Material taking device and material taking method

Abstract

The invention belongs to the technical field of semiconductor chip production, and discloses a material taking device and a material taking method. During material taking, the X-axis moving module drives the electromagnet module to attract the first side of the material disc, the material disc is pulled out of the material frame, then through combination of the X-axis moving module and the lifting driving part, the electromagnet module is moved to the second side of the material disc, and the electromagnet module is attracted to the second side of the material disc; the X-axis moving module is used for pushing the material trays to the picking device, after picking is completed, the X-axis moving module, the lifting driving part and the electromagnet module are matched to pull the material trays out of the picking device and push the material trays into the material frame, accurate taking and placing of the material trays are achieved, and the material taking efficiency and stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor chip manufacturing, and in particular to a material taking device and a material taking method. Background Art

[0002] In the production and testing process of semiconductor chips, efficient and accurate handling of chips is a key link to ensure stable operation of the production line and improve the yield rate. At present, the placement of chips mainly relies on robots, vacuum suction cups or manual operation. However, these traditional methods have certain limitations. For example, manual operation depends on the proficiency of workers, which is not only inefficient, but also easy to cause chip damage or contamination due to human factors; vacuum suction cups are limited by the surface structure and material of the chip, and may cause the chip to fall due to unstable adsorption or insufficient adsorption force, affecting the reliability of placement; although robots can realize automated handling, the mechanical clamping method may cause mechanical stress on the edge of the chip, affecting the quality of the chip, especially when handling ultra-thin chips or micro chips. It is more likely to cause damage.

[0003] Therefore, there is an urgent need for a material taking device and a material taking method to solve the above technical problems. Summary of the invention

[0004] One object of the present invention is to provide a material taking device to achieve accurate taking and placing of a material tray, thereby improving the material taking efficiency and improving the stability and reliability of the material taking process.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] The material taking device is arranged between the material frame and the picking device, and comprises:

[0007] A moving module, comprising an X-axis moving module, a first bracket and a lifting drive member, wherein the X-axis moving module is arranged on the first bracket, and the lifting drive member is arranged on the moving end of the X-axis moving module;

[0008] The electromagnet module is arranged on the lifting end of the lifting drive member, the electromagnet module can be adsorbed on the side wall of the material tray, the X-axis moving module can drive the electromagnet module to move along the X-axis direction, and the lifting drive member can drive the electromagnet module to move along the Z-axis direction to pull the material tray from the material frame and push it into the picking device, or pull the material tray from the picking device and push it into the material frame, and the X-axis direction is perpendicular to the Z-axis direction.

[0009] Optionally, the first bracket is provided with a first track and a second track parallel to each other, and the electromagnet module comprises:

[0010] A mounting seat connected to the lifting end of the lifting drive member, the mounting seat being provided with a first mounting plate and a second mounting plate arranged up and down;

[0011] A first magnet assembly is disposed on the upper end surface of the first mounting plate, and the first magnet assembly is used to drive the material tray to move along the first track;

[0012] The second magnet assembly is arranged on the lower end surface of the second mounting plate, and the second magnet assembly is used to drive the material tray to move along the second track.

[0013] Optionally, the electromagnet module further includes:

[0014] A first driving member is disposed on the first mounting plate, the first magnet assembly is disposed on the first driving member, and the first driving member is used to drive the first magnet assembly to move along the X-axis direction;

[0015] The second driving member is arranged on the second mounting plate, the second magnet assembly is arranged on the second driving member, and the second driving member is used for driving the second magnet assembly to move along the X-axis direction.

[0016] Optionally, the first magnet assembly includes a magnet fixing seat and at least two electromagnets, and the at least two electromagnets are arranged on the magnet fixing seat at intervals along the X-axis direction.

[0017] Optionally, the X-axis moving module includes:

[0018] An X-axis driving motor is arranged on the first bracket;

[0019] The transmission assembly includes a driving wheel, a driven wheel and a transmission belt. The driving wheel is transmission-connected to the output end of the X-axis driving motor. The driven wheel is rotatably arranged on the first bracket. The transmission belt is wound around the driving wheel and the driven wheel and is tensioned by the driving wheel and the driven wheel. The lifting drive member is arranged on the transmission belt.

