TW201429657A - Robot arm delivery module - Google Patents

Abstract

The invention provides a robot arm delivery module, and more particularly, it refers to an application of delivering a robot arm to a specified position. The robot arm delivery module comprises a horizontal mechanism, a vertical mechanism and a rotary mechanism. The horizontal mechanism comprises two fixed slide rails, a screw rod, a server and a bottom slide board. The vertical mechanism disposed above the horizontal mechanism comprises a top base board, two slide rails, a top slide board, a support frame and a transmission mechanism, in which the transmission mechanism comprises a screw rod, a passive gear, an active gear, a belt and a server. The rotary mechanism disposed between the horizontal mechanism and the vertical mechanism comprises a rotary shaft, a bearing, a worm wheel, a server and a worm. Further, a horizontal mechanism in another embodiment comprises two fixed slide rails, a toothed bar, a server and a bottom slide board. According to this module, the robot arm disposed on the support frame of the vertical mechanism can be horizontally shifted on the fixed slide rails of the horizontal mechanism that are corresponding to the bottom slide board, the top base board of the vertical mechanism that is located above the bottom slide board of the horizontal mechanism allows for 360-degree swivel, and the top slide board disposed on the slide rails of the top base board can be vertically shifted. Accordingly, the controlling and positioning of delivering the robot arm can be effectively promoted, and the convenience and mobility of moving the robot arm at any locations can be attained. With these gains, it is easily seen that the invention meets all requirements of industrial applicability, novelty and inventiveness.

Description

Robot arm transport module

The invention relates to a transport module, in particular to a robotic arm transport module capable of rotating and vertically displaces a vertical mechanism provided with a robot arm, and a vertical mechanism and horizontal displacement of the horizontal mechanism.

Although the domestic industry has developed from traditional to high-tech, there are still many production processes in the factory that rely on manpower, which makes the factory unable to break away from the high labor costs and the problems brought about by the regulations. In order to compete with the same industry, how to Lowering the unit price of the product and increasing profits is a challenge for today's factories. How to make the factory develop to no one, reduce costs, reduce defective products, improve quality and output, and the robot arm plays one of the most important equipments in the factory. Because the factory used the delivery of the material to fully utilize the manpower, the location of the feeding was incorrect, which indirectly affected the inconsistency of its product quality. Although some people invented the robot arm, the structure was complicated, the maintenance was not easy, and it only stayed in the inability to displace. The stationary type works in a single direction, and the robot arm that holds and transports the material cannot simultaneously move in the horizontal and vertical directions and rotates the material and transports the material to the designated position, so the machine arm of the conventional product is restricted in its conveying direction and must be Completed in stages, resulting in increased working hours and equipment, intangible production The quality is different and the cost is increased, which makes it greatly discounted in terms of mobility, scope of use and practicality. This is a place for the industry and consumers to make breakthroughs. The inventor made this point as a consideration to create a The robotic arm disposed on the bracket of the vertical mechanism can be horizontally displaced on the fixed slide rail of the corresponding lower slide of the horizontal mechanism, and the vertical mechanism above the lower slide of the horizontal mechanism can rotate the upper substrate by 360 degrees, and The slide plate disposed on the upper slide plate of the upper substrate can be vertically displaced, thereby effectively improving the convenient and maneuverable robotic arm transporting module of the transport robot arm for controlling positioning and movement at any position.

In order to solve the above-mentioned deficiencies of the prior art, the main object of the present invention is to provide a robot arm transport module, which can horizontally displace a robotic arm of a bracket disposed in a vertical mechanism on a fixed slide rail of a corresponding lower slide of a horizontal mechanism. The horizontal mechanism has a vertical mechanism above the lower slide plate, and the upper substrate can be rotated by three hundred and sixty degrees, and the slide plate disposed on the upper slide rails of the upper substrate can be vertically displaced to overcome the difficulties in the prior art.

A secondary object of the present invention is to provide a robotic arm delivery module that can position and move the delivery robot arm to any position.

The problem to be solved by the present invention is that the delivery position of the factory in the past has completely utilized the manpower, which causes the feeding position to be incorrect, which indirectly affects the inconsistency of the product quality. Although a robot arm is invented later, the structure is complicated and the maintenance is not easy. And only stay in the fixed direction of the unmovable work in a single direction, the robot arm that holds and transports the material can not simultaneously move in the horizontal and vertical directions and rotate the material and transport the material to the designated position, so the robot arm of the harness The conveying direction is limited and must be completed in stages, which increases the working hours and equipment, and the quality of the invisible products is different and the cost is increased, which makes it greatly reduced in maneuverability, scope of use and practicality.

