TW202423818A - Receiving and placing machine and transferring mechanism - Google Patents

Abstract

A receiving and placing machine that is used for transferring plates includes a loading port, a transferring mechanism and a conveying mechanism. An object container can be transported to the loading port and the transferring mechanism is disposed between the loading port and the conveying mechanism. The transferring mechanism can deliver the plates from the object container to the conveying mechanism, or deliver the plates from the conveying mechanism to the object container. As a result, automated production can be facilitated and the production efficiency can be improved. The transferring mechanism includes a four-axis robotic arm, a bearing member and a travel axis. The bearing member is connected to the four-axis robotic arm and can be used to carry and move the plates. The four-axis robotic arm is disposed on the travel axis that can be used to drive the four-axis robotic arm and the bearing member to move linearly. The four-axis robotic arm includes a robotic arm and a lifting device, the robotic arm is disposed on the lifting device that can drive the robotic arm to move up and down.

Description

Retractable plate mechanism and transfer mechanism

The present invention relates to an EFEM and a transfer mechanism, and in particular to an EFEM and a transfer mechanism that can be used for transferring panels.

The EFEM can be used to transfer panels. The EFEM can use a robot to move panels. However, the existing EFEM and robot have poor production lines and are often difficult to achieve automated production, making it difficult to improve production efficiency.

The technical problem to be solved by the present invention is to provide a plate retracting and releasing mechanism and a transfer mechanism to address the deficiencies of the prior art, which can facilitate automated production and improve production efficiency.

In order to solve the above technical problems, the present invention provides a plate retracting mechanism for transferring plates, the plate retracting mechanism comprising: a loading port, the loading port can be used to temporarily store an object container, the object container can be used to accommodate the plate; a transfer mechanism, the transfer mechanism comprising at least one four-axis robot arm, at least one bearing member and a travel axis, the bearing member is connected to the four-axis robot arm, the four-axis robot arm can drive the bearing member, and is used to carry and The four-axis robot comprises a robot arm and a lifting device, wherein the robot arm is arranged on the lifting device, and the lifting device can drive the robot arm to move up and down, and the four-axis robot arm is arranged on the running axis, and the running axis can drive the four-axis robot arm and the carrier to move linearly; and a conveying mechanism, which can be used to convey the plate, and the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism The mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism into the object container; wherein the mechanical arm includes a base, a first arm body, a second arm body, an arm power source, a first transmission group, a second transmission group and a third transmission group, the base is connected to the lifting device, the first arm body can rotate relative to the base, the second arm body can rotate relative to the first arm body, and the second arm body can rotate relative to the first arm body. An operating end is provided at one end, the operating end is connected to the supporting member, the operating end is rotatably provided on the second arm body, the arm power source and the first transmission group are provided in the base, the first transmission group is connected to the arm power source, the second transmission group is provided in the first arm body, the third transmission group is provided in the second arm body, the second transmission group is connected between the first transmission group and the third transmission group, and the third transmission group is connected to the operating end.

In order to solve the above technical problems, the present invention also provides a transfer mechanism, including: at least one four-axis robot arm, the four-axis robot arm includes a robot arm and a lifting device, the robot arm is arranged on the lifting device, and the lifting device can drive the robot arm to move up and down; at least one bearing member, the bearing member is connected to the four-axis robot arm, the four-axis robot arm can drive the bearing member to carry and move the plate; and a running shaft, the four-axis robot arm is arranged on the running shaft, the running shaft can drive the four-axis robot arm and the bearing member to move linearly; wherein the robot arm includes a base, a first arm body, a second arm body, an arm power source, A first transmission group, a second transmission group and a third transmission group, the base is connected to the lifting device, the first arm body can rotate relative to the base, the second arm body can rotate relative to the first arm body, an operating end is set at one end of the second arm body, the operating end is connected to the supporting member, and the operating end can be rotatably set on the second arm body, the arm power source and the first transmission group are set in the base, the first transmission group is connected to the arm power source, the second transmission group is set in the first arm body, the third transmission group is set in the second arm body, the second transmission group is connected between the first transmission group and the third transmission group, and the third transmission group is connected to the operating end.

