Product transfer hand changing mechanism

Abstract

The utility model discloses a product transfer hand changing mechanism which comprises a first mechanical arm and a second mechanical arm, the first mechanical arm comprises a plurality of first clamping jaws capable of being opened and closed, the first clamping jaws are arranged side by side at intervals, and the interval space between every two adjacent first clamping jaws forms a first butt joint opening; the second mechanical arms are oppositely arranged, each second mechanical arm comprises a plurality of second clamping jaws capable of being opened and closed, the second clamping jaws are arranged side by side at intervals, and the interval space between every two adjacent second clamping jaws forms a second butt joint opening; the first manipulator and the second manipulator are oppositely arranged, and when the first manipulator and the second manipulator are close to each other and are in butt joint, the first clamping jaw is inserted into the second butt joint opening, and the second clamping jaw is inserted into the first butt joint opening. According to the utility model, direct hand changing of a product is realized without the help of a switching platform, so that the hand changing time is shortened, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical structures, in particular to a product transfer and hand-changing mechanism. Background Art

[0002] In an automated production line, it is often necessary to transfer products from one process to the next. Currently, during the transfer process, a transfer platform is required, which results in a long transfer process and low work efficiency. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a product transfer handover mechanism, aiming to improve the efficiency of the product transfer process.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a product transfer hand-changing mechanism, comprising a first manipulator and a second manipulator, the first manipulator comprising a plurality of first jaws that can be opened and closed, the plurality of first jaws being arranged side by side at intervals, and the interval space between two adjacent first jaws forming a first pair of interfaces; the second manipulator is arranged opposite to the second manipulator, the second manipulator comprising a plurality of second jaws that can be opened and closed, the plurality of second jaws being arranged side by side at intervals, and the interval space between two adjacent second jaws forming a second pair of interfaces; the first manipulator and the second manipulator are arranged opposite to each other, when the first manipulator and the second manipulator are close to each other and docked, the first jaw pair is inserted into the second pair of interfaces, and the second jaw pair is inserted into the first pair of interfaces.

[0006] Furthermore, the first clamp and the second clamp each include a clamp mounting plate, a clamp cylinder and two clamps arranged opposite to each other, the clamp is connected to the clamp mounting plate, and the clamp cylinder is used to drive the two clamps to move closer to or away from each other.

[0007] Furthermore, the two oppositely arranged clamping plates are both L-shaped, and the angle of one clamping plate is toward the other clamping plate.

[0008] Furthermore, the output end of the clamping jaw cylinder is connected to one of the two clamping plates, and the other clamping plate is fixedly connected to the clamping jaw mounting plate.

[0009] Furthermore, the first clamping jaw and the second clamping jaw further include a material pressing cylinder and a material pressing plate, the material pressing plate is connected to the output end of the material pressing cylinder, and the material pressing plate is arranged parallel to the top of the transverse plate portion of the clamping plate.

[0010] Furthermore, it also includes a Z-axis linear module, which includes a Z-axis fixed plate, a Z-axis guide rail, a Z-axis screw rod, a Z-axis motor and a Z-axis slider. The Z-axis guide rail and the Z-axis screw rod are arranged parallel to the Z-axis fixed plate, the Z-axis motor is connected to the Z-axis screw rod, the Z-axis slider is connected to the Z-axis guide rail and the Z-axis screw rod, and the first manipulator is connected to the Z-axis slider.

[0011] Furthermore, it also includes a first Y-axis sliding module, which includes a first Y-axis motor, a first Y-axis slide rail and a first Y-axis slider. The first Y-axis slider is slidingly connected to the first Y-axis slide rail, the first Y-axis motor is transmission-connected to the first Y-axis slider, and the Z-axis fixed plate is connected to the first Y-axis slider.

[0012] Furthermore, it also includes a fixed frame and an X-axis sliding module, the X-axis sliding module includes an X-axis motor, an X-axis slide rail, an X-axis fixed plate and an X-axis slider, the X-axis slide rail is connected to the X-axis fixed plate, the X-axis slider is slidably connected to the X-axis slide rail, the X-axis motor is transmission-connected to the X-axis slider, the fixed frame is vertically arranged, the fixed frame is connected to the X-axis slider, and the second manipulator is connected to the fixed frame.

[0013] Furthermore, it also includes a second Y-axis sliding module, which includes a second Y-axis motor, a second Y-axis slide rail and a second Y-axis slider. The second Y-axis slider is slidably connected to the second Y-axis slide rail, the second Y-axis motor is transmission-connected to the second Y-axis slider, and the X-axis fixed plate is connected to the second Y-axis slider.