[0020] Optionally, the X-axis moving module further includes a tensioning support, which is movably disposed on the first bracket, and the driven wheel is rotatably disposed on the tensioning support, and the tensioning support is used to adjust the installation position of the driven wheel.

[0021] Optionally, the material picking device further includes a code scanning component, which is disposed on the first bracket and is used to scan an identification code on the material tray.

[0022] Optionally, the material picking device further includes a sensor assembly, the sensor assembly includes a first sensor, the first sensor is disposed on the first bracket, and the first sensor is used to detect whether the material tray is transported to a preset position.

[0023] Optionally, the material picking device also includes a Y-axis moving module and a Z-axis moving module, the Z-axis moving module is arranged on the moving end of the Y-axis moving module, the first bracket is arranged on the moving end of the Z-axis moving module, the Y-axis moving module is used to drive the electromagnet module to move along the Y-axis direction, and the Z-axis moving module is used to drive the electromagnet module to move along the Z-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.

[0024] Another object of the present invention is to provide a material taking method, so that the material tray is transported between the material frame and the picking device more smoothly, thereby improving the material taking efficiency and thus improving the production efficiency.

[0025] To achieve this object, the present invention adopts the following technical solutions:

[0026] The material taking method is applied to the above-mentioned material taking device, characterized in that the material taking method comprises:

[0027] S100, the electromagnet module is adsorbed on the first side of the material tray, and the moving module drives the electromagnet module to pull the material tray from the material frame to a preset position;

[0028] Controlling the moving module to drive the electromagnet module to move to the second side of the material tray and adsorb on the second side of the material tray, and the moving module pushes the material tray from the preset position to the selection device;

[0029] S200, after the selection is completed, the electromagnet module is adsorbed on the second side of the material tray, and the moving module drives the electromagnet module to pull the material tray from the selection device to the preset position;

[0030] The moving module is controlled to drive the electromagnet module to move to the first side of the material tray and adsorb on the first side of the material tray. The moving module pushes the material tray from the preset position into the material frame.

[0031] Beneficial effects:

[0032] The material picking device provided by the present invention, when picking materials, drives the electromagnet module to adsorb the first side of the material tray through the X-axis moving module, and pulls the material tray out of the material frame; then, through the combination of the X-axis moving module and the lifting drive component, the electromagnet module is moved to the second side of the material tray, and the electromagnet module is adsorbed on the second side of the material tray; the material tray is pushed into the selection device through the X-axis moving module; after the selection is completed, the material tray is pulled out of the selection device and pushed into the material frame through the cooperation of the X-axis moving module, the lifting drive component and the electromagnet module, thereby avoiding damage to the product during the material picking process, realizing accurate picking and placing of the material tray, and improving the material picking efficiency.

[0033] The material taking method provided by the present invention makes the conveying process of the material tray between the material frame and the picking device smoother, improves the material taking efficiency, and thus improves the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the X-axis moving module and the electromagnet module provided by the present invention at a certain viewing angle;

[0035] Figure 2 It is a structural schematic diagram of the X-axis moving module and the electromagnet module provided by the present invention from another perspective;

[0036] Figure 3 It is a partial structural schematic diagram of the electromagnet module provided by the present invention;

[0037] Figure 4 It is a structural schematic diagram of the moving module and the electromagnet module provided by the present invention.

[0038] In the figure:

[0039] 100, mobile module; 110, X-axis mobile module; 111, X-axis drive motor; 112, transmission assembly; 1121, driving wheel; 1122, driven wheel; 1123, transmission belt; 1124, tensioning support; 120, first bracket; 121, first track; 122, second track; 130, lifting drive member; 140, Y-axis mobile module; 141, Y-axis drive motor; 142, Y-axis lead screw nut assembly; 143, first bearing seat; 150, Z-axis mobile module; 151, Z-axis drive motor; 152, Z-axis lead screw nut assembly;

[0040] 200, electromagnet module; 210, mounting seat; 211, first mounting plate; 212, second mounting plate; 213, first magnet assembly; 214, second magnet assembly; 215, first driving member; 216, second driving member; 217, magnet fixing seat; 218, electromagnet; 2181, first electromagnet; 2182, second electromagnet;

[0041] 300, scan code;

