Material taking mechanism, robot and PCB processing equipment

Abstract

The utility model belongs to the technical field of PCB production, and particularly relates to a material taking mechanism, a robot and PCB processing equipment. The material taking mechanism comprises a mounting frame and at least one material taking assembly, each material taking assembly comprises an adapter seat, a first driving part and a clamping part, the adapter seats are slidably connected to the mounting frame in the first direction, and the first driving parts can drive the clamping parts to stretch out and draw back in the second direction so as to clamp or loosen a material plate. According to the material taking mechanism, the clamping range of the clamping piece can be changed through driving of the first driving piece, the material taking mechanism can adapt to clamping of material plates of different sizes, the mode that the clamping piece stretches out and draws back to clamp the material plates is adopted and is not limited to the number of layers or the thickness of the clamped material plates, and therefore the material taking mechanism has the large use range.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the PCB production technical field especially relates to a material taking mechanism, robot and PCB processing equipment. BACKGROUND

[0002] In the PCB processing industry, PCBs are in a stacked state in the stock bin, and the processing equipment is matched with a material taking mechanism for grabbing PCBs. After taking the material from the stock bin by the material taking mechanism, the PCBs are transported to the processing equipment for processing.

[0003] The existing material taking mechanism usually takes the PCB by setting multiple groups of suction cups for adsorbing the PCB. It can only be used for clamping single-layer boards, and the use range is limited. Moreover, the PCBs may shake during high-speed material moving, affecting the feeding and discharging of the PCBs. UTILITY MODEL CONTENTS

[0004] The utility model solves the problem of limited use range of the existing material taking mechanism by setting multiple groups of suction cups for adsorbing the PCB. It provides a material taking mechanism, robot and PCB processing equipment.

[0005] To solve the above technical problems, on the one hand, the utility model embodiment provides a material taking mechanism, which comprises a mounting frame and at least one material taking assembly. The material taking assembly comprises an adapter seat, a first driving member and a clamping member. The adapter seat is slidingly connected to the mounting frame along a first direction. The first driving member can drive the clamping member to extend or retract along a second direction to clamp or release the material plate.

[0006] The first direction and the second direction intersect.

[0007] Optionally, the clamping member comprises two sub-clamping members. The first driving member is used to drive one or both of the sub-clamping members to move, so as to clamp or release the material plate.

[0008] Optionally, the two sub-clamping members are arranged on opposite sides of the output end of the first driving member. The first driving member is used to drive the two sub-clamping members to approach or move away at the same time, so as to clamp or release the material plate.

[0009] Optionally, the first driving member comprises two sub-driving members. The output ends of the two sub-driving members are respectively and one-to-one connected to the sub-clamping members. The sub-driving members are used to drive the corresponding sub-clamping members to move along the second direction, so as to clamp or release the material plate by the two sub-clamping members.

[0010] Optionally, two of the sub-gripping members are arranged on opposite sides of the output end of the first driving member, one of the sub-gripping members is fixedly arranged relative to the first driving member, and the other sub-gripping member is moved along the second direction by the first driving member, so that the two sub-gripping members clamp or release the material plate.

[0011] Optionally, the sub-gripping member comprises an adjusting member and a clamping jaw, the clamping jaw is arranged on the adjusting member, and the adjusting member is movably arranged on the adapter seat.

[0012] Optionally, the first driving member comprises a first motor and a transmission member, the first motor is mounted on the adapter seat, and the transmission member is mounted on the output end of the first motor.

[0013] The transmission member is arranged between the two sub-gripping members in the first direction, the transmission member is in transmission connection with the two sub-gripping members, and the first motor can drive the transmission member to rotate to drive the two sub-gripping members to move in opposite directions along the second direction.

[0014] Optionally, the adjusting member comprises a bottom plate and a rack mounted on the bottom plate, the first bottom plate is in sliding connection with the adapter seat, the clamping jaws of the two sub-gripping members are oppositely arranged along the second direction, and the first clamping jaw is mounted on one end of the first bottom plate away from the other sub-gripping member.

[0015] The transmission member is a gear, and the gear is in meshing connection with the racks of the adjusting members of the two sub-gripping members.

[0016] Optionally, the material taking mechanism further comprises a second driving member, and the material taking mechanism assembly has two.