In order to achieve the above purpose, the present invention provides a robotic arm transport module, especially for use in a robotic arm for transport to a designated position, which includes:

A horizontal mechanism includes two fixed slide rails, a screw, a servo, and a lower slide. The two fixed slide rails are disposed in parallel on the lower sides, and a screw is disposed in the center of the two fixed slide rails. One end of the screw is provided with a servo connected to the screw, and further, a slide plate is arranged on the fixed slide rail to slide on the fixed slide rail, and a downward extending plate is arranged in the center of the lower slide rail, and is arranged on the extension plate. There is a sleeve corresponding to the screw with the internal thread, and the lower slide has a plurality of sliding sleeves corresponding to the two fixed slides;

a vertical mechanism is disposed above the horizontal mechanism, and includes an upper substrate, two sliding rails, an upper sliding plate, a bracket, and a transmission mechanism, and the transmission mechanism further includes a screw, a driven gear, and a driving gear. a belt and a server; wherein, above the upper substrate, there are two sliding rails perpendicular thereto, and an upper sliding plate is further disposed above the sliding rail, and the upper sliding plate is further provided with a sleeve for fixing the robot arm a bracket, the sleeve is provided with an internal thread, and further, a sliding sleeve corresponding to the sliding rail of the upper substrate is further disposed under the upper sliding plate, and the upper substrate is disposed adjacent to the other end of the two sliding rails and provided with a transmission The screw mechanism of the transmission mechanism is sleeved on the sleeve with the internal screw, and one side of the screw is provided with a driven gear, and adjacent to the driven gear is provided with a driving gear, and a belt is set on the driving gear and passive Between the gears, the driving gear is connected with a server;

a rotating mechanism is disposed between the horizontal mechanism and the vertical mechanism, and includes a rotating shaft, a bearing, a worm wheel, a servo, and a worm. The rotating shaft is fixedly disposed under the upper substrate of the vertical mechanism and is sleeved horizontally. Under the lower slide plate of the mechanism, the rotating shaft is sleeved between the upper substrate and the lower sliding plate, and a worm wheel is disposed under the lower sliding plate, and a servo is fixed under the lower sliding plate and adjacent to the worm wheel, and the server is connected There is a worm that meshes with the worm wheel.

Preferably, the servo of the horizontal mechanism of the present invention is a motor.

Preferably, the servo of the vertical mechanism of the present invention is a motor.

Preferably, the rotating mechanism of the present invention has a servo system as a motor.

In addition, the present invention is for the above purpose, and another embodiment of the present invention also provides a robotic arm delivery module, especially for the robot arm to be transported to a designated position, which includes:

A horizontal mechanism includes two fixed slide rails, a rack, a servo, and a lower slide. The two fixed slide rails are disposed in parallel on the lower sides, and a center of the two fixed slide rails is provided with a rack. Furthermore, a slide plate is arranged on the fixed slide rail to slide on the fixed slide rail. The lower slide rail is provided with a downward extending plate at the center, and a punching plate is provided on the extension plate for the toothed rod to pass through the sleeve. A servo is disposed at the bottom, and a gear coupled to the toothed rod is disposed at the end of the server, and a plurality of sliding sleeves corresponding to the two fixed sliding rails are disposed under the lower sliding plate;

a vertical mechanism is disposed above the horizontal mechanism, and includes an upper substrate, two sliding rails, an upper sliding plate, a bracket, and a transmission mechanism, and the transmission mechanism further includes a screw, a driven gear, and a driving gear. a belt and a server; wherein, above the upper substrate, there are two sliding rails perpendicular thereto, and an upper sliding plate is further disposed above the sliding rail, and the upper sliding plate is further provided with a sleeve for fixing the robot arm a bracket, the sleeve is provided with an internal thread, and further, a sliding sleeve corresponding to the sliding rail of the upper substrate is further disposed under the upper sliding plate, and the upper substrate is disposed adjacent to the other end of the two sliding rails and provided with a transmission The screw mechanism of the transmission mechanism is sleeved on the sleeve with the internal screw, and one side of the screw is provided with a driven gear, and adjacent to the driven gear is provided with a driving gear, and a belt is set on the driving gear and passive Between the gears, the driving gear is connected with a server;

a rotating mechanism is disposed between the horizontal mechanism and the vertical mechanism, and includes a rotating shaft, a bearing, a worm wheel, a servo, and a worm. The rotating shaft is fixedly disposed under the upper substrate of the vertical mechanism and is sleeved horizontally. Under the lower slide plate of the mechanism, the rotating shaft is sleeved between the upper substrate and the lower sliding plate, and a worm wheel is disposed under the lower sliding plate, and a servo is fixed under the lower sliding plate and adjacent to the worm wheel, and the server is connected There is a worm that meshes with the worm wheel.