[0042] 400. First sensor. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0047] This embodiment provides a material taking device, which is arranged between the material frame and the picking device. Figure 1-Figure 4 As shown, the material picking device includes a moving module 100 and an electromagnet module 200, the moving module 100 includes an X-axis moving module 110, a first bracket 120 and a lifting drive 130, the X-axis moving module 110 is arranged on the first bracket 120, the lifting drive 130 is arranged on the moving end of the X-axis moving module 110, the electromagnet module 200 is arranged on the lifting end of the lifting drive 130, the electromagnet module 200 can be adsorbed on the side wall of the material tray, the X-axis moving module 110 can drive the electromagnet module 200 to move along the X-axis direction, the lifting drive 130 can drive the electromagnet module 200 to move along the Z-axis direction, the X-axis direction is perpendicular to the Z-axis direction, and the material tray can be transported between the material frame and the picking device through the cooperation of the X-axis moving module 110, the lifting drive 130 and the electromagnet module 200.

[0048] When taking materials, the X-axis moving module 110 drives the electromagnet module 200 to adsorb the first side of the material tray and pull the material tray out of the material frame. Then, the electromagnet module 200 is moved to the second side of the material tray through the combination of the X-axis moving module 110 and the lifting drive component 130, and the electromagnet module 200 is adsorbed on the second side of the material tray. The material tray is pushed into the selection device through the X-axis moving module 110. After the selection is completed, the X-axis moving module 110, the lifting drive component 130 and the electromagnet module 200 cooperate to pull the material tray out of the selection device and push it into the material frame, thereby avoiding damage to the product during the material taking process, realizing accurate placement of the material tray, and improving the material taking efficiency.

[0049] Optionally, the lifting drive 130 is a lifting cylinder, so that the electromagnet module 200 can be lifted and lowered smoothly along the Z-axis direction, and can improve the movement efficiency of the electromagnet module 200 in the Z-axis direction, ensuring that the lifting cylinder cooperates with the X-axis moving module 110 to quickly move the electromagnet module 200 from one side of the product carrier to the other side of the product carrier.

[0050] Alternatively, if Figure 1 and Figure 2 As shown, the first bracket 120 is provided with a first track 121 and a second track 122 which are parallel to each other, the electromagnet module 200 includes a mounting seat 210, a first magnet assembly 213 and a second magnet assembly 214, the mounting seat 210 is connected to the lifting end of the lifting drive member 130, and the mounting seat 210 is provided with a first mounting plate 211 and a second mounting plate 212 which are arranged up and down, the first magnet assembly 213 is arranged on the upper end surface of the first mounting plate 211, the first magnet assembly 213 is used to drive the material tray to move along the first track 121, so that the material tray moves from the material frame to the selection device, the second magnet assembly 214 is arranged on the lower end surface of the second mounting plate 212, the second magnet assembly 214 is used to drive the material tray to move along the second track 122, so that the material tray moves from the selection device to the material frame. The first magnet assembly 213 drives the material tray to move along the first track 121 (i.e., the material tray is fed to the selection device through the first track), and at the same time the second magnet assembly 214 drives the material tray to move along the second track 122 (returning the material), which effectively reduces the reciprocating motion path of the electromagnet module 200, optimizes the overall handling process, reduces motion losses, and increases the service life of the equipment.

[0051] It can be understood that the first magnet assembly 213 is only responsible for pulling the material tray through the first track 121 and pushing it into the picking device. After the picking is completed, the second magnet assembly 214 is only responsible for pulling the material tray from the picking device and pushing it into the material frame, which can reduce the movement path of the electromagnet module 200 and improve the handling efficiency.

[0052] Optionally, the electromagnet module 200 further includes a first driving member 215 and a second driving member 216, wherein the first driving member 215 is disposed on the first mounting plate 211, and the first magnet assembly 213 is disposed on the first driving member 215, and the first driving member 215 is used to drive the first magnet assembly 213 to move along the X-axis direction, and to adjust the specific position of the first magnet assembly 213 when the material tray is adsorbed from the material frame, so as to ensure accurate docking, avoid adsorption failure caused by slight deviations in the placement position of the material tray, and improve the pick-and-place accuracy. In this embodiment, the first driving member 215 and the second driving member 216 are both driving cylinders.