[0017] The second driving member can drive at least one of the two material taking assemblies to move along the first direction, so as to adjust the interval of the two material taking assemblies in the first direction.

[0018] Optionally, the second driving member comprises a second motor, a driving wheel, a driven wheel and a synchronous belt, the output end of the second motor is connected with the driving wheel, the driven wheel is mounted on the mounting rack, and the synchronous belt is wound around the driving wheel and the driven wheel.

[0019] Optionally, the mounting rack is provided with two linear guides, and each linear guide is provided with one material taking assembly.

[0020] The linear guide extends along the first direction, and the adapter seat of the material taking assembly can move along the linear guide.

[0021] Optionally, the material taking mechanism further comprises a camera, the camera is installed on the mounting frame, and the camera is used for identifying the position of the material plate.

[0022] In another aspect, the utility model discloses a robot, including automatic guided vehicle, manipulator and as described above material taking mechanism, the manipulator is installed on the automatic guided vehicle, and the mounting frame is connected with the manipulator.

[0023] In still another aspect, the utility model discloses a PCB processing equipment, including processing machine, stock bin and as described above robot, the stock bin is used to store the material plate, and the manipulator can drive the material taking mechanism to move to make the stock bin with the processing machine can exchange the material plate, and the processing machine is used to process the material plate.

[0024] The material taking mechanism provided by the utility model can adjust the position of the material taking assembly on the mounting frame when the adapter seat slides relative to the mounting frame along the first direction, and can change the clamping range of the clamping member by driving the clamping member to extend and retract along the second direction by the first driving member, so that the material taking mechanism can adapt to the clamping of material plates of different sizes, and the clamping method of clamping the material plate by extending and retracting the clamping member is not limited to the number of layers or the thickness of the clamped material plate, so that the material taking mechanism has a larger application range. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is the schematic diagram of the material taking mechanism provided by an embodiment of the utility model;

[0026] Figure 2 is the assembly drawing of the second driving member on the mounting frame provided by an embodiment of the utility model;

[0027] Figure 3 is the schematic diagram of the material taking assembly provided by an embodiment of the utility model;

[0028] Figure 4 is the schematic diagram of the robot provided by an embodiment of the utility model.

[0029] The reference signs in the specification are as follows:

[0030] 10, material taking mechanism;

[0031] 1, mounting frame;11, linear guide rail;

[0032] 2, material taking assembly;21, adapter seat;22, first driving member;221, first motor;222, transmission member;23, clamping member;231, sub-clamping member;2311, adjusting member;23111, bottom plate;23112, rack;2312, clamping jaw;

[0033] 3. Second driving member; 31. Second motor; 32. Driving wheel; 33. Driven wheel; 34. Synchronous belt;

[0034] 4. Camera;

[0035] 20. Manipulator; 30. Automated guided vehicle;

[0036] a. First direction; b. Second direction. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clearly understood, the utility model will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and do not limit the utility model.

[0038] As shown in the utility model one embodiment provides a kind of taking mechanism 10, including mounting bracket 1 and at least one taking component 2.Taking component 2 includes adapter seat 21, first driving member 22 and clamping piece 23, adapter seat 21 is slidably connected in first direction a in mounting bracket 1, by the sliding of adapter seat 21, so that taking component 2 can be taken in different positions on mounting bracket 1 Operation. Figures 1 to 3

[0039] Clamping piece 23 is installed on adapter seat 21, and first driving member 22 can drive clamping piece 23 to retract along second direction b to clamp or release sheet. First direction a and second direction b intersect. By first driving member 22, the retraction of clamping piece 23 can be accurately controlled, so that clamping piece 23 can adapt to the clamping of sheet of different sizes.

[0040] In the embodiment, by the sliding connection of adapter seat 21 on mounting bracket 1, the position of adapter seat 21 on mounting bracket 1 can be adjusted, and by controlling the retraction of clamping piece 23 by first driving member 22, the clamping range of clamping piece 23 can be adjusted, and the clamping mode of clamping piece 23 retraction clamping sheet, under the cooperation of adapter seat 21 and clamping piece 23, so that clamping piece 23 can clamp sheet of different sizes, compared with the taking mode of suction cup suction, by controlling the clamping force of clamping piece 23 by first driving member 22, so that taking mechanism 10 is not only suitable for single-layer board clamping, but also suitable for multi-layer board clamping, thereby increasing the application range of taking mechanism 10.