Preferably, the servo of the horizontal mechanism of the present invention is a motor.

Preferably, the servo of the vertical mechanism of the present invention is a motor.

Preferably, the rotating mechanism of the present invention has a servo system as a motor.

With the module, the invention can horizontally displace the robot arm of the bracket provided in the vertical mechanism on the fixed slide rail of the corresponding lower slide of the horizontal mechanism, and the vertical mechanism above the lower slide of the horizontal mechanism can be used as the upper substrate. Three hundred and sixty degrees of rotation, and can be placed on the upper substrate of the two slides above the slide rail for vertical displacement of the robotic arm transport module.

100. . . Horizontal mechanism

1. . . Fixed rail

11. . . Screw

111. . . server

12. . . Lower skateboard

121. . . Sleeve

122. . . Extension board

123. . . Sleeve

1231. . . Internal thread

200. . . Vertical mechanism

2. . . Upper substrate

twenty one. . . Slide rail

twenty two. . . Skateboard

221. . . Sleeve

twenty three. . . support

231. . . Socket

232. . . Internal thread

twenty four. . . Transmission mechanism

241. . . Screw

242. . . Passive gear

243. . . Drive gear

244. . . Belt

245. . . server

300. . . Rotating mechanism

3. . . Rotating shaft

31. . . Worm gear

32. . . Bearing

33. . . server

34. . . Worm

400. . . Robotic arm

1100. . . Tooth bar

12300. . . perforation

11100. . . gear

The first figure: is an exploded perspective view of the present invention.

First A is a perspective exploded view of another embodiment of the present invention.

The second figure is a three-dimensional combination diagram of the present invention.

Figure 2A is a perspective assembled view of another embodiment of the present invention.

Figure 3 is a sectional view of the combination of the present invention.

Third A is a sectional view of a combination of another embodiment of the present invention.

Figure 4 is a perspective view of an embodiment of the horizontal mechanism of the present invention.

Figure 4A is a perspective view of an embodiment of a horizontal mechanism of another embodiment of the present invention.

Figure 5 is a cross-sectional view showing an embodiment of the horizontal mechanism of the present invention.

Figure 5 is a cross-sectional view showing an embodiment of a horizontal mechanism of another embodiment of the present invention.

Figure 6 is a perspective view of an embodiment of the vertical mechanism of the present invention.

Figure 7 is a cross-sectional view showing an embodiment of the vertical mechanism of the present invention.

Fig. 8 is a perspective view showing an embodiment of the operation of the rotary motion mechanism of the present invention.

Figure 9 is a cross-sectional view showing an embodiment of the vertical mechanism of the present invention.

The invention will be described with reference to the accompanying drawings, and the embodiments of the present invention are described in detail below, and the drawings used in the text are used to describe the features, the contents and the advantages of the invention. The subject matter is only for the purpose of illustration and supplementary description, and is not necessarily the true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be limited to the patent scope of the present invention. Explain first.

Referring to the first, second, and third figures, which are perspective exploded views of the present invention, a three-dimensional combination of the present invention, and a combined sectional view of the present invention, the robotic arm transporting module of the present invention is particularly It is used for the robot arm 400 to be transported to a designated position and, in a preferred embodiment, includes a horizontal mechanism 100, a vertical mechanism 200, and a rotating mechanism 300.

The above-mentioned one horizontal mechanism 100 includes two fixed slide rails 1, a screw 11, a servo 111, and a lower slide 12, wherein the two fixed slide rails 1 are disposed in parallel on the lower sides, and the two fixed slide rails A screw 11 is disposed at a center of the screw 11 , and a servo 111 connected to the screw 11 is disposed at one end of the screw 11 . In the embodiment, the server 111 is a motor, but the invention is not limited thereto. Other various power-providing machines are within the protection scope of the present invention; further, a fixed slide rail 1 is provided with a slide plate 12 slidable on the fixed slide rail 1, and a lower slide is disposed in the center of the lower slide rail 12. The extension plate 122 is provided with a sleeve 123 corresponding to the screw 11 having the internal screw 1231 on the extension plate 122, and the lower slide plate 12 is provided with a plurality of sliding sleeves 121 corresponding to the two fixed slide rails 1 below.

