TWI831505B - 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 a retractable plate mechanism (EFEM) and a transfer mechanism, in particular to a retractable plate mechanism and a transfer mechanism that can be used to transfer plates.

The retractable plate mechanism (EFEM) can be used to move panels. The retractable plate mechanism can use a mechanical arm to move the panels. However, the existing retractable plate mechanism and robotic arm 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 retractable plate mechanism and a transfer mechanism in view of the shortcomings of the existing technology, which can facilitate automated production and improve production efficiency.

In order to solve the above technical problems, the present invention provides a retractable plate mechanism for moving plates. The retractable plate mechanism includes: a loading port. The loading port can be used to temporarily store object containers. The object container can be used To accommodate the plate; a transfer mechanism, the transfer mechanism includes at least one four-axis robotic arm, at least one bearing and a traveling axis, the bearing is connected to the four-axis robotic arm, and the four-axis robotic arm can drive The bearing member is used to carry and move the plate. The four-axis robotic arm includes a robotic arm and a lifting device. The robotic arm is provided on the lifting device. The lifting device can drive the robotic arm to lift and move. The four-axis robotic arm A mechanical arm is arranged on the traveling axis, and the traveling axis can drive the four-axis mechanical arm and the bearing member to move linearly; and a conveying mechanism can be used to convey the plate, and the transfer mechanism is arranged on the Between the loading port and the conveyor mechanism, the transfer mechanism can move the panels in the object container to the conveyor mechanism, or move the panels on the conveyor mechanism into the object container; wherein the robotic arm includes a 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 The arm body can rotate relative to the base, and the second arm body can rotate relative to the first arm body. An operating end is provided at one end of the second arm body, and the operating end is connected to the bearing member. The operating end can be rotated. In the second arm body, 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, and the The third transmission group is arranged 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 a four-axis robotic arm. The four-axis robotic arm includes a robotic arm and a lifting device. The robotic arm is disposed on the lifting device. The lifting device can drive the robotic arm to move up and down; at least one bearing member, the bearing member is connected to the four-axis robotic arm, the four-axis robotic arm can drive the bearing member for carrying and moving the plate; and a traveling axis , the four-axis robotic arm is disposed on the traveling axis, and the traveling axis can drive the four-axis robotic arm and the bearing member to move linearly; the robotic arm includes a base, a first arm body, and 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, and the second arm body can Rotating relative to the first arm body, an operating end is provided at one end of the second arm body. The operating end is connected to the bearing member. The operating end is rotatably provided on the second arm body. The arm power source and the third arm body are rotated. A transmission group is disposed in the base, the first transmission group is connected to the arm power source, the second transmission group is disposed in the first arm body, the third transmission group is disposed in the second arm body, and the third transmission group is disposed 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 the retractable plate mechanism and the transfer mechanism provided by the present invention. The retractable plate mechanism includes a loading port, a transfer mechanism and a transport mechanism. The object container can be transported to the loading port, and the transfer mechanism is arranged between the loading port and the conveying mechanism. The transfer mechanism can move the plates in the object container to the conveying mechanism, or move the plates on the conveying mechanism into the object container. , has a better production line, which can facilitate automated production and improve production efficiency.

The transfer mechanism includes at least one four-axis robotic arm, at least one bearing member and a walking axis. The bearing member is connected to the four-axis robotic arm. The four-axis robotic arm includes a robotic arm and a lifting device. The robotic arm is installed on the lifting device. , the lifting device can drive the robot arm to move up and down. The four-axis robot arm is set on the traveling axis. The traveling axis can drive the four-axis robot arm and the load-bearing part to move linearly, which can expand the movement range of the four-axis robot arm and the load-bearing part. The robotic 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 Set 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 to the first transmission group and the third Among the three transmission groups, the robotic arm uses a single arm power source, which can simplify the structure and reduce costs.

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

The following is a description of the relevant implementation modes disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed 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 depictions based on actual dimensions, as is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of the present invention. In addition, the term "or" used in this article shall include any one or combination of more of the associated listed items depending on the actual situation.

