Abstract:
A compact and gearless driving mechanism with a reduced operational envelope includes a support frame and two driving assemblies. The support frame includes a top plate and a bottom plate. Each driving assembly includes a first linear driving module, a second linear driving module intersecting with the first, and a third linear driving module intersecting with the second. The first linear driving module drives the second linear driving module to move along the first linear driving module, the second linear driving module drives the third linear driving module to move along the second linear driving module. A driving direction of each third linear driving module is inclined relative to the driving directions of the first linear driving module and the second linear driving module.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is related to three co-pending U.S. patent applications (Attorney Docket Nos. US51919, US51920, US51921), entitled “ROBOT”, “DRIVING MECHANISM”, “THREE-AXES ROBOT”, respectively, by Day et al. The applications have the same assignee as the instant application and are concurrently filed on the same day. The disclosure of the above-identified applications is incorporated herein by reference. 
     
    
     FIELD 
       [0002]    The present disclosure relates to driving mechanisms, and particularly to a small sized driving mechanism. 
       BACKGROUND 
       [0003]    A driving mechanism can be applied to industrial processes, and particularly applied to heavy processes, repetitive processes, or special process environments, for example. A driving mechanism can be used in assembly of an electronic device, such as mobile phone, for example. However, electronic devices for example smart phones and tablet computers are gradually becoming thinner, and the assembling, machining, or handling of such electronic devices becomes harder and requires greater precision. Driving mechanism may drive along a plurality of directions, for example, driving mechanism may use a plurality of gears or reducers for transmitting movements. However, gears and reducers add weight and bulk and such a driving mechanism produces a lot of vibrations. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0004]    The components in the drawings are not necessarily drawn to scale, the emphasis instead being placed upon clearly illustrating the principles of the present disclosure. Moreover, in the drawings, like reference numerals designate corresponding parts throughout several views. 
           [0005]      FIG. 1  is an isometric view of a first embodiment of a driving mechanism. 
           [0006]      FIG. 2  is an exploded, isometric view of the driving mechanism of  FIG. 1 . 
           [0007]      FIG. 3  is an isometric view of a second embodiment of a driving mechanism. 
       
    
    
     DETAILED DESCRIPTION 
       [0008]    The disclosure is illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which like references indicate similar elements. It should be noted that references to “an” or “one” embodiment in this disclosure are not necessarily to the same embodiment, and such references mean “at least one.” 
         [0009]    The term “coupled” is defined as being connected, whether directly or indirectly, through intervening components, and is not necessarily limited to physical connections. The connection can be such that objects are permanently connected or releasably connected. 
         [0010]      FIGS. 1 and 2  illustrate a first embodiment of a driving mechanism  100 . The driving mechanism  100  includes a support member  101 , a first driving assembly  102 , a second driving assembly  103 , and at least one controller  105  (schematically shown in  FIG. 1 ). The first driving assembly  102 , the second driving assembly  103 , and the at least one controller  105  can be mounted on the support member  101 . The first driving assembly  102  and the second driving assembly  103  can be electrically coupled to the at least one controller  105 . A first actuating mechanism  90  can be coupled to the first driving assembly  102 , and a second actuating mechanism  90 ′ can be mounted to the second driving assembly  103 . The first driving assembly  102  and the second driving assembly  103  can be controlled by the at least one controller  105  to do tasks, such as detect and pick up, assemble, or machine, in relation to a workpiece. In the illustrated embodiment, the first actuating mechanism  90  and the second actuating mechanism  90 ′ detect a workpiece (not shown). The support member  101  is substantially a rectangular plate, and assembled on a worktable when in use. The support member  101  can support the first driving assembly  102  and the second driving assembly  103 . The support member  101  can define a position hole  11  for positioning the workpiece. In an alternative embodiment, the workpiece can be positioned elsewhere, such as being positioned on a worktable (not shown) for example. 
