Material taking device and material taking robot

Abstract

The utility model discloses a material taking device and a material taking robot. The material taking device is installed on the material taking robot and comprises a positioning module, a grabbing module and a connecting module, the positioning module and the grabbing module are fixedly connected with the connecting module, the positioning module is configured to determine the current position of a to-be-grabbed object, and the grabbing module is configured to grab the to-be-grabbed object. The connecting module is further configured to fix the material taking device to the material taking robot. According to the material taking device, the position of the to-be-grabbed object can be determined through the industrial camera and other positioning devices, and after it is determined that the object is positioned, the to-be-grabbed object is grabbed through the vacuum generator and the suction cup by means of the atmospheric pressure; and the to-be-grabbed object is further conveyed to a detection assembly line or other detection stations under the driving of the material taking robot. Under the condition, the next detection can be facilitated, and the to-be-grabbed object can be prevented from being omitted based on the object positioning, so that the detection efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of motherboard processing, and particularly relates to a material taking device and a material taking robot. Background Art

[0002] With the development of electronic information technology, the importance of testing core components such as PCB motherboards of mobile devices such as mobile phones has also increased day by day. In the current related technologies, the testing of PCB motherboards generally relies on manual labor. During long-term work, it is very likely that the inspection workers will miss some PCB motherboards, resulting in the problem of reduced testing efficiency. Summary of the Utility Model

[0003] This application provides a material taking device and a material taking robot.

[0004] The material taking device according to the embodiments of this application is installed on a material taking robot. The device includes a positioning module, a grasping module, and a connecting module. The positioning module and the grasping module are respectively fixedly connected to the connecting module. The positioning module is configured to determine the current position of the object to be grasped. The grasping module is configured to grasp the object to be grasped. The connecting module is further configured to fix the material taking device to the material taking robot.

[0005] In some embodiments, the positioning module includes a light source component and a positioning component. The positioning component and the light source component are both fixedly connected to the connecting module. The light source component is configured to provide light to the object to be grasped so that the positioning component can determine the current position of the object to be grasped.

[0006] In some embodiments, the light source component includes a light emitting part provided with a through hole and a first connecting part. The light emitting part is fixedly connected to the connecting module through the first connecting part. The positioning component is an industrial camera. The camera is fixedly inserted into the connecting module. The industrial camera is coaxially arranged with the through hole.

[0007] In some embodiments, the grasping module includes a vacuum generating component and a vacuum grasping component. The vacuum generating component is fixedly connected to the connecting module. There is a fixed air connection between the vacuum generating component and the vacuum grasping component. The vacuum generating component is configured to create a low-pressure condition for the vacuum grasping component. The vacuum grasping component is configured to grasp the object to be grasped under the low-pressure condition.

[0008] The vacuum generating member includes a vacuum measuring unit, a vacuum generating unit, and a vacuum control unit. The vacuum measuring unit includes a barometric gauge. The vacuum generating unit includes a vacuum generator and a conduit. The vacuum control unit includes a solenoid valve. The barometric gauge is configured to monitor the air pressure generated by the vacuum generator and / or the air pressure inside the conduit. The solenoid valve is configured to control the on / off of the air flow in the conduit.

[0009] In some embodiments, the vacuum gripper includes a suction cup, a telescopic cylinder, and a second connecting portion. The suction cup and the telescopic cylinder are fixedly connected to the connection module through the second connecting portion. The vacuum generator is connected through the conduit for air supply. The suction cup and the telescopic cylinder are fixedly connected and correspond to each other one by one. The telescopic cylinder is correspondingly inserted into a cylinder groove provided on the second connecting portion, and the telescopic cylinder can translate along the cylinder groove. In some embodiments, the connection module includes a fixing member and a connecting member. The positioning module and the gripping module are fixedly connected to the connection module through the fixing member. The material taking device is fixedly connected to the material taking robot through the connecting member.

[0010] The material taking robot in the embodiment of the present application is installed with the material taking device as described above.

[0011] In some embodiments, the material taking robot includes a plurality of sub robotic arms, and the sub robotic arms are movably connected through joint components;

[0012] A rotatable movable end is provided on the sub robotic arm at the free end of the material taking robot.