The vertical mechanism 200 is disposed above the horizontal mechanism 100 and includes an upper substrate 2, two slide rails 21, an upper slide plate 22, a bracket 23, and a transmission mechanism 24. The transmission mechanism 24 further includes a a screw 241, a driven gear 242, a driving gear 243, a belt 244, and a servo 245; wherein the upper substrate 2 is provided with two sliding rails 21 perpendicular thereto, and an upper sliding plate is disposed above the sliding rail 21 22, the upper slide plate 22 is further provided with a bracket 23 for providing a sleeve 231 fixed by the robot arm 400. The sleeve 231 is provided with an internal thread 232. Further, the upper slide plate 22 is further provided below the upper slide plate 22. A plurality of sliding sleeves 221 corresponding to the slide rails 21 of the upper substrate 2, and a transmission mechanism 24 disposed at the other end of the upper substrate 2 adjacent to the two sliding rails 21, the screw 241 of the transmission mechanism 24 is sleeved in the bracket 23 a sleeve 231 of the screw 232, and a driven gear 242 is disposed on one side of the screw 241, and a driving gear 243 is disposed adjacent to the driven gear 242. A belt 244 is disposed between the driving gear 243 and the driven gear 242. 243 is connected to a server 245, and in the embodiment, the server 245 is a motor. But is not to limit the invention, which may also be other types of power machines can be provided, the scope of the present invention are considered.

The rotating mechanism 300 is disposed between the horizontal mechanism 100 and the vertical mechanism 200, and includes a rotating shaft 3, a bearing 32, a worm wheel 31, a servo 33, and a worm 34. The rotating shaft 3 is fixedly disposed on the rotating shaft 3 The vertical mechanism 200 is disposed under the upper substrate 2 and under the lower sliding plate 12 of the horizontal mechanism 100. The rotating shaft 3 is located between the upper substrate 2 and the lower sliding plate 12, and is provided with a bearing 32 and a worm wheel disposed under the sliding lower sliding plate 12. 31, and a servo 33 is fixedly disposed under the lower slide 12 and adjacent to the worm wheel 31. The servo 33 is connected to a worm 34 that meshes with the worm wheel 31. In the embodiment, the servo 33 is a motor, but The invention is not limited thereto, but it can also be other various power-providing machines, and is within the scope of the invention.

4 and 5 are a perspective view and a cross-sectional view of an embodiment of the horizontal mechanism of the present invention. When the horizontal mechanism 100 of the present invention is to be horizontally displaced, only the servo 111 needs to be rotated, thereby driving Since the screw 11 is provided with a plurality of sliding sleeves 121 under the lower sliding plate 12 of the present invention, the lower sliding plate 12 can be smoothly displaced horizontally on the fixed sliding rail 1, and the smooth displacement power is driven by the lower center of the lower sliding plate 12. The sleeve 123 of the corresponding screw 11 having the internal screw 1231 is pulled on the extension plate 122, and the lower slide 12 is horizontally displaced.

Please refer to the sixth and seventh figures, which are perspective views and cross-sectional views of the vertical mechanism operation embodiment of the present invention. When the vertical displacement is applied to the present invention, the upper substrate 2 is provided with a vertical slide thereon. The rail 21 is provided with a sliding plate 22 on the sliding rail 21, and the upper sliding plate 22 is provided with a bracket 23 for fixing the robot arm 400, and the bracket 23 is connected with a sleeve having an internal thread 232. 231. Since the upper substrate 2 of the present invention is provided with a transmission mechanism 24, the screw 241 of the transmission mechanism 24 acts on the internal thread 232 of the sleeve 231. Therefore, when the servo 245 rotates, it is connected thereto. The driving gear 243 drives the driven gear 242 by the belt 244. The driven gear 242 is connected to the screw 241 to vertically displace the upper sliding plate 22 and the bracket 23 on the sliding rail 21 of the upper substrate 2.

Please refer to the eighth and ninth drawings, which are perspective views and cross-sectional views of the embodiment of the rotary motion mechanism of the present invention; the rotating shaft 3 of the rotating mechanism 300 of the present invention is disposed under the upper substrate 2, when When the upper substrate 2 is rotated, only the servo 33 needs to be rotated and the worm 34 is driven, and the worm 34 is connected to the worm wheel 31, so that the upper substrate 2 can be made by the bearing 32 and the lower slide 12 for three hundred and sixty degrees. Rotation.