         [0011]    The first driving assembly  102  is largely a copy of the second driving assembly  103 , thus only the first driving assembly  102  is explained in detail. The first driving assembly  102  can include a first linear driving module  30 , a second linear driving module  50 , and a third linear driving module  70 . The first linear driving module  30  can be mounted on the support member  101 . The second linear driving module  50  can be mounted on the first linear driving module  30 . The third linear driving module  70  can be mounted on the second linear driving module  50  and coupled with the first actuating mechanism  90 . The first linear driving module  30  can drive the second linear driving module  50  along a first direction A. The second linear driving module  50  can drive the third linear driving module  70  along a second direction B. The third linear driving module  70  can drive the first actuating mechanism  90  along a third direction C. For example, a driving direction of the third linear driving module  70  is along the third direction C. In the illustrated embodiment, the first direction A and the third direction C can be perpendicular to the second direction B. The third direction C is not required to be perpendicular to the first direction A. A moving direction of the first actuating mechanism  90  driven by the third linear driving module  70  can be inclined relative to a plane of movement of the third linear driving module  70 . Because the third linear driving module  70  can move along the first direction A and the second direction B, the moving direction of the first actuating mechanism  90  driven by the third linear driving module  70  can be inclined relative to a plane parallel to the first direction A and the second direction B. 
         [0012]      FIG. 2  illustrates that the first linear driving module  30  can include a connecting member  31 , a mounting member  32 , a connection reinforcing member  33 , a driving member  34 , a first transmission member  35 , a second transmission member  36 , a third transmission member  37 , a protecting plate  38 , or a protecting cover  39 . The connecting member  31  can be substantially a rectangular plate. The connecting member  31  can be mounted on the support member  101  along the first direction A and located adjacent to an edge of the support member  101 . The mounting member  32  can be substantially a frame and can define an opening  321  for mounting the connection reinforcing member  33 , the driving member  34 , the first transmission member  35 , the second transmission member  36 , the third transmission member  37 , and the protecting plate  38 . The mounting member  32  can be coupled to the connecting member  31  by fasteners for example. A longitudinal direction of the mounting member  32  can be parallel to the first direction A. 
         [0013]    The connection reinforcing member  33  can be fixed to a distal end of the mounting member  32  and received in the opening  321 . The driving member  34  can include a driving body  341  and a driving end  343  protruding from the driving body  341 . The driving body  341  can be mounted on an end wall of the mounting member adjacent to the connection reinforcing member  33 . The driving end  343  can be inserted through the end wall of the mounting member  32 , to extend to the connection reinforcing member  33 . Thus, the driving end  343  can be received in the mounting member  32 . The first transmission member  35  can be substantially a rod and positioned in the mounting member  32  along the first direction A. A first end portion of the first transmission member  35  can be rotatably coupled to a wall of the mounting member  32  away from the connection reinforcing member  33 , and a second end portion of the first transmission member  35  can be inserted through the connection reinforcing member  33  and coupled to the driving end  343  of the driving member  34 . The connection reinforcing member  33  can be rotatably sleeved on a connecting portion of the first transmission member  35  and the driving end  343  for strengthening a connection between the first transmission member  35  and the driving end  343 . The driving body  341  can rotate the driving end  343 . Thus, the driving end  343  rotates the first transmission member  35 . In the illustrated embodiment, the driving member  34  is a motor. The first transmission member  35  is a guiding lead screw. 
         [0014]    The second transmission member  36  can be substantially cylindrical, and rotatably sleeved on the first transmission member  35  and threaded with the first transmission member  35 . The third transmission member  37  can include a first fixing portion  371  and a second fixing portion  373  located upon the first fixing portion  371 . The first fixing portion  371  can be substantially cylindrical, and define a through hole  3711  along a center axis thereof. The through hole  3711  can match with the second transmission member  36 , and the first fixing portion  371  can be fixedly sleeved on the second transmission member  36  via the through hole  3711 . The second fixing portion  373  can be substantially cuboid. Opposite sides of the second fixing portion  373  can be supported on sides of the mounting member  32  along the first direction A, such that the mounting member  32  can guide the second fixing portion  373  in operation. The second fixing portion  373  can define a receiving groove  3731  at a top surface. The protecting plate  38  can be a plate matching with the mounting member  32  and fixed on the mounting member  32 . The protecting plate  38  can be partly received in the receiving groove  3731  to cover the opening  321 , and to prevent dust and grease from entering into the mounting member  32 . The protecting cover  39  covers the driving body  341  of the driving member  34 , thereby preventing dust or grease from entering into the driving body  341 . 