[0013] In some embodiments, the material taking device is connected to the movable end of the material taking robot based on the connection module; when the movable end rotates, the material taking device is controlled to rotate.

[0014] In this way, the material taking device in the present application can use a positioning device such as an industrial camera to determine the position of the object to be grabbed. After determining the object positioning, the object to be grabbed is grabbed by using the vacuum generator and the suction cup with the atmospheric pressure, and further, the object to be grabbed is transported to the detection production line or other detection workstations under the drive of the material taking robot. In the above situation, in addition to facilitating the next detection, it can also avoid the omission of the object to be grabbed based on the above object positioning, thereby improving the detection efficiency.

[0015] Additional aspects and advantages of the embodiments of the present application will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the embodiments of the present application. Description of the Drawings

[0016] The above and / or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments in conjunction with the accompanying drawings, where:

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the material taking device in the embodiment of the present application;

[0018] Figure 2 It is the first side view of the material taking device in the embodiment of the present application;

[0019] Figure 3 It is the second side view of the material taking device in the embodiment of the present application;

[0020] Figure 4 It is the top view of the material taking device in the embodiment of the present application;

[0021] Figure 5 It is the front view of the material taking robot in the embodiment of the present application;

[0022] Figure 6 It is a three-dimensional structural schematic diagram of the material taking robot in the embodiment of the present application.

[0023] Wherein: 10, material taking device; 100, positioning module; 101, light source part; 1011, light emitting part; 1012, first connecting part; 102, positioning part; 200, grasping module; 201, vacuum generating part; 2011, vacuum metering part; 2012, vacuum generating part; 2013, vacuum control part; 202, vacuum grasping part; 2021, suction cup; 2022, telescopic air cylinder; 2023, second connecting part; 300, connecting module; 301, fixing part; 302, connecting part; A, through hole; B, air cylinder groove; 40, material taking robot; 401, sub robotic arm; 402, joint assembly; 403, movable end. Detailed Embodiment

[0024] The following details the embodiments of the present application. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals always denote the same or similar elements or elements with the same or similar functions. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be construed as a limitation to the embodiments of the present application.

[0025] Please refer to Figures 1 to 4, in the embodiment of the present application, the material taking device 10 is installed on the material taking robot 40. The material taking device 10 includes a positioning module 100, a grasping module 200, and a connecting module 300. The positioning module 100 and the grasping module 200 are respectively fixedly connected to the connecting module 300. The positioning module 100 is configured to determine the current position of the object to be grasped, the grasping module 200 is configured to grasp the object to be grasped, and the connecting module 300 is further configured to fix the material taking device 10 to the material taking robot 40.

[0026] Specifically, the material taking device 10 is installed on the material taking robot 40 so that when the material taking robot 40 moves, the material taking device 10 can be controlled by the material taking robot 40 to move to the material pile, thereby achieving the purpose of taking materials. Among them, on the one hand, the connecting module 300 of the material taking device 10 is used to fix each module in the material taking device 10, and on the other hand, it is used to fix the material taking device 10 at the end of the material taking robot 40. When the material taking robot 40 moves, it can drive the material taking device 10 to change its position and attitude in space.

[0027] In addition, in order to achieve the purpose of accurate material taking, a positioning module 100 and a grasping module 200 are further provided on the material taking device 10. The positioning module 100 is fixedly connected to the connecting module 300, such as by threaded connection, pin connection, etc. The specific fixed connection method can be adjusted according to the actual situation, and the present application does not make specific limitations. The main purpose of setting the positioning module 100 is to obtain the current position information of the object to be grasped. After obtaining the above current position information, the material taking robot 40 can perform relatively accurate movements according to the above current position information, thereby driving the material taking device 10 to move to the position where the object to be grasped is located, and then the grasping module 200 can accurately grasp the above object to be grasped.

[0028] In some examples, on the basis of the above structure, the connecting module 300 includes a fixing part 301 and a connecting part 302. The positioning module 100 and the grasping module 200 are fixedly connected to the connecting module 300 through the fixing part 301, and the material taking device 10 is fixedly connected to the material taking robot 40 through the connecting part 302.