The beneficial effect of the present invention lies in that the plate retracting and unretracting mechanism and the transfer mechanism provided by the present invention include a loading port, a transfer mechanism and a conveying mechanism. The object container can be conveyed to the loading port, the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism to the object container, which has a better production line, can facilitate automated production, and improve production efficiency.

The transfer mechanism includes at least one four-axis robot arm, at least one carrier and a traveling shaft. The carrier is connected to the four-axis robot arm. The four-axis robot arm includes a robot arm and a lifting device. The robot arm is arranged on the lifting device. The lifting device can drive the robot arm to move up and down. The four-axis robot arm is arranged on the traveling shaft. The traveling shaft can drive the four-axis robot arm and the carrier to move linearly, and can expand the moving range of the four-axis robot arm and the carrier. The robot arm includes a base, a first arm body, a second arm body, an arm power source, a first transmission group, a second transmission group and a third transmission group. The arm power source and the first transmission group are arranged in the base, the first transmission group is connected to the arm power source, the second transmission group is arranged in the first arm body, the third transmission group is arranged in the second arm body, and the second transmission group is connected between the first transmission group and the third transmission group. The robot arm uses a single arm power source, which can simplify the structure and reduce the cost.

To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only used for reference and description and are not used to limit the present invention.

The following is an explanation of the relevant implementation methods disclosed by the present invention through specific concrete embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. Please note in advance. The following implementation methods will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention. In addition, the term "or" used in this article may include any one or more combinations of the related listed items depending on the actual situation.

[Example]

Please refer to FIG. 1 to FIG. 4 , the present invention provides a plate retracting and releasing mechanism, including a loading port 1 , a transfer mechanism 2 and a conveying mechanism 3 .

The loading port 1 can be used to temporarily store an object container 100, which can accommodate a plate 200. After the object container 100 is transported to a predetermined position of the loading port 1, the loading port 1 will open the object container 100 so as to take out and place the plate 200 in the object container 100. Since the loading port 1 is not the focus of the present invention and the present invention does not limit the structure of the loading port 1, it will not be described in detail.

The transfer mechanism 2 is disposed between the loading port 1 and the conveying mechanism 3. The transfer mechanism 2 can move the plate 200 in the object container 100 to the conveying mechanism 3, or move the plate 200 on the conveying mechanism 3 into the object container 100. Please refer to Figures 3 and 4. The transfer mechanism 2 includes at least one four-axis robot arm 21, at least one carrier 22 and a travel axis 23. The carrier 22 is connected to the four-axis robot arm 21. The four-axis robot arm 21 can drive the carrier 22 to carry and move the plate 200. The four-axis robot arm 21 includes a robot arm 211 and a lifting device 212. The robot arm 211 is disposed on the lifting device 212. The lifting device 212 can drive the robot arm 211 to move up and down. The four-axis robot 21 is disposed on a travel shaft 23, and the travel shaft 23 can be used to drive the four-axis robot 21 and the carrier 22 to move linearly. The diagram of this embodiment discloses two robot arms 211, and the two robot arms 211 share a base 2111, and can move the plate 200 respectively.

Please refer to FIG5 , the robot arm 211 is driven by a power source (motor) and includes a base 2111, a first arm body 2112, a second arm body 2113, an arm power source 2114, a first transmission group 2115, a second transmission group 2116 and a third transmission group 2117. The base 2111 is connected to the lifting device 212, and the lifting device 212 can drive the robot arm 211 to move up and down.

The base 2111, the first arm 2112 and the second arm 2113 are all hollow bodies. The rear end of the first arm 2112 is close to the base 2111, and the first arm 2112 can rotate relative to the base 2111. The rear end of the second arm 2113 is close to the front end of the first arm 2112, and the second arm 2113 can rotate relative to the first arm 2112. The base 2111, the first arm 2112 and the second arm 2113 can rotate with each other to form an articulated structure. The front end (one end) of the second arm 2113 is provided with an operating end 2118, which can be used to connect the carrier 22. The operating end 2118 is rotatably arranged on the second arm 2113 so as to drive the carrier 22 to rotate.