         [0015]    A structure of the second linear driving module  30  can be similar to the first linear driving module  30 . Thus, an explanation of the second linear driving module  50  is not required. The second linear driving module  30  can include a connecting member  51 , a mounting member  52 , a connection reinforcing member  53 , a driving member  54 , a first transmission member  55 , a second transmission member  56 , a third transmission member  57 , a protecting plate  58 , and a protecting cover  59 . The connecting member  51  can be a frame and include a first connecting portion  511  and a second connecting portion  513  fixedly coupled to the first connecting portion  511 . The first connecting portion  511  can be a substantially rectangular frame parallel to the support member  101 . The first connecting portion  511  can be fixedly coupled to the second fixing portion  373  of the third transmission member  37 . Thus, the connecting member  51  can move along the first direction A with the third transmission member  37 . The second connecting portion  513  can be perpendicular to the first connecting portion  511 , and a first end of the second connecting portion  513  can be coupled to the first connecting portion  511 . A longitudinal direction of the second connecting portion  513  can be parallel to the second direction B. The respective structures or coupling relationships of the mounting member  52 , the connection reinforcing member  53 , the driving member  54 , the first transmission member  55 , the second transmission member  56 , the third transmission member  57 , the protecting plate  58 , and the protecting cover  59  are the same as those of the mounting member  32 , the connection reinforcing member  33 , the driving member  34 , the first transmission member  35 , the second transmission member  36 , the third transmission member  37 , the protecting plate  38 , and the protecting cover  39 . Thus, explanations are omitted. The first transmission member  55  of the second linear driving module  50  can be positioned along the second direction B. 
         [0016]    A structure of the third linear driving module  70  can be similar to that of the first linear driving module  30 . Thus, an explanation of the third linear driving module  70  is simplified. The third linear driving module  70  can include a connecting member  71 , a mounting member  72 , a driving member  74 , a first transmission member  75 , an intermediate transmission assembly  750 , a second transmission member  76 , a third transmission member  77 , a protecting plate  78 , and a protecting cover  79 . The connecting member  71  can be a substantially triangular prism and mounted on the third transmission member  57  of the second linear driving module  50 , perpendicular to the support member  101 . The connecting member  71  can include an inclined surface  711 . The inclined surface  711  can be located at a side of the connecting member  71  away from the third transmission member  57 . The inclined surface  711  can be inclined relative to the support member  101 . A distance between the inclined surface  711  and the third transmission member  57  of the second linear driving module  50  can increase along a direction towards the support member  101 . The inclined surface  711  can be positioned along the third direction C. The mounting member  72  can be fixed to the inclined surface  711 . The driving member  74  can be mounted at a side surface of the mounting member  72  and parallel to the mounting member  72 . The first transmission member  75  can be a rod, and opposite ends thereof can be mounted at sidewalls of the mounting member  72 . The first transmission member  75  can be located along the third direction C. 
         [0017]    The intermediate transmission assembly  750  can include a first transmission pulley  751 , a second transmission pulley  753 , and a transmission belt  755 . The first transmission pulley  751  can be sleeved on a driving end of the driving member  74 . The second transmission pulley  753  can be sleeved on a first end of the first transmission member  75  adjacent to the driving member  74 . The transmission belt  755  can be sleeved on the first transmission pulley  751  and the second transmission pulley  753 . The driving member  74  can rotate the first transmission pulley  751 , the first transmission member  75  then being rotated by the transmission belt  755  and the second transmission pulley  753 . The respective structures and coupling relationships of the first transmission member  75 , the second transmission member  76 , the third transmission member  77  and the protecting plate  78  can be substantially the same as those of first transmission member  35 , the second transmission member  36 , the third transmission member  37 , and the protecting plate  38  of the first linear driving module  30 . Thus, explanations of the first transmission member  75 , the second transmission member  76 , the third transmission member  77 , and the protecting plate  78  are omitted. The first transmission member  75  of the third linear driving module  70  can be located along the third direction C. The protecting cover  79  can be mounted on a distal end of the mounting member  72  and cover the first transmission member  751 , the second transmission member  753 , and the transmission belt  755 . 