[0053] Optionally, the second driving member 216 is disposed on the second mounting plate 212, and the second magnet assembly 214 is disposed on the second driving member 216. The second driving member 216 is used to drive the second magnet assembly 214 to move along the X-axis direction, and adjust the specific position of the second magnet assembly 214 when the material tray is adsorbed from the selection device to ensure accurate docking, avoid adsorption failure due to slight deviations in the position of the material tray, and improve the pick-and-place accuracy. The second magnet assembly 214 has the same structure as the first magnet assembly 213, and will not be described in detail.

[0054] Optionally, the first magnet assembly 213 includes a magnet fixing seat 217 and at least two electromagnets 218, and the at least two electromagnets 218 are arranged on the magnet fixing seat 217 at intervals along the X-axis direction. The two electromagnets 218 are defined as a first electromagnet 2181 and a second electromagnet 2182, respectively. The first electromagnet 2181 is used to pull the product out of the material frame, and then the X-axis moving module 110 and the lifting drive 130 drive the first electromagnet 2181 and the second electromagnet 2182 to move synchronously to the other side of the material tray, and the product is pushed into the selection device by the second electromagnet 2182; after the selection is completed, the material tray is pulled out of the selection device by the second electromagnet 2182, and then the X-axis moving module 110 and the lifting drive 130 drive the first electromagnet 2181 and the second electromagnet 2182 to move synchronously to the other side of the material tray, and the material tray is pushed back to the material frame by the first electromagnet 2181, thereby realizing an efficient handling process.

[0055] In this embodiment, Figure 3 As shown, two first electromagnets 2181 and two second electromagnets 2182 are provided, which can ensure that the material tray is subjected to stable force during the suction process and improve the stability of transportation.

[0056] Optionally, the X-axis moving module 110 includes an X-axis driving motor 111 and a transmission assembly 112, the X-axis driving motor 111 is arranged on the first bracket 120, the transmission assembly 112 includes a driving wheel 1121, a driven wheel 1122 and a transmission belt 1123, the driving wheel 1121 is drivingly connected to the output end of the X-axis driving motor 111, the driven wheel 1122 is rotatably arranged on the first bracket 120, the transmission belt 1123 is wound around the driving wheel 1121 and the driven wheel 1122, and is tensioned by the driving wheel 1121 and the driven wheel 1122, the lifting drive member 130 is arranged on the transmission belt 1123, and when the transmission belt 1123 is driven to rotate by the X-axis driving motor 111, the electromagnet module 200 on the lifting end of the lifting drive member 130 can be moved along the X-axis direction. In this embodiment, the X-axis moving module 110 has a simple structure, high movement efficiency, and improved handling speed.

[0057] Optionally, the X-axis moving module 110 further includes a tensioning support 1124, which is movably disposed on the first bracket 120, and the driven wheel 1122 is rotatably disposed on the tensioning support 1124, and the tensioning support 1124 is used to adjust the installation position of the driven wheel 1122. The tension of the transmission belt 1123 can be effectively adjusted to keep the transmission belt 1123 always in a tensioned state, ensuring that the X-axis movement of the electromagnet module 200 is accurate and stable, and avoiding positioning deviations caused by relaxation or slippage. Optionally, the X-axis moving module 110 can also include a tensioning wheel, which can abut against the transmission belt 1123, thereby further adjusting the tension state of the transmission belt 1123.

[0058] Optionally, the first bracket 120 is further provided with a slide rail along the X-axis direction, and the lifting drive member 130 is provided with a slider, which is slidably connected to the slide rail, thereby ensuring the movement stability and accuracy of the electromagnet module 200 in the X-axis direction.

[0059] Optionally, the material taking device further includes a code scanning component 300, which is arranged on the first bracket 120 and is used to scan the identification code on the material tray. By automatically identifying the identification code of the material tray by the code scanning component 300, product information can be quickly obtained, and automatic tracking and management of the product can be achieved.

[0060] For example, the information of qualified and unqualified products is stored in the identification code in advance. By scanning the identification code, it is possible to quickly identify which products on the tray are qualified and which are unqualified. When the tray is pushed into the picking device, the unqualified products can be quickly picked out.