[0029] Specifically, the main uses of the connecting module 300 are divided into two parts. One is to fix the other modules of the material taking device 10, and the other is to connect the whole material taking device 10 to the material taking robot 40. In order to achieve the above uses, the connecting module 300 includes two parts, namely a fixing part 101 and a connecting part 302. Please refer to Figure 1, the fixing member 301 is a fixing plate, and its shape can be adjusted according to the layout design of each module. The connecting member 302 is a connecting flange. The material taking device 10 is connected to the material taking robot 40 through the above-mentioned connecting flange. Among them, a plurality of threaded through holes or pin through holes are provided on the connecting flange. The material taking device 10 and the material taking robot 40 can be fixedly connected by threads or by pins. The specific connection method can be adjusted according to the actual situation, but it must be ensured that the above-mentioned connection relationship is tight during the movement of the material taking robot 40 driving the material taking device 10.

[0030] In addition, in order to avoid position conflicts between the various modules on the material taking device 10 and the components on the material taking robot 40 when the material taking robot 40 drives the material taking device 10 to rotate, the above-mentioned connecting flange and the above-mentioned fixing plate are connected by support columns. In this way, a certain distance can be maintained between the various modules on the material taking device 10 and the material taking robot 40, thereby reducing the probability of position conflicts.

[0031] In some examples, based on the above structure, please further refer to Figure 1 , Figure 2 and Figure 4 , the positioning module 100 includes a light source member 101 and a positioning member 102. The positioning member 102 and the light source member 101 are both fixedly connected to the connection module 300. The light source member 101 is configured to provide light to the object to be grasped so that the positioning member 102 can determine the current position of the object to be grasped.

[0032] The light source member 101 includes a light emitting part 1011 provided with a through hole A and a first connecting part 1012. The light emitting part 1011 is fixedly connected to the connection module through the first connecting part 1012; the positioning member 102 is an industrial camera, and the industrial camera is fixedly inserted into the connection module 300, and the industrial camera is coaxially arranged with the through hole A.

[0033] Specifically, the positioning module 100 includes two parts. One is the positioning member 102 for directly obtaining the object to be grasped, and the other is for providing light to the object to be grasped so that the object to be grasped can be accurately positioned by the positioning member 102 under the illumination condition. The above-mentioned positioning member 102 is generally set as an industrial camera. The industrial camera can be an infrared light, RGB or other photosensitive types. The specific photosensitive type of the industrial camera can be adjusted according to the actual situation, and this application does not make a limitation. The above-mentioned industrial camera is inserted into the above-mentioned fixing member 301. In order to make the connection of the positioning member 102 on the fixing member firm, in addition to the above-mentioned insertion relationship, the positioning member 102 can also be fastened by additional fasteners through threads or pins. In order to meet the above technical requirements and enable the positioning member 102 to obtain more accurate position information, in some examples, please refer to Figure 1, the light source member 101 is configured to be provided with a light emitting portion 1011 having a through hole A, and is fixedly connected to the above-mentioned fixing member 301 through a first connecting portion 1012. In some examples, the light emitting portion 1011 is provided with a circular bottom plate and a plurality of lighting lamps. The through hole A is provided on the bottom plate, and the lighting lamps are installed around the through hole A on the bottom plate. The lens portion of the above-mentioned industrial camera is coaxially arranged with the through hole A. When the positioning module 100 operates, by using the positional relationship between the through hole A and the lens portion of the industrial camera, the optical axis of the lens of the industrial camera is the geometric center of the through hole A. Coupled with the irradiation effect of the above-mentioned lighting lamps and the geometric center of the through hole A, it is possible to achieve a preliminary positioning of the object to be grasped while providing illumination to the object to be grasped, thereby improving the accuracy of the positioning information of the object to be grasped obtained by the positioning member 102.

[0034] In addition, considering the sizes of the positioning member 102 and the light source member 101 and the lighting effect, the light emitting portion 1011 and the lens of the industrial camera should be as close as possible to the object to be grasped. Therefore, the above-mentioned bottom plate is fixedly connected to the above-mentioned fixing member 301 through the first connecting portion 1012. The first connecting portion 1012 and the fixing member 301 can be connected by threads or pins, and the first connecting portion 1012 and the above-mentioned bottom plate can be connected by welding, plugging, pins, etc. The specific connection method can be selected according to the actual situation, and the present application does not make specific limitations.