         [0018]    The second driving assembly  103  can also include a first linear driving module  30 ′, a second linear driving module  50 ′, and a third linear driving module  70 ′. The first linear driving module  30 ′ can be mounted on the support member  101  and located opposite to the first linear driving module  30 . The first linear driving module  30 ′ can be located parallel to the first linear driving module  30 ′. Thus, the first linear driving module  30 ′ can be also arranged along the first direction A. The second linear driving module  50 ′ can be mounted on the first linear driving module  30 ′ and located opposite to the second linear driving module  50 . The second linear driving module  50 ′ can be located parallel to the second linear driving module  50 . Thus, the second linear driving module  50 ′ can be also arranged along the second direction B. The first linear driving module  30 , the second linear driving module  50 , the first linear driving module  30 ′, and the second linear driving module  50 ′ can together define a substantially rectangular hollow frame. Thus, a space occupied by the driving mechanism  100  in a plane parallel to the first linear driving module  30  and the second linear driving module  50  is small. The third linear driving module  70 ′ can be mounted on the second linear driving module  50 ′ and located opposite to the third linear driving module  70 . The third linear driving module  70 ′ can be arranged along a fourth direction C′. The fourth direction C′ and the third direction C can be axisymmetrical about the axis perpendicular to the support member  101 . A distal end of the third linear driving module  70  and a distal end of the third linear driving module  70 ′ can be close to each other. A structure of the first linear driving module  30 ′ can be substantially same as the structure of the first linear driving module  30 . A structure of the second linear driving module  50 ′ can be substantially same as the structure of the second linear driving module  50 . A structure of the third linear driving module  70 ′ can be substantially same as the structure of the third linear driving module  70 . Coupling relationships of the first linear driving module  30 ′, the second linear driving module  50 ′, and the third linear driving module  70 ′ can be substantially the same as those of the first linear driving module  30 , the second linear driving module  50 , and the third linear driving module  70 . Structures and coupling relationships of the first linear driving module  30 ′, the second linear driving module  50 ′, and the third linear driving module  70 ′ are as in the descriptions above. 
         [0019]    In the illustrated embodiment, the number of the at least one controller  105  is one. The controller  105  can be electrically connected to the driving member  34  of the first linear driving module  30 , the driving member  54  of the second linear driving module  50 , the driving member  74  of the third linear driving module  70 , a driving member of the first linear driving module  30 ′, a driving member of the second linear driving module  50 ′, and a driving member of the third linear driving module  70 ′. The controller  105  can control the above six driving members to work, such that the first driving assembly  102  and the second driving assembly  103  can simulate the dexterity of two human hands (for example in detect or in assembly) controlled by the controller  105 . In an alternative embodiment, the controller  105  can be more than one, and then the more than one controller  105  can cooperatively control the first driving assembly  102  and the second driving assembly  103 . 