[0014] Furthermore, a plurality of second manipulators are fixedly mounted, and the plurality of second manipulators are spaced apart from one another.

[0015] Compared with the prior art, the utility model has the following beneficial effects: a product transfer hand-changing mechanism, comprising a first manipulator and a second manipulator, the first manipulator comprising a plurality of first jaws that can be opened and closed, the plurality of first jaws being arranged side by side and spaced apart, and the space between two adjacent first jaws forming a first pair of interfaces; the second manipulator is arranged relative to the second manipulator, the second manipulator comprising a plurality of second jaws that can be opened and closed, the plurality of second jaws being arranged side by side and spaced apart, and the space between two adjacent second jaws forming a second pair of interfaces; the first manipulator and the second manipulator are arranged relative to each other, when the first manipulator and the second manipulator are close to each other and docked, the first jaw is inserted into the second pair of interfaces, and the second jaw is inserted into the first pair of interfaces. When a hand-changing is required during the product transfer process, the first manipulator moves to the docking position, the first manipulator and the second manipulator dock with each other, after the first jaw of the first manipulator grabs the product, the second jaw of the second manipulator releases the product, thereby realizing a direct hand-changing of the product, without the need for a transfer platform, reducing the hand-changing time and improving work efficiency.

[0016] The above description is only an overview of the technical solution of the present utility model. In order to better understand the technical means of the present utility model, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present utility model more obvious and understandable, the following preferred embodiments are specifically described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative work, other drawings can be obtained according to these drawings.

[0018] Figure 1 The front view of the initial position of a product transfer and handover mechanism provided for a specific embodiment of the present utility model;

[0019] Figure 2 The axonometric view of the initial position of a product transfer and handover mechanism provided for a specific embodiment of the present utility model;

[0020] Figure 3 For Figure 2 The partial enlarged view of part A in

[0021] Figure 4 The front view of the working position of a product transfer and handover mechanism provided for a specific embodiment of the present utility model;

[0022] Figure 5 The axonometric view of the working position of a product transfer and handover mechanism provided for a specific embodiment of the present utility model;

[0023] Figure 6 For Figure 5 The partial enlarged view of part A in

[0024] Figure 7 The schematic diagram of the docking state of the first manipulator and the second manipulator in a product transfer and handover mechanism provided for a specific embodiment of the present utility model.

[0025] REFERENCE MARKS

[0026] 1. First manipulator; 11. First jaw; 111. Jaw mounting plate; 112. Clamping plate; 113. Material pressing cylinder; 114. Material pressing plate; 12. First docking port; 2. Second manipulator; 21. Second jaw; 22. Second docking port; 3. Z-axis linear module; 31. Z-axis fixing plate; 32. Z-axis guide rail; 33. Z-axis lead screw; 34. Z-axis motor; 35. Z-axis slider; 4. First Y-axis sliding module; 41. First Y-axis slide rail; 42. First Y-axis slider; 5. X-axis sliding module; 51. X-axis motor; 52. X-axis slide rail; 53. X-axis slider; 54. X-axis fixing plate; 6. Second Y-axis sliding module; 61. Second Y-axis slide rail; 62. Second Y-axis slider; 7. Fixed frame; Product, 100. Detailed implementation manners

[0027] The following will clearly and completely describe the technical solutions of the present utility model in conjunction with specific embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0028] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0029] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0030] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "attachment", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication between two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0031] In the present utility model, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0033] As Figures 1-7 shown, an embodiment of the present utility model provides a product transfer and handover mechanism, which includes a first manipulator 1 and a second manipulator 2. The first manipulator 1 includes a plurality of first jaws 11 that can be opened and closed. The plurality of first jaws 11 are arranged side by side at intervals, and the interval space between two adjacent first jaws 11 forms a first docking port 12. The second manipulator 2 is arranged opposite to the second manipulator 2. The second manipulator 2 includes a plurality of second jaws 21 that can be opened and closed. The plurality of second jaws 21 are arranged side by side at intervals, and the interval space between two adjacent second jaws 21 forms a second docking port 22. The first manipulator 1 and the second manipulator 2 are arranged opposite to each other. When the first manipulator 1 and the second manipulator 2 approach each other and dock, the first jaws 11 are inserted into the second docking port 22 in an inserted manner, and the second jaws 21 are inserted into the first docking port 12 in an inserted manner.

[0034] When the product 100 needs to be transferred during transportation and requires a handover, the first manipulator 1 moves to the docking position, and the first manipulator 1 and the second manipulator 2 are docked with each other. After the first gripper 11 of the first manipulator 1 grabs the product 100, the second gripper 21 of the second manipulator 2 releases the product 100, thus realizing the direct handover of the product 100 without the need to rely on a transfer platform to complete, reducing the handover time and improving work efficiency.