The arm power source 2114 and the first transmission group 2115 are disposed in the base 2111, and the first transmission group 2115 is connected to the arm power source 2114, so that the arm power source 2114 can output power through the first transmission group 2115. The second transmission group 2116 is disposed in the first arm body 2112, and the third transmission group 2117 is disposed in the second arm body 2113. The second transmission group 2116 is connected between the first transmission group 2115 and the third transmission group 2117, and the third transmission group 2117 is connected to the operating end 2118. When the arm power source 2114 outputs power, it can transmit power in sequence through the first transmission group 2115, the second transmission group 2116 and the third transmission group 2117, and drive the first arm 2112 and the second arm 2113 to rotate, so that the operating end 2118 at one end of the second arm 2113 can move to a predetermined position, and the supporting part 22 on the operating end 2118 is used to support and move the plate 200.

Preferably, a first reducer 2119 can be provided between the first transmission group 2115 and the second transmission group 2116, and a second reducer 2220 can be provided between the second transmission group 2116 and the third transmission group 2117. The first reducer 2119 can drive the first arm 2112 to rotate, and the second reducer 2220 can drive the second arm 2113 to rotate. Preferably, the first reducer 2119 and the second reducer 2220 are harmonic reducers, which can improve the transmission accuracy and make the operation smoother.

The structure of the lifting device 212 is not limited, please refer to Figures 6 and 7. In this embodiment, the lifting device 212 includes a base 2121, a first lifting layer 2122, a second lifting layer 2123 and a lifting transmission mechanism 2124. The first lifting layer 2122 can be lifted on the base 2121, and the second lifting layer 2123 can be lifted on the first lifting layer 2122 to form a multi-stage lifting structure. The lifting transmission mechanism 2124 can be various existing transmission mechanisms such as a motor-screw set, a motor-belt set or a motor-gear set. Preferably, the lifting transmission mechanism 2124 is a motor-screw set. The lifting transmission mechanism 2124 is disposed in the base 2121, and the lifting transmission mechanism 2124 is connected to the first lifting layer 2122 and the second lifting layer 2123. The lifting transmission mechanism 2124 can drive the first lifting layer 2122 and the second lifting layer 2123 to move up and down, and can be used to drive the robot arm 211 to move up and down, so that the robot arm 211 can move to a predetermined height to facilitate the placement of the panel 200.

The support member 22 (fork) is connected to the operating end 2118 of the robot arm 211. The support member 22 can support the plate 200 from below or absorb the plate 200 from above. In this embodiment, the support member 22 can support the plate 200 from below. The structure of the support member 22 is not limited. The support member 22 can be a four-pronged type, the support member 22 can also be a single-board type, the support member 22 can also be a two-pronged, three-pronged or four-pronged type. A plurality of first suction cups 221 (as shown in FIG. 4 ) can be provided on the support member 22 to absorb the plate 200 so that the plate 200 can be stably fixed on the support member 22.

The travel axis 23 can be used to drive the four-axis robot 21 and the carrier 22 to move linearly, thereby expanding the moving range of the four-axis robot 21 and the carrier 22. Please refer to FIG8. In this embodiment, the travel axis 23 includes a fixed seat 231, a moving seat 232, a travel power source 233 and a travel transmission mechanism 234. The moving seat 232 is movably arranged on the fixed seat 231. The moving seat 232 can move linearly on the fixed seat 231. The four-axis robot 21 is arranged on the moving seat 232. The four-axis robot 21 is arranged on the moving seat 232 by the base 2121 of the lifting device 212. In addition, a linear slide rail 235 may be provided between the fixed seat 231 and the movable seat 232, so that the movable seat 232 can stably move on the fixed seat 231. The travel power source 233 may be a motor, etc., and the travel power source 233 may be provided on the movable seat 232 or the fixed seat 231. The travel transmission mechanism 234 is connected to the travel power source 233, and the travel transmission mechanism 234 is further connected to the fixed seat 231 or the movable seat 232.

When the travel power source 233 is started, the travel transmission mechanism 234 can be used to drive the moving seat 232 to move, so that the moving seat 232 can move on the fixed seat 231, so as to drive the four-axis robot arm 21 to move. Preferably, the travel power source 233 is disposed on the moving seat 232, and the travel transmission mechanism 234 is connected to the travel power source 233 and the fixed seat 231. The travel transmission mechanism 234 may include a gear 2341 and a gear 2342. The gear 2341 is disposed on the fixed seat 231, and the gear 2342 is connected to the travel power source 233, and the gear 2342 is engaged with the gear 2341. When the travel power source 233 is started, the gear 2342 can be driven to rotate, so that the gear 2342 rolls on the gear 2341, thereby driving the moving seat 232 to move on the fixed seat 231. The travel transmission mechanism 234 of this embodiment has better rigidity and stability.