         [0020]    In assembly, the first linear driving module  30 , the second linear driving module  50 , the third linear driving module  70 , the first linear driving module  30 ′, the second linear driving module  50 ′, and the third linear driving module  70 ′ are installed. When assembling the first linear driving module  30 , the mounting member  32  can be fixed to the connecting member  31 . The connection reinforcing member  33  can be fixed within the mounting member  32 . The driving member  34  can be mounted on the mounting member  32  and located adjacent to the connection reinforcing member  33 . The first transmission member  35  can be received in the mounting member  32  along a longitudinal direction of the mounting member  32 . Opposite ends of the first transmission member  35  can be movably inserted through the mounting member  32 , and the first transmission member  35  can be coupled to the driving end  343  of the driving member  34 . A connecting portion of the driving end  343  and the first transmission member  35  can be received in the connection reinforcing member  33 . The second transmission member  36  can be sleeved on the first transmission member  35  and threaded with the first transmission member  35 . The third transmission member  36  can be fixed to the second transmission member  36 . The protecting plate  38  can pass through the receiving groove  3731  and cover the opening  321  of the mounting member  32 . The protecting cover  39  covers the driving member  34 . When assembling the second linear driving module  50 , the mounting member  52  can be fixed to the second connecting portion  513  of the connecting member  51 . Other assembly steps of the second linear driving module  50  can be the same as the assembly steps of the first linear driving module  30 . When assembling the third linear driving module  70 , the mounting member  72  can be mounted on the inclined surface  711 . The driving member  74  can be mounted on a sidewall of the mounting member  72 . The first transmission member  75  can be inserted through the mounting member  72 . The first transmission pulley  751  and the second transmission pulley  753  can be sleeved on the driving member  74  and the first transmission member  75 , respectively. The transmission belt  755  can be wound over the first transmission pulley  751  and the second transmission pulley  753 . Other assembly steps of the third linear driving module  30 ′ can be substantially the same as those for the first linear driving module  30 . Assembling the first linear driving module  30 ′, the second linear driving module  50 ′, and the third linear driving module  70 ′ is as described above. 
         [0021]    The assembled first linear driving module  30  and assembled first linear driving module  30 ′ can be mounted on the support member  101 , and the first linear driving module  30  can be parallel to the first linear driving module  30 ′. The first connecting portion  511  can be perpendicularly fixed to the third transmission member  37  of the first linear driving module  30 . The assembled second linear driving module  50  and assembled first linear driving module  50 ′ can be mounted on the support member  101 , and the first linear driving module  30  can be parallel to the first linear driving module  30 ′. The first connecting portion  511  can be perpendicularly fixed to the third transmission member  37  of the first linear driving module  30 , and the second linear driving module  50 ′ can be perpendicularly fixed to the first linear driving module  30 ′. The second linear driving module  50  and the second linear driving module  50 ′ can be located above the first linear driving module  30  and the first linear driving module  30 ′. The first linear driving module  30  and the second linear driving module  50  can form an L-shape together. The second linear driving module  50  and the second linear driving module  50 ′ can form an L-shape together, and then the first linear driving module  30 , the second linear driving module  50 , the first linear driving module  30 ′, and the second linear driving module  50 ′ together can form a hollow frame. The first linear driving module  30 , the second linear driving module  50 , the first linear driving module  30 ′ and the second linear driving module  50 ′ are arranged to be a substantially quadrilateral structure. The connecting member  70  of the third linear driving module  70  can be mounted on the third transmission member  57  of the second linear driving module  50 . The third linear driving module  70  can be fixed to the second linear driving module  50 ′, and the third linear driving module  70  and the third linear driving module  70 ′ can be axisymmetrically arranged. The controller  105  can be positioned on the support member  101 , and can be electrically coupled to the driving member  34  of the first linear driving module  30 , the driving member  54  of the second linear driving module  50 , the driving member  74  of the third linear driving module  70 , the driving member of the first linear driving module  30 ′, the driving member of the second linear driving module  50 ′, and the driving member of the third linear driving module  70 ′. 