[Example]

Referring to FIGS. 1 to 4 , the present invention provides a retractable plate mechanism, which includes a loading port 1 , a transfer mechanism 2 and a conveying mechanism 3 .

The load port 1 (load port) can be used to temporarily store the object container 100. The object container 100 can accommodate the panel 200. After the object container 100 is transported to the predetermined position of the load port 1, the load port 1 will open the object container 100. In order to pick up and place the panels 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 again.

The transfer mechanism 2 is disposed between the loading port 1 and the conveyor mechanism 3. The transfer mechanism 2 can move the panels 200 in the object container 100 to the conveyor mechanism 3, or move the panels 200 on the conveyor mechanism 3 to inside object container 100. Please refer to Figures 3 and 4. The transfer mechanism 2 includes at least one four-axis robotic arm 21, at least one bearing 22 and a traveling axis 23. The bearing 22 is connected to the four-axis robotic arm 21. The four-axis robotic arm 21 can drive the bearing member 22 for carrying and moving the plate 200 . The four-axis robotic arm 21 includes a robotic arm 211 and a lifting device 212. The robotic arm 211 is disposed on the lifting device 212. The lifting device 212 can drive the robotic arm 211 to move up and down. The four-axis robotic arm 21 is disposed on a traveling shaft 23, and the traveling shaft 23 can be used to drive the four-axis robotic arm 21 and the bearing member 22 to move linearly. The drawings of this embodiment reveal two robotic arms 211. The two robotic arms 211 share a base 2111 and can move the plates 200 respectively.

Please refer to Figure 5. The robotic arm 211 is driven by a power source (motor). The robotic arm 211 includes a base 2111, a first arm body 2112, a second arm body 2113, an arm power source 2114, and 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 robotic 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. The first arm 2112 can rotate relative to the base 2111. The rear end of the second arm body 2113 is close to the front end of the first arm body 2112, and the second arm body 2113 can rotate relative to the first arm body 2112. The base 2111, the first arm body 2112 and the second arm body 2113 can rotate with each other to form an articulated structure. The front end (one end) of the second arm body 2113 is provided with an operating end 2118, which can be used to connect the bearing member 22. The operating end 2118 is rotatably provided on the second arm body 2113 to drive the bearing member 22 to rotate.

The arm power source 2114 and the first transmission group 2115 are arranged in the base 2111. 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. 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. , the third transmission group 2117 is connected to the operating end 2118. When the arm power source 2114 outputs power, the power can be transmitted through the first transmission group 2115, the second transmission group 2116 and the third transmission group 2117 in sequence, and drive the first arm body 2112 and the second arm body 2113 to rotate. The operating end 2118 at one end of the second arm body 2113 can be moved to a predetermined position, and the bearing member 22 on the operating end 2118 is used to carry 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 be used to drive the first arm body 2112 to rotate, and the second reducer 2220 can be used to drive the second arm body 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 more stable.

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 and lowered on the base 2121, and the second lifting layer 2123 can be lifted and lowered on the first lifting layer 2122, thereby forming 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, and the lifting transmission mechanism 2124 is arranged 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 lifting movement of the first lifting layer 2122 and the second lifting layer 2123, and can be used to drive the mechanical arm 211 to lift. Movement allows the robotic arm 211 to move to a predetermined height to facilitate picking up and placing the plate 200 .

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

The traveling axis 23 can be used to drive the four-axis robot arm 21 and the carrier 22 to move linearly, thereby expanding the movement range of the four-axis robot 21 and the carrier 22 . Please refer to Figure 8. In this embodiment, the traveling axis 23 includes a fixed base 231, a moving base 232, a traveling power source 233 and a traveling transmission mechanism 234. The moving base 232 is movably disposed on the fixed base 231. , the movable base 232 can move linearly on the fixed base 231 , and the four-axis robotic arm 21 is disposed on the movable base 232 . The four-axis robotic arm 21 is disposed on the movable base 232 with the base 2121 of the lifting device 212 . In addition, a linear slide rail 235 can be provided between the fixed base 231 and the movable base 232 so that the movable base 232 can move stably on the fixed base 231. The traveling power source 233 can be a motor, etc. The traveling power source 233 can be disposed on the movable base 232 or the fixed base 231 . The traveling transmission mechanism 234 is connected to the traveling power source 233 . The traveling transmission mechanism 234 is also connected to the fixed base 231 Or mobile base 232.