The conveying mechanism 3 can be used to convey the plate 200. The structure of the conveying mechanism 3 is not limited. The conveying mechanism 3 can be a conveyor belt or a conveyor roller set. In this embodiment, the conveying mechanism 3 is a conveyor roller set. The conveying mechanism 3 can include a conveying power source 31, a transmission mechanism 32 and a plurality of conveying rollers 33 (as shown in FIG. 9). The conveying power source 31 can be a motor, etc. The transmission mechanism 32 may include a transmission belt 321, a first transmission shaft 322 and a plurality of second transmission shafts 323. The transmission belt 321 is connected between the transmission power source 31 and the first transmission shaft 322. The second transmission shafts 323 are arranged at intervals. The transmission rollers 33 are respectively arranged on the second transmission shafts 323. The plates 200 may be placed on the transmission rollers 33. One end of the second transmission shafts 323 and the first transmission shaft 322 can be driven through a non-contact magnetic ring 324, so that the transmission mechanism 32 is connected between the transport power source 31 and the transport rollers 33. The magnetic ring 324 uses magnetic attraction, which is a non-contact transmission, no wear, no dust, and can improve the cleanliness. The transport power source 31 can drive the transport rollers 33 to rotate through the transmission mechanism 32 to transport the plate 200.

The retractable plate mechanism may further include a plate turning mechanism 4 (as shown in FIG. 10 ), which is close to the conveying mechanism 3 and may be disposed above or below the conveying mechanism 3. The plate turning mechanism 4 can turn the plate 200 on the conveying mechanism 3. In this embodiment, the plate turning mechanism 4 is disposed above the conveying mechanism 3, and may include a lifting module 41, a rotating group 42, and a plate taking group 43. The lifting module 41 may be a lifting mechanism such as an electric slide, and the rotating group 42 is connected to the lifting module 41. The rotating group 42 may include a rotating power source 421 such as a motor. The plate picking group 43 is installed on the rotating group 42. The plate picking group 43 can be a suction cup style or a clamp style, etc. In the present embodiment, the plate picking group 43 is a suction cup style. The plate picking group 43 includes a plurality of second suction cups 431. The plate picking group 43 can be used to pick up the plate 200, and the lifting module 41 can be used to drive the plate 200 to rise to a predetermined height, and then the rotating group 42 can be used to drive the plate 200 to rotate the plate 200 to a predetermined angle, and then continue to transport it. In another embodiment, the transfer plate mechanism 4 is disposed below the conveying mechanism 3, and the transfer plate mechanism 4 includes a lifting module 41 and a rotating group 42. The rotating group 42 is connected to the lifting module 41. The plate 200 can be placed on the rotating group 42, and the lifting module 41 drives the plate 200 to rise, and the rotating group 42 drives the plate 200 to transfer.

[Beneficial Effects of the Embodiments]

The beneficial effect of the present invention lies in that the plate retracting and unretracting mechanism and the transfer mechanism provided by the present invention include a loading port, a transfer mechanism and a conveying mechanism. The object container can be conveyed to the loading port, the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism to the object container, which has a better production line, can facilitate automated production, and improve production efficiency.

The transfer mechanism includes at least one four-axis robot arm, at least one carrier and a traveling shaft. The carrier is connected to the four-axis robot arm. The four-axis robot arm includes a robot arm and a lifting device. The robot arm is arranged on the lifting device. The lifting device can drive the robot arm to move up and down. The four-axis robot arm is arranged on the traveling shaft. The traveling shaft can drive the four-axis robot arm and the carrier to move linearly, and can expand the moving range of the four-axis robot arm and the carrier. The robot arm includes a base, a first arm body, a second arm body, an arm power source, a first transmission group, a second transmission group and a third transmission group. The arm power source and the first transmission group are arranged in the base, the first transmission group is connected to the arm power source, the second transmission group is arranged in the first arm body, the third transmission group is arranged in the second arm body, and the second transmission group is connected between the first transmission group and the third transmission group. The robot arm uses a single arm power source, which can simplify the structure and reduce the cost.