[0041] In an embodiment, as shown in the utility model one embodiment provides a kind of taking mechanism 10, including mounting bracket 1 and at least one taking component 2.Taking component 2 includes adapter seat 21, first driving member 22 and clamping piece 23, adapter seat 21 is slidably connected in first direction a in mounting bracket 1, by the sliding of adapter seat 21, so that taking component 2 can be taken in different positions on mounting bracket 1 Operation. Figure 3 ​As shown, the clamping member 23 comprises two sub-clamping members 231, and the first driving member 22 is used to drive one or both of the sub-clamping members 231 to clamp or release the board. Under the drive of the first driving member 22, one or both of the sub-clamping members 231 moves along the second direction b, so as to adjust the clamping range defined by the two sub-clamping members 231, thereby realizing the expansion and contraction of the clamping member 23 and clamping or releasing the board by the two sub-clamping members 231.

[0042] Specifically, the output end of the first driving member 22 is connected to one sub-clamping member 231, and the other sub-clamping member 231 remains stationary. By driving one sub-clamping member 231 to move by the first driving member 22, one of the sub-clamping members 231 is moved closer to or away from the other sub-clamping member 231, thereby realizing clamping or releasing.

[0043] Alternatively, the output end of the first driving member 22 is connected to both sub-clamping members 231 at the same time, and the first driving member 22 can drive both sub-clamping members 231 to move at the same time, so that both sub-clamping members 231 move closer to or away from each other at the same time, thereby realizing clamping or releasing of both sub-clamping members 231.

[0044] The above two cases will be described below through specific embodiments. In order to facilitate understanding and description, the two sub-clamping members 231 are distinguished as "first sub-clamping member" and "second sub-clamping member" respectively.

[0045] In an embodiment, as shown in the drawings, Figure 3 the two sub-clamping members 231 are arranged on opposite sides of the output end of the first driving member 22, the first driving member 22 is installed on the adapter seat 21, the two sub-clamping members 231 are located on opposite sides of the adapter seat 21 along the first direction a, the output end of the first driving member 22 is arranged between the two sub-clamping members 231, and the output end of the first driving member 22 is connected to both sub-clamping members 231 at the same time, and the first driving member 22 is used to drive both sub-clamping members 231 to move closer to or away from each other, so as to clamp or release the board.

[0046] Under the drive of the first driving member 22, the two sub-clamping members 231 move in opposite directions along the second direction b. When the two sub-clamping members 231 move closer to each other, the two sub-clamping members 231 simultaneously apply clamping force from opposite sides of the board, so as to form uniform and symmetrical force on both sides of the board, thereby ensuring that the board remains balanced during the conveying process and is not prone to tilting or falling. When the two sub-clamping members 231 move away from each other, the board is released.

[0047] As an example, the clamping member 23 comprises a first sub-clamping member and a second sub-clamping member, the output end of the first driving member 22 is disposed between the first sub-clamping member and the second sub-clamping member, and the output end of the first driving member 22 is in transmission connection with the first sub-clamping member and the second sub-clamping member at the same time. Under the driving of the first driving member 22, the first sub-clamping member and the second sub-clamping member move in opposite directions in the second direction b, and the first sub-clamping member and the second sub-clamping member can clamp or release the plate.

[0048] In an embodiment, two sub-clamping members 231 are disposed on opposite sides of the output end of the first driving member 22, the first driving member 22 is installed on the adapter 21, the two sub-clamping members 231 are located on opposite sides of the adapter 21 along the first direction a, the output end of the first driving member 22 is connected to one sub-clamping member 231, one of the sub-clamping members 231 is fixedly disposed relative to the first driving member 22, and the other sub-clamping member 231 can move along the second direction b under the driving of the first driving member 22, so that the two sub-clamping members 231 clamp or release the plate. Under the driving of the first driving member 22, the sub-clamping member 231 connected to the first driving member 22 moves along the second direction b to move away from or close to the other sub-clamping member 231, thereby clamping or releasing the plate.

[0049] As an example, the clamping member 23 comprises a first sub-clamping member and a second sub-clamping member, the output end of the first driving member 22 is connected to the first sub-clamping member (or the output end of the first driving member 22 is connected to the second sub-clamping member), and the position of the output end of the first driving member 22 is not limited to being disposed between the first sub-clamping member and the second sub-clamping member.