When the traveling power source 233 is started, the traveling transmission mechanism 234 can drive the movable base 232 to move, so that the movable base 232 can move on the fixed base 231 to drive the four-axis robot arm 21 to move. Preferably, the traveling power source 233 is provided on the movable base 232, and the traveling transmission mechanism 234 is connected to the traveling power source 233 and the fixed base 231. The traveling transmission mechanism 234 may include a rack 2341 and a gear 2342. The rack 2341 is disposed on the fixed base 231, the gear 2342 is connected to the traveling power source 233, and the gear 2342 is meshed with the rack 2341. When the traveling power source 233 is started, it can drive the gear 2342 to rotate, causing the gear 2342 to roll on the rack 2341, thereby driving the movable base 232 to move on the fixed base 231. The traveling 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 conveying roller set. In this embodiment, the conveying mechanism 3 is a conveying roller set. , the conveying mechanism 3 may include a conveying power source 31, a transmission mechanism 32 and a plurality of conveying rollers 33 (as shown in Figure 9). The conveying power source 31 may be a motor, etc., and 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 rollers 33 are respectively disposed on the second transmission shafts 323 , and the plates 200 can be placed on the conveying rollers 33 . One end of the second transmission shafts 323 and the first transmission shaft 322 can be transmitted through a non-contact magnetic ring 324, so that the transmission mechanism 32 is connected between the transmission power source 31 and the transmission rollers 33, and the magnetic force The ring 324 uses magnetic attraction and is a non-contact transmission with no wear and dust, which can improve the cleanliness. The conveying power source 31 can drive the conveying rollers 33 to rotate through the transmission mechanism 32 to convey the movement of the plate 200 .

The retractable plate mechanism can further include a rotating plate mechanism 4 (as shown in Figure 10). The rotating plate mechanism 4 is close to the conveying mechanism 3. The rotating plate mechanism 4 can be arranged above or below the conveying mechanism 3. The plate mechanism 4 can rotate the plate 200 on the conveying mechanism 3 . In this embodiment, the rotating plate mechanism 4 is disposed above the conveying mechanism 3. The rotating plate mechanism 4 may include a lifting module 41, a rotating group 42 and a plate taking group 43. The lifting module 41 may be Lifting mechanisms such as electric slides, the rotating group 42 is connected to the lifting module 41, and the rotating group 42 may include a rotational power source 421 such as a motor. The plate taking group 43 is installed on the rotating group 42. The plate taking group 43 can be a suction cup style or a clamping claw style. In this embodiment, the plate taking group 43 is a suction cup style. The plate taking group 43 includes a plurality of The second suction cup 431 can use the plate taking group 43 to pick up the plate 200, and use the lifting module 41 to drive the plate 200 to rise to a predetermined height, and then use the rotating group 42 to drive the plate 200 to rotate the plate. The piece 200 rotates to a predetermined angle and then continues to be transported. In another embodiment, the rotating plate mechanism 4 is disposed below the conveying mechanism 3. The rotating 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 The component 200 can be placed on the rotating group 42, and the lifting module 41 drives the panel 200 to rise, and the rotating group 42 drives the panel 200 to perform the rotating movement.

[Beneficial effects of the embodiment]

The beneficial effect of the present invention lies in the retractable plate mechanism and the transfer mechanism provided by the present invention. The retractable plate mechanism includes a loading port, a transfer mechanism and a transport mechanism. The object container can be transported to the loading port, and the transfer mechanism is arranged between the loading port and the conveying mechanism. The transfer mechanism can move the plates in the object container to the conveying mechanism, or move the plates on the conveying mechanism into the object container. , has a better production line, which can facilitate automated production and improve production efficiency.