[0035] In some examples, on the basis of the above structure, the grasping module 200 includes a vacuum generating member 201 and a vacuum grasping member 202. The vacuum generating member 201 is fixedly connected to the connection module 300, and the vacuum generating member 201 and the vacuum grasping member 202 are fixedly connected for air passage. The vacuum generating member 201 is configured to create a low-pressure condition for the vacuum grasping member 202, and the vacuum grasping member 202 is configured to grasp the object to be grasped under the low-pressure condition.

[0036] Further, the vacuum generating member 201 includes a vacuum metering portion 2011, a vacuum generating portion 2012, and a vacuum control portion 2013. The vacuum metering portion 2011 includes a barometric gauge, the vacuum generating portion 2012 includes a vacuum generator and a gas conduit, and the vacuum control portion 2013 includes a solenoid valve. The barometric gauge is configured to monitor the air pressure generated by the vacuum generator and / or the air pressure inside the gas conduit, and the solenoid valve is configured to control the on / off of the air flow in the gas conduit.

[0037] Further, the vacuum gripper 202 includes a suction cup 2021, a telescopic cylinder 2022, and a second connecting portion 2023. The telescopic cylinder 2022 is fixedly connected to the connection module through the second connecting portion 2023. The suction cup 2021 is connected to the vacuum generator through an air duct for air ventilation. The suction cup 2021 is fixedly connected to the telescopic cylinder 2022 in a one-to-one correspondence. The telescopic cylinder 2022 is correspondingly inserted into a cylinder groove B provided on the second connecting portion 2023, and the telescopic cylinder 2022 can translate along the cylinder groove B.

[0038] Specifically, in addition to the above-mentioned positioning module 100, the material taking device 10 further includes a grasping module 200 for directly taking materials. Since the above-mentioned material taking device 10 is mainly applicable to grasping chip devices such as mobile phone PCB mainboards, and the precision requirements of chip devices are very high. If the mechanical grasping method is adopted, it is very likely that the chip device will be worn, the components will be displaced or the components will fall off, resulting in damage to the chip device. Therefore, the above-mentioned grasping module 200 realizes grasping by means of vacuum negative pressure. The grasping module 200 includes two parts, a vacuum generating member 201 and a vacuum gripper 202. The vacuum generating member 201 is used to create a low-pressure condition for the vacuum gripper 202, so that the vacuum gripper 202 can grasp the chip device and other objects to be grasped under the low-pressure condition. When the material taking device 10 moves to the detection position under the control of the material taking robot 40, the vacuum generating member 201 stops creating the low-pressure condition. When the low-pressure condition is released, the vacuum gripper 202 places the above-mentioned object to be grasped at the above-mentioned detection position, completing the material taking process.

[0039] The above-mentioned vacuum generating member 201 and vacuum gripper 202 are both fixedly connected to the fixing member 301 in the connection module 300. The connection method can be a threaded connection, a pin connection, etc. The specific connection method can be adjusted according to the actual situation. The vacuum generating member 201 includes three parts, a vacuum metering portion 2011, a vacuum generating portion 2012, and a vacuum control portion 2013. The vacuum generating portion 2012 is responsible for creating a low-pressure condition. The main purpose of the vacuum metering portion 2011 is to monitor the low-pressure condition created by the current vacuum generating portion 2012 in real time, to monitor whether the low-pressure condition reaches the established requirements and whether it exceeds the normal limit. The main purpose of the vacuum control portion 2013 is to control the on-off of the output air duct connected to the vacuum generating portion 2012, thereby realizing the start or stop of the grasping action. Generally speaking, for example Figure 2 、 Figure 3In the shown situation, the vacuum generating section 2012 includes a vacuum generator with a group of multi-output air ducts or multiple vacuum generators with single-output air ducts, and several air ducts (not shown in the drawings). Each air duct is correspondingly connected to one of the output air ducts of the vacuum generating section 2012. The vacuum metering section 2011 includes multiple air pressure meters, and each air pressure meter corresponds to one or more of the above-mentioned output air ducts. The number of air pressure meters and their corresponding relationships with the output air ducts can be adjusted according to actual needs. The vacuum control section 2013 is a solenoid valve provided with multiple groups of channels. Each group of channels corresponds to a group of output air ducts, and every two groups of output air ducts correspond to a group of air pressure meters. Each group of output air ducts of the above-mentioned vacuum generator is respectively connected to the vacuum gripper 202 through an air duct, thereby converting the low air pressure condition created by the vacuum generator into a gripping effect on the object to be gripped.