[0050] The second sub-clamping member is installed on the adapter 21 and fixedly disposed relative to the first driving member 22, the first driving member 22 drives the first sub-clamping member to move along the second direction b, and the first sub-clamping member can clamp the plate when moving along the second direction b to close to the second sub-clamping member, and the first sub-clamping member releases the plate when moving along the second direction b to move away from the second sub-clamping member.

[0051] In another embodiment not shown, the first driving member 22 comprises two sub-driving members, the output ends of the two sub-driving members are respectively and correspondingly connected to the respective sub-clamping members 231, the sub-driving members are used to drive the corresponding sub-clamping members 231 to move along the second direction b, and the plate is clamped or released by the two sub-clamping members 231. Each sub-driving member independently acts on the corresponding sub-clamping member 231, when it is necessary to clamp the plate, the two sub-driving members simultaneously receive the control signal, and each sub-driving member starts and pushes the sub-clamping member 231 connected thereto to move along the second direction b, and the two sub-clamping members 231 cooperatively complete the clamping and releasing actions.

[0052] In an embodiment, as Figure 3As shown, the sub-gripping member 231 comprises an adjusting member 2311 and a clamping jaw 2312, the clamping jaw 2312 is arranged on the adjusting member 2311, and the adjusting member 2311 is movably arranged on the adapter seat 21, so as to realize the movement of the sub-gripping member 231 in the second direction b.

[0053] The two sub-gripping members 231 are of the same structure, and when two sub-gripping members 231 are arranged, the number of adjusting members 2311 and clamping jaws 2312 is also two. The clamping jaw 2312 is of an L-shaped structure, having a vertical segment and a horizontal segment, and the vertical segment is connected between the adjusting member 2311 and the horizontal segment. In the clamping process, the horizontal segment has a supporting effect on the clamped material plate, so that when multiple layers of material plates are clamped, the material plates are not easy to fall off the clamping jaw 2312, and have good clamping stability.

[0054] In an embodiment, as shown in the drawings, Figure 3 The first driving member 22 comprises a first motor 221 and a transmission member 222, the first motor 221 is installed on the adapter seat 21, the transmission member 222 is installed on the output end of the first motor 221, and the first motor 221 can drive the transmission member 222 to rotate. The motor can accurately control the rotation angle and the number of turns, and then accurately control the rotation of the transmission member 222, and finally accurately control the movement distance of the sub-gripping member 231. This enables the material taking mechanism 10 to accurately position the positions of the two sub-gripping members 231 to adapt to the clamping needs of material plates of different sizes.

[0055] The transmission member 222 is arranged between the two sub-gripping members 231 in the first direction a, the transmission member 222 is in transmission connection with the two sub-gripping members 231, and the first motor 221 can drive the transmission member 222 to rotate to drive the two sub-gripping members 231 to move in opposite directions in the second direction b, ensuring the synchronization of the movement of the two sub-gripping members 231, so that the two sub-gripping members 231 can simultaneously contact the material plate and apply uniform clamping force, and can quickly realize the clamping and loosening actions.

[0056] In an embodiment, as shown in the drawings, Figure 3 The adjusting member 2311 comprises a bottom plate 23111 and a rack 23112 installed on the bottom plate 23111, the bottom plate 23111 is in sliding connection with the adapter seat 21, and the clamping jaw 2312 is installed on the bottom plate 23111. By sliding the bottom plate 23111 relative to the adapter seat 21, the clamping jaw 2312 can be moved. The adjusting members 2311 of the two sub-gripping members 231 are located on the opposite sides of the adapter seat 21 along the first direction a, and the bottom plates 23111 of the two adjusting members 2311 are in sliding connection with the adapter seat 21. Among them, the bottom plate 23111 is in sliding connection with the adapter seat 21 through a linear guide rail.