The transfer mechanism includes at least one four-axis robotic arm, at least one bearing member and a walking axis. The bearing member is connected to the four-axis robotic arm. The four-axis robotic arm includes a robotic arm and a lifting device. The robotic arm is installed on the lifting device. , the lifting device can drive the robot arm to move up and down. The four-axis robot arm is set on the traveling axis. The traveling axis can drive the four-axis robot arm and the load-bearing part to move linearly, which can expand the movement range of the four-axis robot arm and the load-bearing part. The robotic 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 Set 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 to the first transmission group and the third Among the three transmission groups, the robotic arm uses a single arm power source, which can simplify the structure and reduce costs.

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

1:Loading port 2:Transfer mechanism 21:Four-axis robotic arm 211: Robotic arm 2111:Pedestal 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 the first floor 2123:Lift the second floor 2124: Lifting transmission mechanism 22: Bearing part 221:The first sucker 23:Travel axis 231: Fixed seat 232:Mobile base 233: Walking power source 234: Travel transmission mechanism 2341:Rack 2342:Gear 235:Linear slide rail 3: Conveying mechanism 31:Conveying power source 32: Transmission mechanism 321: Transmission belt 322:First drive shaft 323:Second drive shaft 324:Magnetic ring 33: Conveying roller 4: Turning plate mechanism 41:Lifting module 42:Rotation group 421:Rotating power source 43: Get the board set 431:Second suction cup 100:Object container 200:Plate

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

Figure 2 is a perspective view of the retractable plate mechanism of the present invention from another angle.

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

Figure 4 is a perspective view of the transfer mechanism of the present invention from another angle.

Figure 5 is a cross-sectional view of the robotic arm of the present invention.

Figure 6 is a perspective view of the lifting device of the present invention.

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

Figure 8 is a perspective view of the traveling axis of the present invention.

Figure 9 is a perspective view of the conveying mechanism of the present invention.

Figure 10 is a perspective view of the rotating plate mechanism of the present invention.

1:Loading port

2:Transfer mechanism

21:Four-axis robotic arm

211: Robotic arm

212: Lifting device

22: Bearing part

23:Travel axis

231: Fixed seat

232:Mobile base

233: Walking power source

3: Conveying mechanism

33: Conveying roller

100:Object container

200:Plate

Claims (13)