Please refer to FIG. 1A, FIG. 2A and FIG. 3A for an exploded perspective view of another embodiment of the present invention, a perspective combination diagram of another embodiment of the present invention, and another embodiment of the present invention. The combined sectional view is substantially the same as the first, second and third figures, except for the structure of the horizontal mechanism 100, that is, it comprises two fixed slides 1, a rack 1100, and a The server 111 and the lower slide 12, wherein the two fixed slide rails 1 are disposed in parallel on the lower sides, and the center of the two fixed slide rails 1 is provided with a rack 1100, and further, a fixed rail 1 is disposed above the fixed slide rail 1 The lower slide plate 12 is disposed on the fixed slide rail 1 , and the lower slide plate 12 is provided with a downward extending plate 122 . The extension plate 122 is provided with a through hole 12300 for the toothed rod 1100 to be sleeved. There is a servo 111, and a gear 11100 meshing with the rack 1100 is disposed at the end of the server 111, and a plurality of sliding sleeves 121 corresponding to the two fixed rails 1 are disposed under the lower slide 12, and in this embodiment The server 111 is a motor, but the invention is not limited thereto, and it may be other Power of the machine can be provided, the scope of the present invention are considered.

4A and 5A are perspective views and cross-sectional views of an embodiment of a horizontal mechanism according to another embodiment of the present invention. When the horizontal mechanism 100 of the present invention is to be horizontally displaced, only the servo is required. The end of the device 111 rotates its gear 11100. Since the servo 111 is disposed under the lower slide 12 and meshed with the fixed rack 1100, when the end gear 11100 of the servo 111 rotates, the lower slide 12 is driven. A plurality of sliding sleeves 121 are disposed under the lower sliding plate 12, so that the lower sliding plate 12 can be smoothly displaced on the fixed sliding rail 1 for horizontal displacement.

By means of the module, the present invention can horizontally displace the robot arm 400 of the bracket 23 of the vertical mechanism 200 on the fixed slide rail 1 of the horizontal lower mechanism 100 corresponding to the lower slide plate 12, and the horizontal mechanism 100 is above the lower slide plate 12. The upper substrate 2 of the vertical mechanism 200 can be rotated by three hundred and sixty degrees, and the slide plate 22 disposed on the two slide rails 21 of the upper substrate 2 can be vertically displaced, thereby effectively improving the positioning and movement of the transport robot 400. The convenience and mobility of the location are in line with the industrial use, novelty and progress, and are inventions that are conducive to the implementation of the application.

As can be seen from the above, the present invention has achieved the desired effect under the prior art structure, and is not familiar to those skilled in the art. Moreover, the present invention has not been disclosed before the application, and it has Novelty and progress have obviously met the requirements for the application of the invention patent, and the application for invention is filed according to law. You are requested to approve the application for the invention patent to encourage the invention.

The embodiments described above are merely illustrative of the technical spirit and the features of the present invention, and the objects of the present invention can be understood by those skilled in the art, and the scope of the present invention cannot be limited thereto. That is, the equivalent variations or modifications made by the spirit of the present invention should still be included in the scope of the present invention.

100. . . Horizontal mechanism

1. . . Fixed rail

11. . . Screw

111. . . server

12. . . Lower skateboard

121. . . Sleeve

122. . . Extension board

123. . . Sleeve

1231. . . Internal thread

200. . . Vertical mechanism

2. . . Upper substrate

twenty one. . . Slide rail

twenty two. . . Skateboard

221. . . Sleeve

twenty three. . . support

231. . . Socket

232. . . Internal thread

twenty four. . . Transmission mechanism

241. . . Screw

242. . . Passive gear

243. . . Drive gear

244. . . Belt

245. . . server

300. . . Rotating mechanism

3. . . Rotating shaft

31. . . Worm gear

32. . . Bearing

33. . . server

34. . . Worm

400. . . Robotic arm

Claims (8)