[0040] On this basis, the vacuum gripper 202 includes multiple suction cups 2021 and corresponding telescopic cylinders 2022. Each suction cup 2021 corresponds to a telescopic cylinder 2022, and the suction cup 2021 is installed at the telescopic end of the telescopic cylinder 2022. Each suction cup 2021 is connected to the above-mentioned vacuum generator through the above-mentioned air duct (not shown in the drawings), so as to be controlled by the vacuum generator to perform the gripping action on the object to be gripped under the low air pressure condition. At the same time, the telescopic cylinder 2022 can be controlled to expand and contract to realize gently placing or grasping the object to be gripped.

[0041] In addition, please refer to Figures 1 to 4 , since multiple components are distributed on the object to be gripped such as the chip device and the main board, some components are more important and have higher priorities, and at the same time, some components are relatively fragile and are easily damaged by external forces. In order to protect the above-mentioned components, when gripping the object to be gripped, the position of the suction cup 2021 on the object to be gripped needs to be adjustable, that is, the position of the telescopic cylinder 2022 needs to be adjustable. Therefore, exemplarily, the vacuum gripper 202 further includes a second connecting portion 2023. The second connecting portion 2023 is provided with a bearing surface parallel to the fixing member 301. A plurality of cylinder grooves B are provided on the bearing surface. The cylinder grooves B correspond to the telescopic cylinders 2022 one by one. The telescopic cylinders 2022 are inserted into the cylinder grooves B and are fixed in position by bolts or other fasteners. When the bolts and other fasteners are loosened, the position of the telescopic cylinder 2022 can be adjusted along the extending direction of the cylinder groove B. In this way, when the vacuum gripper 202 grips the object to be gripped, the position of the suction cup 2021 on the object to be gripped can be adjusted accordingly, so as to avoid some parts of the object to be gripped that are prone to failures, and reduce the probability of causing secondary damage to the object to be gripped during the gripping process.

[0042] The material taking robot 40 in the embodiment of the present application is installed with the material taking robot in the above embodiment.

[0043] Further, in some embodiments, the picking robot 40 includes a plurality of sub-robot arms 401, and the sub-robot arms 401 are movably connected by joint assemblies 402;

[0044] A rotatable movable end 403 is provided on the sub-robot arm 401 at the free end of the picking robot 40.

[0045] Further, in some embodiments, the picking device 10 is connected to the movable end 403 of the picking robot 40 based on the connection module 300; when the movable end 403 rotates, the picking device 10 is controlled to rotate.

[0046] Specifically, the picking device 10 in the above embodiments can only achieve the picking purpose under the drive of the picking robot 40. In order to control the omnidirectional movement of the picking device 10 in space, in some examples, the picking robot 40 adopts a motion structure of multi-section sub-robot arms 401, and at the same time, the picking device 10 is installed at the end of the sub-robot arm 401 at the free end of the picking robot 40.

[0047] That is to say, the picking robot 40 includes multi-section sub-robot arms 401, and two adjacent sub-robot arms 401 are connected by a joint assembly 402, where the joint assembly 402 can be a hinge joint or a universal joint. Taking the case where the joint assembly 402 is a hinge joint as an example, a motion relationship similar to that of a hinge can be realized between two adjacent sub-robot arms 401. In this case, by using the multi-section sub-robot arms 401 based on the above hinge joint, the end of the free-end sub-robot arm of the picking robot 40 can be controlled to move to any position within the controllable range in space, that is, the picking device 10 can be controlled to reach any position within the controllable range. The same is true when the joint assembly 402 is a universal joint. There may be differences in the number of sections of the sub-robot arms used in the case of a hinge joint and the case of a universal joint, which can be adjusted according to the actual situation, and the present application does not make specific limitations.

