 at the tip of the swing arm 7, the roller 8 and the roller receiver 9 fixed to the linite plate 10. As a result, the linear plate 10 reciprocates in the X direction. Moreover, as the linear plate 10 reciprocates, the pair of slide plates 15 and 16 also reciprocate in the X direction (see FIGS. 5 and 6).

In addition, when the first cam mechanism A is activated, the Y-direction output shaft 2 rotates, and the rotational force of the Y-direction output shaft 2 is applied to the pair of slide plates 15 and 16 via the motion conversion means G. Communicated. That is, the swing lever 20 fixed to the Y-direction output shaft 2, the guide bins 21 attached to both ends of the swing lever 20, and the guide bins 21 in the X direction A pair of slide plates 15 and 16 are reciprocated in the Y direction by a guide block 23 and a guide block 22 fixed to the pair of slide plates 15 and 16, respectively. Move (see Figure 5, Figure 6, and Figure 7).

Depending on the combination of the forward rotation or reverse rotation operation of the Y-direction output shaft 2 of the first cam mechanism A and the X-direction output shaft 6 of the second cam mechanism B, the stop timing, the speed, etc. The sliding plates 15 and 16 (operating bodies S 1 and S 2) can realize various operation modes as shown in FIG. 8, for example. Each operation mode is described below.

First, the operation mode shown in (I) of Fig. 8 is that the pair of slide blades 15 and 16 (actuators S 1 and S 2) transport the workpiece in the X direction (arrow ①), and then Move in the Y direction to move away (arrow ②), move back in the X direction (arrow ③), move in the Y direction so that they approach each other (arrow ④), This mode repeats the operation of ④.

In the operation mode shown in (II) of Fig. 8, the pair of slide braces 15 and 16 (actuators S 1 and S 2) transport the workpiece in the X direction (arrow ①), and then Move it away in the Y direction and move it back in the X direction (arrow Mark ②), move in the X direction (arrow ③), and move in the Y direction so that they come close to each other until they return in the X direction (arrow ④) It is a mode to repeat.

Furthermore, (III) in Fig. 8 shows that the pair of slide blades 15 and 16 (actuators S 1 and S 2) transport the workpiece in the X direction (arrow ①), and then move away from each other in the Y direction. And move back in the X direction (arrow ②), and move back in the Y direction so that they approach each other (arrow ③) before returning to the X direction (arrow ③) This mode repeats the operation of ③.

(IV) in Fig. 8 shows that after a pair of slide plates 15 and 16 (actuating bodies S 1 and S 2) appropriately transport the workpiece (conveyed object) in the X direction (①), This is a mode that repeats the operations of ① to ②, such as moving in the Y direction so that they are separated from each other before moving back, and then moving in the Y direction so that they are close to each other (②).

Then, the operation mode shown in Fig. 8 (IV) is that the pair of slide plates 15 and 16 (actuators S 1 and S 2) transport the workpiece in the X direction (arrow ①) and then the other slide The blade 1 6 (actuator S 2) is moved in the Y direction (arrow ②) away from one slide brace 1 5 (actuator S 1), and a pair of slide plates 1 5 and 1 6 (actuator Body S1, S2) Force to move back in the X direction (arrow ③), the other slide plate 16 (actuator S2) approaches one slide plate 15 (actor S1) Move in the Y direction as shown (arrow ④).

Next, the operation modes indicated by (VI), (VI 1), and (VIII) in Fig. 8 are as follows: The pair of slide blades 15 and 16 (actuators S 1 and S 2) move the workpiece in the X direction. After moving to (arrow ①), move them in the Y direction so that they are separated from each other (arrow ②), move them back in the X direction (arrow ③), and move them in the Y direction so that they approach each other (arrow) ④) In this mode, the operation of ① ～ ④ is repeated.

Each operation mode indicated by (VI) and (VIII) in FIG. 8 includes, for example, the other slide braid 16 (actuator S 2), one slide braid 15 (actor S 1), and the like. The transport stroke (movement amount in the X direction) is different and the workpiece is moved in the X direction. This is a mode in which a turning force is applied to the workpiece during transport so that the orientation of the workpiece can be controlled. Each operation mode shown in (VII) and (VIII) of FIG. 8 is, for example, the other slide braid. This is a mode in which the amount of movement in the Y direction between the first 16 (operating body S 2) and one slide bullet 15 (operating body S 1) is different. Industrial applicability

As described above, the XY actuator according to the present invention is used in an operation process by an assembly machine, a printing machine, an inspection machine, etc. for various products, and can convey a workpiece accurately and at high speed. The device itself has been devised to make it simpler and more compact.

Claims

The scope of the claims

1. In an XY actuator configured to move a pair of actuators in a first direction (X direction) and a second direction (Y direction) perpendicular to this direction,

-A first cam mechanism actuated by drive means having an input shaft connected to said drive means, and first and second output shafts;

Via the second motion conversion means, which is movably disposed on the linear plate and converts the forward rotation or reverse rotation of the second output shaft of the first cam mechanism into a reciprocating motion. A pair of slide plates connected to the cam mechanism and arranged to reciprocate in the second direction,

A pair of actuating bodies are disposed corresponding to the pair of slide brakes.

2. The second cam mechanism has first and second output shafts, and first and second operations for converting forward rotation or reverse rotation of the first and second output shafts into reciprocating motion. The first and second linear plate rods connected to the second cam mechanism via the converting means are arranged to be reciprocally movable in the first direction, and the first and second linear plates are arranged. First and second slide blades corresponding to the play rod are disposed so as to be reciprocally movable in the second direction,

Each of the first and second slide blades, together with the first and second linear plates, causes the first and second linear plates to rotate by forward or reverse rotation of the first and second output shafts of the second cam mechanism. Configured to reciprocate in the direction The XY feature unit according to claim 1, wherein:

3. Either one of the first and second slide blades can be reciprocated in the second direction by forward rotation or reverse rotation of the second output shaft of the first force mechanism. The XY feature unit according to claim 1, wherein the XY feature unit is configured as follows.

4. The first and second slide brake rods are reciprocated so as to approach each other and move away from each other in the second direction by forward rotation or reverse rotation of the second output shaft of the first cam mechanism. 3. The XY feature unit according to claim 1, wherein the XY feature unit is configured to move.

5. The first and second slide braids reciprocate so as to approach each other or move away from each other in the first direction by forward or reverse rotation of the output shaft of the second cam mechanism. 4. The XY actuator according to claim 2 or 3, wherein the XY actuator is configured to

6. Each of the one slide blades is formed as an actuating body, and the XY actuator according to any one of claims 1 to 5,