A retractable plate mechanism is used for moving plates. The retractable plate mechanism includes: a loading port, which can be used to temporarily store object containers, and the object container can be used to accommodate the plates; a transfer mechanism , the transfer mechanism includes at least one four-axis robotic arm, at least one bearing member and a walking axis. The bearing member is connected to the four-axis robotic arm. The four-axis robotic arm can drive the bearing member for carrying and moving the The four-axis robotic arm includes a mechanical arm and a lifting device. The robotic arm is mounted on the lifting device. The lifting device can drive the robotic arm to move upward and downward. The four-axis robotic arm is mounted on the traveling axis. The traveling axis can drive the four-axis robot arm and the carrier to move linearly; and a conveying mechanism can be used to convey the plate, and the transfer mechanism is disposed between the loading port and the conveying mechanism. The transfer mechanism can move the plates in the object container to the conveying mechanism, or move the plates on the conveying mechanism into the object container; wherein the robot arm includes a base, a first arm body, and a The 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 The second arm body can rotate relative to the first arm body. One end of the second arm body is provided with an operating end. The operating end is connected to the bearing member. The operating end is rotatably provided on the second arm body. The arm is powered by The 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, and the third transmission group is arranged in the second arm In the 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 retractable plate mechanism of claim 1, wherein a first reducer is disposed between the first transmission group and the second transmission group, and the second transmission group and the third transmission group A second reducer is arranged between the groups, and the first reducer and the second reducer are harmonic reducers. The retractable plate mechanism according to claim 1, wherein the lifting device includes a base, a first lifting layer, a second lifting layer and a lifting transmission mechanism, and the first lifting layer is elevatingly disposed on the base. , the second lifting layer can be lifted and lowered 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, the lifting transmission mechanism It can drive the lifting movement of the first lifting layer and the lifting movement of the second lifting layer. The retractable plate mechanism of claim 1, wherein the traveling axis includes a fixed base, a moving base, a traveling power source and a traveling transmission mechanism, the moving base is movably arranged on the fixed base, and the four The four-axis mechanical arm is arranged on the moving base, and the traveling transmission mechanism is connected to the traveling power source. When the traveling power source is started, the traveling transmission mechanism can drive the moving base to drive the four-axis robotic arm to move. The retractable plate mechanism of claim 4, wherein the traveling transmission mechanism includes a rack and a gear, the rack is disposed on the fixed seat, the gear is connected to the traveling power source, and the gear is engaged with the gear. When the moving power source is started, the gear can be driven to rotate, causing the gear to roll on the rack to drive the movable base to move on the fixed base. The retractable plate mechanism as claimed in claim 1 further includes a rotating plate mechanism, which is close to the conveying mechanism, and the rotating plate mechanism can rotate the plates on the conveying mechanism. The retractable plate mechanism as described in claim 6, wherein the rotating plate mechanism includes a lifting module, a rotating group and a plate taking group, the rotating group is connected to the lifting module, and the plate taking group is installed on the rotating On the group, the plate taking group can take the plate, and use the lifting module to drive the plate to rise, and the rotating group to drive the plate to perform the plate turning action. The retractable plate mechanism of claim 6, wherein the rotating plate mechanism is disposed below the conveying mechanism, the rotating plate mechanism includes a lifting module and a rotating group, the rotating group is connected to the lifting module, the The plate can be placed on the rotating group, and the lifting module is used to drive the plate up, and the rotating group drives the plate to perform the rotating action. A transfer mechanism includes: at least one four-axis robotic arm. The four-axis robotic arm includes a robotic arm and a lifting device. The robotic arm is provided on the lifting device. The lifting device can drive the robotic arm to move upward and downward; at least A bearing member, the bearing member is connected to the four-axis robotic arm, the four-axis robotic arm can drive the bearing member, and is used to carry and move the plate; and a traveling axis, the four-axis robotic arm is arranged on the traveling axis , the traveling axis can drive the four-axis robotic arm and the bearing member to move linearly; the robotic arm includes a base, a first arm body, a second arm body, an arm power source, and 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 of the arm body, and the operating end is connected to the bearing member. The operating end is rotatably provided on the second arm body, and the arm power source and the first transmission group are provided in the base. A 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 to the first transmission group and the Between the third transmission group, the third transmission group is connected to the operating end. The transfer mechanism as claimed in claim 9, wherein a first reducer is provided between the first transmission group and the second transmission group, and a second reduction gear is provided between the second transmission group and the third transmission group. machine, the first reducer and the second reducer are harmonic reducers. The transfer mechanism as claimed in claim 9, wherein the lifting device includes a base, a first lifting layer, a second lifting layer and a lifting transmission mechanism, and the first lifting layer is elevatingly disposed on the base, The second lifting layer can be lifted and lowered on the first lifting layer. The lifting transmission mechanism is installed in the base. The lifting transmission mechanism is connected to the first lifting layer and the second lifting layer. The lifting transmission mechanism can The lifting movement of the first lifting layer and the lifting movement of the second lifting layer is driven. The transfer mechanism as described in claim 9, wherein the traveling axis includes a fixed base, a moving base, a traveling power source and a traveling transmission mechanism, the moving base is movably arranged on the fixed base, and the four-axis The robot arm is arranged on the moving base, and the traveling transmission mechanism is connected to the traveling power source. When the traveling power source is started, the traveling transmission mechanism can drive the moving base to drive the four-axis robotic arm to move. The transfer mechanism as claimed in claim 12, wherein the traveling transmission mechanism includes a rack and a gear, the rack is disposed on the fixed seat, the gear is connected to the traveling power source, and the gear meshes with the rack , when the walking power source is started, it can drive the gear to rotate, causing the gear to roll on the rack, so as to drive the movable base to move on the fixed base.

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