The contents disclosed above are only preferred feasible embodiments of the present invention and are not intended to limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the contents of the specification and drawings of the present invention are included in the scope of the patent application of the present invention.

1: Loading port 2: Transfer mechanism 21: Four-axis robot arm 211: Robot arm 2111: Base 2112: First arm body 2113: Second arm body 2114: Arm power source 2115: First transmission group 2116: Second transmission group 2117: Third transmission group 2118: Operation end 2119: First reducer 2220: Second reducer 212: Lifting device 2121: Base 2122: Lifting first layer 2123: Lifting second layer 2124: Lifting transmission mechanism 22: Carrying part 221: First suction cup 23: Traveling axis 231: Fixed seat 232: Moving seat 233: Traveling power source 234: Traveling transmission mechanism 2341: Rack 2342: Gear 235: Linear slide 3: Conveying mechanism 31: Conveying power source 32: Transmission mechanism 321: Transmission belt 322: First transmission shaft 323: Second transmission shaft 324: Magnetic ring 33: Conveying roller 4: Turning plate mechanism 41: Lifting module 42: Rotating group 421: Rotating power source 43: Plate picking group 431: Second suction cup 100: Object container 200: Plate

FIG. 1 is a perspective view of the retractable plate mechanism of the present invention.

FIG. 2 is a three-dimensional diagram of the retractable plate mechanism of the present invention from another angle.

FIG. 3 is a perspective view of the transfer mechanism of the present invention.

FIG. 4 is a three-dimensional diagram of the transfer mechanism of the present invention from another angle.

FIG5 is a cross-sectional view of the robot arm of the present invention.

FIG6 is a perspective view of the lifting device of the present invention.

FIG. 7 is a cross-sectional view of the lifting device of the present invention.

FIG8 is a three-dimensional diagram of the travel axis of the present invention.

FIG. 9 is a three-dimensional diagram of the conveying mechanism of the present invention.

FIG. 10 is a perspective view of the plate transfer mechanism of the present invention.

1: Loading port

2: Transfer mechanism

21: Four-axis robotic arm

211:Robotic Arm

212: Lifting device

22: Carrier

23: Traveling shaft

231: Fixed seat

232: Mobile seat

233: Walking power source

3: Transport mechanism

33:Conveyor roller

100: Object container

200: Panels

Claims (13)