         [0022]    In operation, the first actuating mechanism  90  and the second actuating mechanism  90 ′ can be mounted on the first driving assembly  102  and the second driving assembly  103 , respectively. In the illustrated embodiment, the first actuating mechanism  90  and the second actuating mechanism  90 ′ are in a same structure. The first actuating mechanism  90  can include a mounting frame  91 , an actuating member  93 , and a camera  95 . The actuating member  93  and the camera  95  can be mounted on the mounting frame  91 . The mounting frame  91  can include a first plate  911  and a second plate  913  fixed to the first plate  911 . The first plate  911  can be fixed to the third transmission member  77  of the third linear driving module  70  along the third direction C. Thus, the first plate  911  can be capable of moving along the third direction C when driven by the third transmission member  77 . The second plate  913  can be perpendicular to the first plate  911 . The actuating member  93  can be perpendicularly mounted on the second plate  913  and move along the third direction C with the mounting frame  91 . In the illustrated embodiment, the actuating member  93  can be a probe for detecting the workpiece. The camera  95  can be fixed to the first plate  911  of the mounting frame  91 . The camera can capture an image when the actuating member  93  detects the workpiece. The second actuating mechanism  90 ′ can be mounted on the third linear driving module  70 ′. The first actuating mechanism  90  and the second actuating mechanism  90 ′ can be located above the first linear driving module  30 , the second linear driving module  50 , the first linear driving module  30 ′, and the second linear driving module  50 ′. A workpiece (not shown) can be positioned in the positioning hole  11 , and the actuating member  93  of the first actuating mechanism  90  and an actuating member of the second actuating mechanism  90 ′ can be located away from the positioning hole  11 , and to prevent disturbing the positioning of the workpiece. 
         [0023]    After the workpiece has been positioned, the controller  105  can control the driving body  341  of the first linear driving module  30  to rotate the driving end  343 . Thus, the third transmission member  37  can move along the first transmission member  35  when driven by the second transmission member  36 . Because the first transmission member  35  is located along the first direction A, the third transmission member  37  also moves along the first direction A. The third transmission member  37  can move the second linear driving module  50  along the first direction A. Thus, the first linear driving module  30  can drive the second linear driving module  50 , the third linear driving module  70 , and the first actuating mechanism  90  to move along the first direction A. The controller  105  can control the driving member  53  to enable the third linear driving module  70  and the first actuating mechanism  90  to move along the second direction B. The controller  105  can control the driving member  73  to enable the first actuating mechanism  90  to move along the third direction C. Thus, the actuating member  93  can move towards the workpiece. In the same way, the controller  105  controls the second actuating mechanism  90 ′ to move along the first direction A, the second direction B, and the fourth direction C′ by the first linear driving module  30 ′, the second linear driving module  50 ′, and the third linear driving module  70 ′, respectively. Therefore, the first actuating member  93  of the first actuating mechanism  90  and the second actuating member of the second actuating mechanism  90 ′ act together to detect the workpiece. The controller  105  controls the first driving assembly  102  and the second driving assembly  103  to simulate human hands in detecting the workpiece. The camera  95  of the first actuating mechanism  90  and a camera of the second actuating mechanism  90 ′ is activated on detection of the workpiece. 
         [0024]    Because the linear driving modules of the first driving assembly  102  and the second driving assembly  103  are arranged on the support member  101  without interference, and driving directions of the third linear driving module  70  and third linear driving module  70 ′ are inclined, the driving mechanism  100  size is reduced. The driving mechanism  100  uses no gears or meshing structures, which also decreases a size and weight of the driving mechanism  100 . In addition, the third linear driving module  70  and third linear driving module  70 ′ are inclined. Thus, the first actuating mechanism  90  and the second actuating mechanism  90 ′ can be inserted into a complex workpiece, for example, the actuating members can conveniently be inserted into an inclined hole defined on a vertical wall of the workpiece. 