A robotic arm delivery module, especially for use in a robotic arm for delivery to a designated location, including:
A horizontal mechanism includes two fixed slide rails, a screw, a servo, and a lower slide. The two fixed slide rails are disposed in parallel on the lower sides, and a screw is disposed in the center of the two fixed slide rails. One end of the screw is provided with a servo connected to the screw, and further, a slide plate is arranged on the fixed slide rail to slide on the fixed slide rail, and a downward extending plate is arranged in the center of the lower slide rail, and is arranged on the extension plate. There is a sleeve corresponding to the screw with the internal thread, and the lower slide has a plurality of sliding sleeves corresponding to the two fixed slides;
a vertical mechanism is disposed above the horizontal mechanism, and includes an upper substrate, two sliding rails, an upper sliding plate, a bracket, and a transmission mechanism, and the transmission mechanism further includes a screw, a driven gear, and a driving gear. a belt and a server; wherein, above the upper substrate, there are two sliding rails perpendicular thereto, and an upper sliding plate is further disposed above the sliding rail, and the upper sliding plate is further provided with a sleeve for fixing the robot arm a bracket, the sleeve is provided with an internal thread, and further, a sliding sleeve corresponding to the sliding rail of the upper substrate is further disposed under the upper sliding plate, and the upper substrate is disposed adjacent to the other end of the two sliding rails and provided with a transmission The screw mechanism of the transmission mechanism is sleeved on the sleeve with the internal screw, and one side of the screw is provided with a driven gear, and adjacent to the driven gear is provided with a driving gear, and a belt is set on the driving gear and passive Between the gears, the driving gear is connected with a server;
a rotating mechanism is disposed between the horizontal mechanism and the vertical mechanism, and includes a rotating shaft, a bearing, a worm wheel, a servo, and a worm. The rotating shaft is fixedly disposed under the upper substrate of the vertical mechanism and is sleeved horizontally. Under the lower slide plate of the mechanism, the rotating shaft is sleeved between the upper substrate and the lower sliding plate, and a worm wheel is disposed under the lower sliding plate, and a servo is fixed under the lower sliding plate and adjacent to the worm wheel, and the server is connected There is a worm that meshes with the worm wheel. The robot arm delivery module of claim 1, wherein the server of the horizontal mechanism is a motor. The robot arm transport module of claim 1, wherein the servo of the vertical mechanism is a motor. The robot arm transport module of claim 1, wherein the servo mechanism of the rotating mechanism is a motor. A robotic arm delivery module, especially for use in a robotic arm for delivery to a designated location, including:
A horizontal mechanism includes two fixed slide rails, a rack, a servo, and a lower slide. The two fixed slide rails are disposed in parallel on the lower sides, and a center of the two fixed slide rails is provided with a rack. Furthermore, a slide plate is arranged on the fixed slide rail to slide on the fixed slide rail. The lower slide rail is provided with a downward extending plate at the center, and a punching plate is provided on the extension plate for the toothed rod to pass through the sleeve. A servo is disposed at the bottom, and a gear coupled to the toothed rod is disposed at the end of the server, and a plurality of sliding sleeves corresponding to the two fixed sliding rails are disposed under the lower sliding plate;
a vertical mechanism is disposed above the horizontal mechanism, and includes an upper substrate, two sliding rails, an upper sliding plate, a bracket, and a transmission mechanism, and the transmission mechanism further includes a screw, a driven gear, and a driving gear. a belt and a server; wherein, above the upper substrate, there are two sliding rails perpendicular thereto, and an upper sliding plate is further disposed above the sliding rail, and the upper sliding plate is further provided with a sleeve for fixing the robot arm a bracket, the sleeve is provided with an internal thread, and further, a sliding sleeve corresponding to the sliding rail of the upper substrate is further disposed under the upper sliding plate, and the upper substrate is disposed adjacent to the other end of the two sliding rails and provided with a transmission The screw mechanism of the transmission mechanism is sleeved on the sleeve with the internal screw, and one side of the screw is provided with a driven gear, and adjacent to the driven gear is provided with a driving gear, and a belt is set on the driving gear and passive Between the gears, the driving gear is connected with a server;
a rotating mechanism is disposed between the horizontal mechanism and the vertical mechanism, and includes a rotating shaft, a bearing, a worm wheel, a servo, and a worm. The rotating shaft is fixedly disposed under the upper substrate of the vertical mechanism and is sleeved horizontally. Under the lower slide plate of the mechanism, the rotating shaft is sleeved between the upper substrate and the lower sliding plate, and a worm wheel is disposed under the lower sliding plate, and a servo is fixed under the lower sliding plate and adjacent to the worm wheel, and the server is connected There is a worm that meshes with the worm wheel. The robot arm transport module of claim 5, wherein the server of the horizontal mechanism is a motor. The robot arm transport module of claim 5, wherein the servo of the vertical mechanism is a motor. The robot arm transport module of claim 5, wherein the servo mechanism of the rotating mechanism is a motor.