[0061] Optionally, the material picking device also includes a sensor assembly, which includes a first sensor 400. The first sensor 400 is arranged on the first bracket 120. The first sensor 400 is used to detect whether the material tray is transported to a preset position. The preset position in this embodiment is the middle position of the first bracket 120, so that the two ends of the material tray have a sufficient distance to allow the power magnet 218 assembly to enter.

[0062] Optionally, if the material tray does not correctly reach the preset position, the first sensor 400 can immediately feedback a signal to the controller, and the controller triggers an alarm or suspends the operation of the material taking device to prevent damage to the equipment or product due to misalignment, thereby improving the safety of system operation. It should be noted that the specific connection circuit between the first sensor 400 and the controller is a prior art and will not be described in detail.

[0063] Optionally, the material picking device also includes a Y-axis moving module 140 and a Z-axis moving module 150. The Z-axis moving module 150 is arranged on the moving end of the Y-axis moving module 140, and the first bracket 120 is arranged on the moving end of the Z-axis moving module 150. The Y-axis moving module 140 is used to drive the electromagnet module 200 to move along the Y-axis direction, and the Z-axis moving module 150 is used to drive the electromagnet module 200 to move along the Z-axis direction. The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. Through the cooperation of the Y-axis moving module 140, the Z-axis moving module 150 and the X-axis moving module 110, the material tray at any position in the material frame can be taken out or sent back, thereby improving the flexibility of material picking.

[0064] Optionally, the Y-axis moving module 140 includes a Y-axis driving motor 141, a Y-axis lead screw nut assembly 142, and a first bearing seat 143, and the Z-axis moving module 150 includes a Z-axis driving motor 151, a Z-axis lead screw nut assembly 152, the output shaft of the Y-axis driving motor 141 is connected to the input end of the Y-axis lead screw nut assembly 142, the first bearing seat 143 is arranged on the moving end of the Y-axis lead screw nut assembly 142, the Z-axis lead screw nut assembly 152 is arranged on the first bearing seat 143 along the Z-axis direction, the output shaft of the Z-axis driving motor 151 is connected to the input end of the Z-axis lead screw nut assembly 152, and the first bracket 120 is arranged on the moving end of the Z-axis lead screw nut assembly 152. In this embodiment, the Y-axis lead screw nut assembly 142 and the Z-axis lead screw nut assembly 152 are prior arts in the art and are not described in detail.

[0065] This embodiment also provides a material taking method, which is applied to the above-mentioned material taking device. The material taking method includes:

[0066] S100, the electromagnet module 200 is adsorbed on the first side of the material tray, and the moving module 100 drives the electromagnet module 200 to pull the material tray from the material frame to a preset position;

[0067] Control the moving module 100 to drive the electromagnet module 200 to move to the second side of the material tray and adsorb on the second side of the material tray. The moving module 100 pushes the material tray from the preset position to the selection device.

[0068] S200, after the selection is completed, the electromagnet module 200 is adsorbed on the second side of the material tray, and the moving module 100 drives the electromagnet module 200 to pull the material tray from the selection device to a preset position;

[0069] The control moving module 100 drives the electromagnet module 200 to move to the first side of the material tray and adsorb on the first side of the material tray. The moving module 100 pushes the material tray from the preset position into the material frame.

[0070] The material taking method provided in this embodiment makes the transportation process of the material tray between the material frame and the picking device smoother, improves the material taking efficiency, and thus improves the production efficiency.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The material taking device is arranged between the material frame and the picking device, characterized in that: include: A moving module (100) comprises an X-axis moving module (110), a first bracket (120) and a lifting drive member (130), wherein the X-axis moving module (110) is arranged on the first bracket (120), and the lifting drive member (130) is arranged on a moving end of the X-axis moving module (110); The electromagnet module (200) is arranged on the lifting end of the lifting drive member (130), the electromagnet module (200) can be adsorbed on the side wall of the material tray, the X-axis moving module (110) can drive the electromagnet module (200) to move along the X-axis direction, and the lifting drive member (130) can drive the electromagnet module (200) to move along the Z-axis direction, so as to pull the material tray from the material frame and push it into the selection device, or pull the material tray from the selection device and push it into the material frame, and the X-axis direction is perpendicular to the Z-axis direction.