         [0025]      FIG. 3  illustrates a second embodiment of a driving mechanism  200 , which is similar to the driving mechanism  100  of the first embodiment. The driving mechanism  200  can include a support frame  201 , a first driving assembly  202 , a second driving assembly  203 , a first actuating mechanism  80 , a second actuating mechanism  80 ′, and a controller  105 . The support frame  201  can include a top plate  2011 , a bottom plate  2012 , and a plurality of coupling rods  2013 . The top plate  2011  and the bottom plate  2012  can be parallel to each other. The coupling rods  2013  can interconnect the top plate  2011  and the bottom plate  2013 . The top plate  2011 , the bottom plate  2012 , and the coupling rods  2013  can together define a receiving chamber  2015 . The first driving assembly  202 , the second driving assembly  203 , and the controller  105  can be mounted on the top plate  2011  of the support frame  201  and be received in the receiving chamber  2015 . Structures and relationships of the first driving assembly  202 , the second driving assembly  203 , the first actuating mechanism  80 , the second actuating mechanism  80 ′ and the controller  105  are the same as the structures and relationships of the first driving assembly  102 , the second driving assembly  103 , the first actuating mechanism  90 , the second actuating mechanism  90 ′, and the controller  105  of the first embodiment. Explanations of structures and relationships of the first driving assembly  202 , the second driving assembly  203 , the first actuating mechanism  80 , the second actuating mechanism  80 ′, and the controller  105  are thus simplified. 
         [0026]    The first driving assembly  202  can include a first linear driving module  20 , a second linear driving module  40 , and a third linear driving module  60 . The second driving assembly  203  can include a first linear driving module  20 ′, a second linear driving module  40 ′, and a third linear driving module  60 ′. The first linear driving module  20  and the second linear driving module  20 ′ can be mounted on the top plate  2011  parallel to each other. The second linear driving module  40  can be slidably mounted on the first linear driving module  20  and located at a side of the first linear driving module  20  away from the top plate  2011 . The second linear driving module  40 ′ can be slidably mounted on the first linear driving module  20 ′ and located at a side of the first linear driving module  20 ′ away from the top plate  2011 . The first linear driving module  20 , the second linear driving module  40 , the first linear driving module  20 ′, and the second linear driving module  40 ′ together define a substantially rectangular frame. The third linear driving module  60  can be slidably mounted on the second linear driving module  40  and inclined relative to an imaginary plane parallel to a driving direction of the first linear driving module  20  and a driving direction of the second linear driving module  40 . 
         [0027]    The third linear driving module  60 ′ can be slidably mounted on the second linear driving module  40 ′ and inclined relative to an imaginary plane parallel to a driving direction of the first linear driving module  20 ′ and a driving direction of the second linear driving module  40 ′. The driving direction of the first linear driving module  20  can be parallel to the driving direction of the first linear driving module  20 ′. The driving direction of the second linear driving module  40  can be parallel to the driving direction of the second linear driving module  40 ′. A distance between the third linear driving module  60  and the third linear driving module  60 ′ decreases gradually along a direction towards bottom plate  2012 . The distance between the third linear driving module  60  and the third linear driving module  60 ′ decreases in the downward direction. The first actuating mechanism  80  can be slidably mounted on the third linear driving module  60 . A moving direction of the first actuating mechanism  80  can be inclined relative to an imaginary plane parallel to a moving direction of the second linear driving module  40  and a moving direction of the third linear driving module  60 . 
         [0028]    The second actuating mechanism  80 ′ can be slidably mounted on the third linear driving module  60 ′. A moving direction of the second actuating mechanism  80 ′ can be inclined relative to an imaginary plane parallel to a moving direction of the second linear driving module  40 ′ and a moving direction of the third linear driving module  60 ′. In the illustrated embodiment, the moving direction of the first actuating mechanism  80  and the moving direction of the second actuating mechanism  80 ′ can be axisymmetrical about an axis perpendicular to the bottom plate  2012 . Structures and coupling relationships of the first linear driving module  20 , the second linear driving module  40 , the third linear driving module  60 , the first actuating mechanism  80 , the first linear driving module  20 ′, the second linear driving module  40 ′, the third linear driving module  60 ′, and the second actuating mechanism  80 ′ can be substantially the same as those of the first linear driving module  30 , the second linear driving module  50 , the third linear driving module  70 , the first actuating mechanism  90 , the first linear driving module  30 ′, the second linear driving module  50 ′, the third linear driving module  70 ′, and the second actuating mechanism  90 ′. Thus, an explanation of the structures and coupling relationships of the first linear driving module  20 , the second linear driving module  40 , the third linear driving module  60 , the first actuating mechanism  80 , the first linear driving module  20 ′, the second linear driving module  40 ′, the third linear driving module  60 ′, and the second actuating mechanism  80 ′ can be the same as that in the descriptions above. 