[0035] It should be noted that the width and length of the first docking port 12 need to be adapted to the width and length of the second gripper 21 so that the second gripper 21 can be inserted into the first docking port 12 during docking. Similarly, the width and length of the second docking port 22 need to be adapted to the width and length of the first gripper 11 so that the first gripper 11 can be inserted into the second docking port 22 during docking.

[0036] As Figure 1 and Figure 3 shown, both the first gripper 11 and the second gripper 21 include a gripper mounting plate 111, a gripper cylinder, and two oppositely arranged clamping plates 112. The clamping plates 112 are connected to the gripper mounting plate 111, and the gripper cylinder is used to drive the two clamping plates 112 to approach or move away from each other.

[0037] The multiple gripper mounting plates 111 on the same manipulator can be of a split structure or an integral structure. The gripper cylinder can be a pneumatic or electric cylinder. One of the two oppositely arranged clamping plates 112 can be movable, or both clamping plates 112 can be movable, and the driving force for their movement is provided by the gripper cylinder. Generally, in order to simplify the structural design, the gripper cylinder is set to drive one clamping plate 112 to move away from or close to the other clamping plate 112, thereby realizing the opening and closing functions between the two clamping plates 112.

[0038] In one embodiment, the output end of the gripper cylinder is connected to one of the two clamping plates 112, and the other clamping plate 112 is fixedly connected to the gripper mounting plate 111.

[0039] In this embodiment, the gripper mounting plate 111 is in the shape of a rectangular block. The clamping plate 112 of the first gripper 11 close to the second gripper 21 is fixedly connected to the gripper mounting plate 111 by screws, and the clamping plate 112 of the first gripper 11 far from the second gripper 21 is connected to the output end of the gripper cylinder. The clamping plate 112 of the second gripper 21 close to the first gripper 11 is fixedly connected to the gripper mounting plate 111 by screws, and the clamping plate 112 of the second gripper 21 far from the first gripper 11 is connected to the output end of the gripper cylinder. With such a design, the structural design is more compact and reasonable while ensuring normal function.

[0040] When the gripper cylinder is inflated, the piston of the gripper cylinder pushes the clamping plates 112 closer to each other, thereby clamping the product 100 to be transferred. When released, the gripper cylinder exhausts air, and the piston returns to its initial position under the action of the spring, and the two clamping plates 112 move away from each other, thereby releasing the clamped product 100.

[0041] As Figure 3 shown, the two oppositely arranged clamping plates 112 are both L-shaped, and the included angle of one clamping plate 112 faces the other clamping plate 112. During use, the vertical sides of the clamping plates 112 correspond to the sides of the product 100, and the horizontal sides of the clamping plates 112 correspond to the bottom surface of the product 100. The shape design of the L-shaped clamping plates 112 enables it to increase the contact area with the surface of the product 100 when clamping the product 100, and can provide more contact points. At the same time, the symmetrical layout of the two clamping plates 112 can provide mutual supporting forces during the clamping process, thereby improving the clamping stability. In addition, when the L-shaped clamping plates 112 clamp the product 100, the existence of the included angle can effectively prevent the product 100 from rotating or axially moving during the clamping process. Especially when grasping a long or product 100 with a certain length, the blocking effect of the L-shaped clamping plates 112 is more obvious, which helps to improve the clamping accuracy and safety. When the gripper closes, the two vertical surfaces of the L-shaped structure respectively clamp different surfaces of the product 100, providing clamping forces in multiple directions, significantly reducing the sliding risk of the product 100 during the clamping process.

[0042] As Figures 3-4 shown, the first gripper 11 and the second gripper 21 further include a pressure cylinder 113 and a pressure plate 114. The pressure plate 114 is connected to the output end of the pressure cylinder 113, and the pressure plate 114 is arranged parallel to the upper part of the horizontal plate portion of the clamping plate 112. By adding the pressure plate 114, the product 100 is not only clamped from the side during the clamping process, but also pressed from above, which can effectively prevent the product 100 from moving or shifting during the clamping process.

[0043] It should be noted that the pressing force of the pressure plate 114 can be adjusted according to the different requirements of the product 100.

[0044] It should also be noted that in addition to the flat-shaped pressure plate 114, a pressure plate 114 with multiple pressing points can also be designed. This multi-point pressing design can better adapt to products 100 with irregular shapes, ensure that the product 100 is subjected to pressing forces at multiple key points, and further improve the clamping stability.