[0048] At the same time, in order to make the position where the suction cup 2021 on the picking device 10 grabs the object to be grabbed more reasonable, and at the same time make the picking device 10 more adaptable to the current working environment, the position state of the picking device 10 in space should also include the angular attitude in space. Therefore, exemplarily, a rotatable movable end 403 is provided at the end of the free-end sub-robot arm of the picking robot 40 with the axis of the free-end sub-robot arm as the axis. The picking device 10 is fixedly connected to the above movable end 403 through the connecting flange on the connecting part 302. When the movable end 403 rotates, it will drive the picking device 10 to rotate together, so as to realize the adjustment of the angular attitude of the picking device 10 in space.

[0049] Thus, the material taking device 10 in the present application can use a positioning device such as an industrial camera to determine the position of the object to be grasped. After determining the object positioning, the object to be grasped is grasped by using the atmospheric pressure through a vacuum generator and a suction cup, and further transported to the detection assembly line or other detection stations under the drive of the material taking robot 40. In the above situation, in addition to facilitating the next detection, it is also possible to avoid omission of the object to be grasped based on the above object positioning, thereby improving the detection efficiency.

[0050] In the description of this specification, the descriptions with reference to terms such as "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0051] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0052] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A material taking device, characterized in that, The material taking device is installed on a material taking robot. The device includes a positioning module, a grasping module, and a connecting module. The positioning module and the grasping module are respectively fixedly connected to the connecting module. The positioning module is configured to determine the current position of the object to be grasped, the grasping module is configured to grasp the object to be grasped, and the connecting module is further configured to fix the material taking device to the material taking robot.

2. The material taking device according to claim 1, characterized in that, The positioning module includes a light source member and a positioning member. Both the positioning member and the light source member are fixedly connected to the connecting module. The light source member is configured to provide light to the object to be grasped so that the positioning member can determine the current position of the object to be grasped.

3. The material taking device according to claim 2, characterized in that, The light source member includes a light emitting part provided with a through hole and a first connecting part. The light emitting part is fixedly connected to the connecting module through the first connecting part. The positioning member is an industrial camera, and the industrial camera is fixedly inserted into the connecting module and is coaxially arranged with the through hole.

4. The material taking device according to claim 1, wherein the grasping module includes a vacuum generating member and a vacuum grasping member. The vacuum generating member is fixedly connected to the connecting module. There is a fixed air connection between the vacuum generating member and the vacuum grasping member. The vacuum generating member is configured to create a low-pressure condition for the vacuum grasping member, and the vacuum grasping member is configured to grasp the object to be grasped under the low-pressure condition.

5. The material taking device according to claim 4, characterized in that, The vacuum generating member includes a vacuum measuring part, a vacuum generating part, and a vacuum control part. The vacuum measuring part includes a pressure gauge. The vacuum generating part includes a vacuum generator and a gas pipe. The vacuum control part includes a solenoid valve. The pressure gauge is configured to monitor the pressure generated by the vacuum generator and / or the pressure inside the gas pipe. The solenoid valve is configured to control the on / off of the air flow in the gas pipe.

6. The material taking device according to claim 5, characterized in that, The vacuum grasping member includes a suction cup, a telescopic cylinder, and a second connecting part. The telescopic cylinder is fixedly connected to the connecting module through the second connecting part. The suction cup is connected to the vacuum generator through the gas pipe for air ventilation. The suction cup is fixedly connected to the telescopic cylinder in a one-to-one correspondence. The telescopic cylinder is correspondingly inserted into a cylinder slot provided on the second connecting part, and the telescopic cylinder can move linearly along the cylinder slot.

7. The material taking device according to claim 1, wherein, The connecting module includes a fixing member and a connecting member. The positioning module and the grasping module are fixedly connected to the connecting module through the fixing member. The material taking device is fixedly connected to the material taking robot through the connecting member.

8. A material taking robot, characterized in that, The material taking robot is installed with the material taking device according to any one of claims 1-7.

9. The material taking robot according to claim 8, characterized in that, The material taking robot includes a plurality of sub-mechanical arms, and the sub-mechanical arms are movably connected through joint components; A rotatable movable end is provided on the sub-mechanical arm at the free end of the material taking robot.

10. The material taking robot according to claim 9, wherein the material taking device is connected to the movable end of the material taking robot based on the connecting module; when the movable end rotates, the material taking device is controlled to rotate.

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