A plate retracting mechanism for transferring plates, the plate retracting mechanism comprising: a loading port, the loading port can be used to temporarily store an object container, the object container can be used to accommodate the plate; a transfer mechanism, the transfer mechanism comprising at least one four-axis robot arm, at least one bearing member and a running shaft, the bearing member is connected to the four-axis robot arm, the four-axis robot arm can drive the bearing member, and is used to carry and move the plate, the four-axis robot arm comprises a robot arm and a lifting device, the robot arm is arranged on the lifting device, the lifting device can drive the robot arm to move up and down, the four-axis robot arm is arranged on the running shaft, the running shaft can drive the four-axis robot arm and the bearing member to move linearly; and A conveying mechanism, which can be used to convey the plate, and the transfer mechanism is arranged between the loading port and the conveying mechanism, and the transfer mechanism can move the plate in the object container to the conveying mechanism, or move the plate on the conveying mechanism into the object container; The mechanical arm includes a base, a first arm body, a second arm body, an arm power source, a first transmission group, a second transmission group and a third transmission group. The base is connected to the lifting device. The first arm body can rotate relative to the base. The second arm body can rotate relative to the first arm body. An operating end is set at one end of the second arm body. The operating end is connected to the bearing member. The operating end can be rotatably set on the second arm body. The arm power source and the first transmission group are set in the base. The first transmission group is connected to the arm power source. The second transmission group is set in the first arm body. The third transmission group is set in the second arm body. The second transmission group is connected between the first transmission group and the third transmission group. The third transmission group is connected to the operating end. As described in claim 1, a first reducer is arranged between the first transmission group and the second transmission group, and a second reducer is arranged between the second transmission group and the third transmission group, and the first reducer and the second reducer are harmonic reducers. A retractable plate mechanism as described in claim 1, wherein the lifting device includes a base, a first lifting layer, a second lifting layer and a lifting transmission mechanism, the first lifting layer is liftably arranged on the base, the second lifting layer is liftably arranged on the first lifting layer, the lifting transmission mechanism is arranged in the base, the lifting transmission mechanism is connected to the first lifting layer and the second lifting layer, and the lifting transmission mechanism can drive the first lifting layer and the second lifting layer to move up and down. A retractable plate mechanism as described in claim 1, wherein the traveling axis comprises a fixed seat, a movable seat, a traveling power source and a traveling transmission mechanism, the movable seat is movably disposed on the fixed seat, the four-axis robot arm is disposed on the movable seat, and the traveling transmission mechanism is connected to the traveling power source. When the traveling power source is started, it can drive the moving seat to drive the four-axis robot arm to move through the traveling transmission mechanism. A retractable plate mechanism as described in claim 4, wherein the travel transmission mechanism includes a gear and a gear, the gear is arranged on the fixed base, the gear is connected to the travel power source, and the gear is engaged with the gear. When the travel power source is started, it can drive the gear to rotate, so that the gear rolls on the gear to drive the movable base to move on the fixed base. The plate retracting and extending mechanism as described in claim 1 further includes a plate turning mechanism, which is close to the conveying mechanism and can turn the plate on the conveying mechanism. A plate retracting and extending mechanism as described in claim 6, wherein the plate turning mechanism comprises a lifting module, a rotating group and a plate taking group, the rotating group is connected to the lifting module, the plate taking group is installed on the rotating group, the plate taking group can take the plate, and the lifting module drives the plate to rise, and the rotating group drives the plate to turn. A retractable plate mechanism as described in claim 6, wherein the plate turning mechanism is arranged below the conveying mechanism, and the plate turning mechanism includes a lifting module and a rotating group, the rotating group is connected to the lifting module, the plate can be placed on the rotating group, and the lifting module drives the plate to rise, and the rotating group drives the plate to turn. A transfer mechanism, comprising: At least one four-axis robot, the four-axis robot includes a robot arm and a lifting device, the robot arm is arranged on the lifting device, and the lifting device can drive the robot arm to move up and down; At least one bearing member, the bearing member is connected to the four-axis robot arm, the four-axis robot arm can drive the bearing member to carry and move the plate; and A running shaft, the four-axis robot arm is arranged on the running shaft, and the running shaft can drive the four-axis robot arm and the bearing member to move linearly; The mechanical arm includes a base, a first arm body, a second arm body, an arm power source, a first transmission group, a second transmission group and a third transmission group. The base is connected to the lifting device. The first arm body can rotate relative to the base. The second arm body can rotate relative to the first arm body. An operating end is set at one end of the second arm body. The operating end is connected to the bearing member. The operating end can be rotatably set on the second arm body. The arm power source and the first transmission group are set in the base. The first transmission group is connected to the arm power source. The second transmission group is set in the first arm body. The third transmission group is set in the second arm body. The second transmission group is connected between the first transmission group and the third transmission group. The third transmission group is connected to the operating end. A transfer mechanism as described in claim 9, wherein a first speed reducer is arranged between the first transmission group and the second transmission group, and a second speed reducer is arranged between the second transmission group and the third transmission group, and the first speed reducer and the second speed reducer are harmonic speed reducers. A transfer mechanism as described in claim 9, wherein the lifting device includes a base, a first lifting layer, a second lifting layer and a lifting transmission mechanism, the first lifting layer is liftably arranged on the base, the second lifting layer is liftably arranged on the first lifting layer, the lifting transmission mechanism is arranged in the base, the lifting transmission mechanism is connected to the first lifting layer and the second lifting layer, and the lifting transmission mechanism can drive the first lifting layer and the second lifting layer to move up and down. A transfer mechanism as described in claim 9, wherein the travel axis includes a fixed seat, a movable seat, a travel power source and a travel transmission mechanism, the movable seat is movably disposed on the fixed seat, the four-axis robot is disposed on the movable seat, and the travel transmission mechanism is connected to the travel power source. When the travel power source is started, it can drive the four-axis robot to move by transmitting the movable seat through the travel transmission mechanism. A transfer mechanism as described in claim 12, wherein the travel transmission mechanism includes a gear and a gear, the gear is arranged on the fixed seat, the gear is connected to the travel power source, and the gear is engaged with the gear. When the travel power source is started, it can drive the gear to rotate, so that the gear rolls on the gear to drive the moving seat to move on the fixed seat.