[0045] As Figure 3As shown, the product transfer and handover mechanism further includes a Z-axis linear module 3. The Z-axis linear module 3 includes a Z-axis fixing plate 31, a Z-axis guide rail 32, a Z-axis lead screw 33, a Z-axis motor 34, and a Z-axis slider 35. The Z-axis guide rail 32 and the Z-axis lead screw 33 are arranged in parallel on the Z-axis fixing plate 31. The Z-axis motor 34 is connected to the Z-axis lead screw 33. The Z-axis slider 35 is connected to the Z-axis guide rail 32 and the Z-axis lead screw 33. The first manipulator 1 is connected to the Z-axis slider 35.

[0046] By driving the Z-axis lead screw 33 through the Z-axis motor 34, the Z-axis slider 35 can move in the Z-axis direction (i.e., the height direction) with high precision on the Z-axis guide rail 32, so that the height position of the first manipulator 1 can be accurately adjusted to ensure high-precision cooperation with the second manipulator 2.

[0047] As Figure 3 shown, the product transfer and handover mechanism further includes a first Y-axis sliding module 4. The first Y-axis sliding module 4 includes a first Y-axis motor, a first Y-axis slide rail 41, and a first Y-axis slider 42. The first Y-axis slider 42 is slidably connected to the first Y-axis slide rail 41. The first Y-axis motor is drivingly connected to the first Y-axis slider 42. The Z-axis fixing plate 31 is connected to the first Y-axis slider 42.

[0048] By providing the first Y-axis sliding module 4, the movement of the first manipulator 1 in the Y-axis direction (i.e., the direction parallel to the second manipulator 2) is realized, so that the position of the first manipulator 1 in the Y-axis direction can be accurately adjusted to ensure high-precision cooperation with the second manipulator 2.

[0049] Generally speaking, by providing the Z-axis linear module 3 and the first Y-axis sliding module 4, the first manipulator 1 can not only adjust the height position but also make adjustments in the direction parallel to the second manipulator 2, improving the accuracy and precision during docking.

[0050] As Figure 3 shown, the product transfer and handover mechanism further includes a fixing bracket 7 and an X-axis sliding module 5. The X-axis sliding module 5 includes an X-axis motor 51, an X-axis slide rail 52, an X-axis fixing plate 54, and an X-axis slider 53. The X-axis slide rail 52 is connected to the X-axis fixing plate 54. The X-axis slider 53 is slidably connected to the X-axis slide rail 52. The X-axis motor 51 is drivingly connected to the X-axis slider 53. The fixing bracket 7 is arranged vertically. The fixing bracket 7 is connected to the X-axis slider 53. The second manipulator 2 is connected to the fixing bracket 7.

[0051] By providing the X-axis sliding module 5, the movement of the second manipulator 2 in the X-axis direction (i.e., the direction of approaching or moving away from the first manipulator 1) is realized, so that the position of the second manipulator 2 in the X-axis direction can be accurately adjusted to ensure adjustment to a suitable docking position.

[0052] As Figure 3As shown, the product transfer and handover mechanism further includes a second Y-axis sliding module 6. The second Y-axis sliding module 6 includes a second Y-axis motor, a second Y-axis slide rail 61, and a second Y-axis slider 62. The second Y-axis slider 62 is slidably connected to the second Y-axis slide rail 61. The second Y-axis motor is drivingly connected to the second Y-axis slider 62. The X-axis fixing plate 54 is connected to the second Y-axis slider 62.

[0053] By providing the second Y-axis sliding module 6, the movement of the second manipulator 2 in the Y-axis direction is realized, so that the second manipulator can be precisely adjusted in the Y-axis direction, improving the accuracy and precision during docking.

[0054] Generally speaking, by providing the X-axis sliding module 5 and the second Y-axis sliding module 6, the first manipulator 1 can be adjusted both in the X-axis direction and in the Y-axis direction, improving the accuracy and precision during docking.

[0055] As Figure 3 shown, the fixing frame 7 is provided with a plurality of second manipulators 2, and the plurality of second manipulators 2 are arranged at intervals up and down. By providing the plurality of second manipulators 2, and the first manipulator 1 can be adjusted in height in the Z-axis direction, so that one first manipulator 1 can cooperate with a plurality of second manipulators 2 at different heights to perform handover and transfer of products 100 at different heights.

[0056] One first manipulator 1 can be used in cooperation with a plurality of second manipulators 2, reducing the demand for the number of manipulators on the production line, reducing equipment costs and space occupancy. At the same time, by arranging a plurality of second manipulators 2 in the vertical direction, the vertical space in the working space can be fully utilized. In addition, since the first manipulator 1 can be quickly coordinated with a plurality of second manipulators 2 through height adjustment, the waiting time during the production process can be greatly reduced. The manipulator can quickly switch tasks and sequentially process products 100 at different heights, improving the production rhythm and overall efficiency.