2. The material taking device according to claim 1, characterized in that: The first bracket (120) is provided with a first track (121) and a second track (122) which are parallel to each other, and the electromagnet module (200) comprises: A mounting seat (210) connected to the lifting end of the lifting drive member (130), wherein the mounting seat (210) is provided with a first mounting plate (211) and a second mounting plate (212) arranged up and down; A first magnet assembly (213) is arranged on the upper end surface of the first mounting plate (211), and the first magnet assembly (213) is used to drive the material tray to move along the first track (121); The second magnet assembly (214) is arranged on the lower end surface of the second mounting plate (212), and the second magnet assembly (214) is used to drive the material tray to move along the second track (122).

3. The material taking device according to claim 2, characterized in that: The electromagnet module (200) further comprises: A first driving member (215) is disposed on the first mounting plate (211), the first magnet assembly (213) is disposed on the first driving member (215), and the first driving member (215) is used to drive the first magnet assembly (213) to move along the X-axis direction; The second driving member (216) is arranged on the second mounting plate (212), the second magnet assembly (214) is arranged on the second driving member (216), and the second driving member (216) is used to drive the second magnet assembly (214) to move along the X-axis direction.

4. The material taking device according to claim 2, characterized in that: The first magnet assembly (213) comprises a magnet fixing seat (217) and at least two electromagnets (218), wherein the at least two electromagnets (218) are arranged on the magnet fixing seat (217) at intervals along the X-axis direction.

5. The material taking device according to claim 1, characterized in that: The X-axis moving module (110) comprises: An X-axis driving motor (111) is arranged on the first bracket (120); The transmission assembly (112) comprises a driving wheel (1121), a driven wheel (1122) and a transmission belt (1123); the driving wheel (1121) is drivingly connected to the output end of the X-axis driving motor (111); the driven wheel (1122) is rotatably arranged on the first bracket (120); the transmission belt (1123) is wound around the driving wheel (1121) and the driven wheel (1122) and is tensioned by the driving wheel (1121) and the driven wheel (1122); and the lifting drive member (130) is arranged on the transmission belt (1123).

6. The material taking device according to claim 5, characterized in that: The X-axis moving module (110) also includes a tensioning support (1124), which is movably arranged on the first bracket (120), and the driven wheel (1122) is rotatably arranged on the tensioning support (1124), and the tensioning support (1124) is used to adjust the installation position of the driven wheel (1122).

7. The material taking device according to claim 1, characterized in that: The material taking device further comprises a code scanning component (300), wherein the code scanning component (300) is arranged on the first bracket (120), and the code scanning component (300) is used to scan the identification code on the material tray.

8. The material taking device according to claim 1, characterized in that: The material taking device further comprises a sensor assembly, wherein the sensor assembly comprises a first sensor (400), wherein the first sensor (400) is arranged on the first bracket (120), and the first sensor (400) is used to detect whether the material tray is transported to a preset position.

9. The material taking device according to any one of claims 1 to 8, characterized in that: The material picking device further comprises a Y-axis moving module (140) and a Z-axis moving module (150), wherein the Z-axis moving module (150) is arranged on the moving end of the Y-axis moving module (140), and the first bracket (120) is arranged on the moving end of the Z-axis moving module (150), the Y-axis moving module (140) is used to drive the electromagnet module (200) to move along the Y-axis direction, and the Z-axis moving module (150) is used to drive the electromagnet module (200) to move along the Z-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.

10. A material taking method, applied to the material taking device according to any one of claims 1 to 9, characterized in that: The material taking method comprises: S100, the electromagnet module (200) is adsorbed on the first side of the material tray, and the moving module (100) drives the electromagnet module (200) to pull the material tray from the material frame to a preset position; Controlling the moving module (100) to drive the electromagnet module (200) to move to the second side of the material tray and adsorb onto the second side of the material tray, the moving module (100) pushing the material tray from the preset position to the selection device; S200, after the selection is completed, the electromagnet module (200) is adsorbed on the second side of the material tray, and the moving module (100) drives the electromagnet module (200) to pull the material tray from the selection device to the preset position; The movable module (100) is controlled to drive the electromagnet module (200) to move to the first side of the material tray and adsorb onto the first side of the material tray, and the movable module (100) pushes the material tray from the preset position into the material frame.

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