         [0029]    When in operation, a workpiece can be mounted on the bottom plate  2012  of the support frame  201  and located between the first actuating mechanism  80  and the second actuating mechanism  80 ′. The controller  105  can control the first linear driving module  20 , the second linear driving module  40 , and the third linear driving module  60  to drive the first actuating mechanism  80  and control the first linear driving module  20 ′, the second linear driving module  40 ′, and the third linear driving module  60 ′ to drive the second actuating mechanism  80 ′. Thus, the first actuating mechanism  80  and the second actuating mechanism  80 ′ can cooperatively detect and/or machine the workpiece. Because linear driving modules of the driving mechanism  200  are located on the top plate  2011  of the support frame  201 , a complex structure on the bottom plate  2012  is avoided and interference with outer or peripheral devices, such as a feeding device or conveyor for example, is also avoided. 
         [0030]    In an alternative embodiment, the first linear driving module  30  of the first driving assembly  102  and the first linear driving module  30 ′ of the second driving assembly  103  can be the same. Thus, the second linear driving module  50  and the second linear driving module  50 ′ can be mounted on the same linear driving modules to move along the same straight line. The first linear driving module assembly  102  and the second linear driving module assembly  103  can be located on different planes at different heights, and the first linear driving module assembly  202  and the second linear driving module assembly  203  can be located on different planes at different heights. For example, the first driving assembly  202  can be located on the top plate  2011  and the second driving assembly  203  can be located on the bottom plate  2011 , such that the first actuating mechanism  80  can be located at an end of the third linear driving module  60  adjacent to the bottom plate  2012 , and the second actuating mechanism  80 ′ can be located at an end of the third linear driving module  60 ′ adjacent to the bottom plate  2012 . The first linear driving module  30  and the first linear driving module  30 ′ can be located on different horizontal planes, the second linear driving module  50  and the second linear driving module  50 ′ can be located on different horizontal planes, and the third linear driving module  70  and the third linear driving module  70 ′ can be located at different heights. Thus, the first linear driving module  30  and the first linear driving module  30 ′ can be vertically staggered, the second linear driving module  50  and the second linear driving module  50 ′ can be vertically staggered, and the third linear driving module  70  and the third linear driving module  70 ′ can be vertically staggered, such that the first actuating mechanism  80  and the second actuating mechanism  80 ′ can be vertically staggered. 
         [0031]    In an alternative embodiment, the connecting members  31 ,  51 ,  71 , the connection reinforcing members  33 ,  53 , the first transmission member  35 ,  55 ,  57 , the second transmission members  36 ,  56 ,  76 , the third transmission members  37 ,  57 ,  77 , the first transmission pulley  751 , the second transmission pulley  753 , and the transmission belt  755  can be omitted, such that the mounting member  53  of the second linear driving module  50  can be directly coupled to the driving member  34 , the mounting member  72  of the third linear driving module  70  can be directly coupled to the driving member  54 , the first actuating mechanism  90  can be directly coupled to the driving member  74 , and the driving members  34 ,  54 ,  74  can be motors. The third direction C and the fourth direction C′ can be inclined relative to the first direction A and the second direction B, and the inclined surface  711  and the inclined surface of the third linear driving module  70 ′ can be inclined relative to the first direction A and the second direction B. The first direction A can be non-perpendicular to the second direction B. 
         [0032]    In an alternative embodiment, the third direction C and the fourth direction C′ can be inclined at different degrees relative to the first direction. The driving mechanism  100  can include more than two driving assemblies to according to different requirements. For example, the driving mechanism can include more than two driving assemblies to enable operations on many portions of an inner sidewall of an electronic device at the same time. 
         [0033]    It is believed that the present embodiments and their advantages will be understood from the foregoing description, and it will be apparent that various changes can be made thereto without departing from the spirit and scope of the embodiments or sacrificing all of its material advantages.