[0057] The product handover process is as follows:

[0058] When the product 100 needs to be handed over during the transfer process, the first manipulator 1 rises or falls to the docking position. The second manipulator 2 translates along the X-axis to dock with the first manipulator 1. The clamping cylinder of the first manipulator 1 extends to drive the first clamp 11 to open, and then descends to the lower surface of the product 100. The pressing cylinder 113 of the second manipulator 2 retracts to release the pressing state of the product 100. The first clamp 11 of the first manipulator 1 closes, that is, the product 100 is transferred to the first manipulator 1. After the transfer, the pressing cylinder 113 of the first manipulator 1 presses the product 100 tightly. Then the second clamp 21 of the second manipulator 2 opens and rises and exits, that is, the handover action is completed.

[0059] As mentioned above, it is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A product transfer and handover mechanism, characterized in that Comprising: A first manipulator, including a plurality of first jaws that can be opened and closed, the plurality of first jaws being arranged side by side at intervals, and the interval space between two adjacent first jaws forms a first docking port; A second manipulator, arranged opposite to the second manipulator, including a plurality of second jaws that can be opened and closed, the plurality of second jaws being arranged side by side at intervals, and the interval space between two adjacent second jaws forms a second docking port; The first manipulator and the second manipulator are arranged opposite to each other. When the first manipulator and the second manipulator approach and dock with each other, the first jaws are inserted into the second docking port, and the second jaws are inserted into the first docking port.

2. The product transfer and handover mechanism according to claim 1, wherein, Both the first jaws and the second jaws include jaw mounting plates, jaw cylinders, and two oppositely arranged clamping plates. The clamping plates are connected to the jaw mounting plates, and the jaw cylinders are used to drive the two clamping plates to approach or move away from each other.

3. The product transfer and handover mechanism according to claim 2, characterized in that, The two oppositely arranged clamping plates are both L-shaped, and the included angle of one of the clamping plates faces the other clamping plate.

4. A product transfer and handover mechanism according to claim 2, characterized in that, The output end of the jaw cylinder is connected to one of the two clamping plates, and the other clamping plate is fixedly connected to the jaw mounting plate.

5. The product transfer and handover mechanism according to claim 3, characterized in that, The first jaws and the second jaws further include a blanking cylinder and a blanking plate. The blanking plate is connected to the output end of the blanking cylinder, and the blanking plate is arranged parallel to the upper side of the transverse plate portion of the clamping plate.

6. The product transfer and handover mechanism according to claim 1, characterized in that, It further includes a Z-axis linear module, which includes a Z-axis fixing plate, a Z-axis guide rail, a Z-axis lead screw, a Z-axis motor, and a Z-axis slider. The Z-axis guide rail and the Z-axis lead screw are arranged parallel to the Z-axis fixing plate. The Z-axis motor is connected to the Z-axis lead screw, the Z-axis slider is connected to the Z-axis guide rail and the Z-axis lead screw, and the first manipulator is connected to the Z-axis slider.

7. A product transfer and handover mechanism according to claim 6, characterized in that, It further includes a first Y-axis sliding module, which includes a first Y-axis motor, a first Y-axis slide rail, and a first Y-axis slider. The first Y-axis slider is slidably connected to the first Y-axis slide rail, the first Y-axis motor is drivingly connected to the first Y-axis slider, and the Z-axis fixing plate is connected to the first Y-axis slider.

8. A product transfer and handover mechanism according to claim 1, characterized in that, It further includes a fixing frame and an X-axis sliding module, which includes an X-axis motor, an X-axis slide rail, an X-axis fixing plate, and an X-axis slider. The X-axis slide rail is connected to the X-axis fixing plate, the X-axis slider is slidably connected to the X-axis slide rail, the X-axis motor is drivingly connected to the X-axis slider, the fixing frame is arranged vertically, the fixing frame is connected to the X-axis slider, and the second manipulator is connected to the fixing frame.

9. The product transfer and handover mechanism according to claim 8, characterized in that, It further includes a second Y-axis sliding module, which includes a second Y-axis motor, a second Y-axis slide rail, and a second Y-axis slider. The second Y-axis slider is slidably connected to the second Y-axis slide rail, the second Y-axis motor is drivingly connected to the second Y-axis slider, and the X-axis fixing plate is connected to the second Y-axis slider.

10. A product transfer and handover mechanism according to claim 8, characterized in that, The fixing frame is provided with a plurality of second manipulators, and the plurality of second manipulators are arranged at intervals up and down.

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