[0057] The clamping jaws 2312 of the two sub-grippers 231 are oppositely arranged along the second direction b, and the clamping jaws 2312 are mounted at one end of the bottom plate 2311 away from the clamping jaws 2312 of the other sub-gripper 231, that is, the clamping jaws 2312 of the first sub-gripper and the clamping jaws 2312 of the second sub-gripper are oppositely arranged along the second direction b, and the clamping jaws 2312 of the first sub-gripper are mounted at one end of the bottom plate 2311 of the first sub-gripper away from the clamping jaws 2312 of the second sub-gripper, so that when the two sub-grippers 231 move along the second direction b, the clamping jaws 2312 of the first sub-gripper and the clamping jaws 2312 of the second sub-gripper are close to or away from each other along the second direction b, realizing the extension and contraction of the gripper 23. When clamping the material plate, the clamping jaws 2312 of the first sub-gripper and the clamping jaws 2312 of the second sub-gripper are clamped on both sides of the material plate.

[0058] The transmission member 222 is a gear, and the gear is engaged with the racks 23112 of the two adjusting members 2311. The first motor 221 drives the gear to rotate, and under the engagement of the gear with the two racks 23112, the gear can drive the two racks 23112 of the two adjusting members 2311 to move, and the gear is located between the two racks 23112 of the two adjusting members 2311 along the first direction a, so that the gear can drive the two racks 23112 of the two adjusting members 2311 to move synchronously, and the moving directions of the two adjusting members 2311 are opposite, thereby realizing the close or away of the clamping jaws 2312 of the two adjusting members 2311 along the second direction b.

[0059] In an embodiment, the rack 23112 is a straight rack or a helical rack, and correspondingly, the gear is a straight gear or a helical gear.

[0060] In another embodiment not shown, the first driving member 22 includes two sub-driving members, and the two sub-driving members are identical in structure, each including a motor and a gear. The output ends of the two sub-driving members are respectively and one-to-one connected to the respective sub-grippers 231, and the gears of the two sub-driving members are engaged with the racks 23112 of the two adjusting members 2311.

[0061] In an embodiment, as shown in Figure 1 , Figure 2 The taking mechanism 10 further includes a second driving member 3, and the second driving member 3 is mounted on the mounting frame 1. The taking assembly 2 is provided with two, and the two taking assemblies 2 are arranged at intervals along the first direction a. The clamping of the material plate is realized by the clamping members 23 of the two taking assemblies 2, the clamping force is increased, and the clamping stability of the material plate is improved.

[0062] The second driving member 3 can drive at least one of the two material taking assemblies 2 to move along the first direction a, so as to adjust the interval of the two material taking assemblies 2 along the first direction a. By adjusting the interval of the two material taking assemblies 2 through the second driving member 3, the material taking mechanism 10 can flexibly cope with the clamping of different material plates, and the flexibility and diversity of the material taking operation are increased.

[0063] The output end of the second driving member 3 is connected with one material taking assembly 2, and the other material taking assembly 2 is kept stationary relative to the mounting frame 1. Under the driving of the second driving member 3, the one material taking assembly 2 can move along the first direction a to approach or move away from the other material taking assembly 2, so as to adjust the interval of the two material taking assemblies 2.

[0064] Alternatively, the output end of the second driving member 3 is simultaneously connected with the two material taking assemblies 2. The second driving member 3 can drive the two material taking assemblies 2 to move synchronously along the first direction a, so that the two material taking assemblies 2 can approach or move away from each other, thereby adjusting the interval of the two material taking assemblies 2.

[0065] In an embodiment, as shown in Figure 2 , the second driving member 3 comprises a second motor 31, a driving wheel 32, a driven wheel 33 and a synchronous belt 34. The second motor 31 is mounted on the mounting frame 1, and the output end of the second motor 31 is connected with the driving wheel 32. The driven wheel 33 is mounted on the mounting frame 1, and the synchronous belt 34 is wound around the driving wheel 32 and the driven wheel 33. The adapter 21 of at least one material taking assembly 2 is connected with the synchronous belt 34. The second motor 31 drives the driving wheel 32 to rotate, so as to drive the synchronous belt 34 to move, thereby driving the material taking assembly 2 to move along the first direction a.

[0066] Alternatively, the output end of the second driving member 3 is simultaneously connected with the two material taking assemblies 2. The second driving member 3 can drive the two material taking assemblies 2 to move synchronously along the first direction a, so that the two material taking assemblies 2 can approach or move away from each other, thereby adjusting the interval of the two material taking assemblies 2. Figure 2 In an embodiment, as shown in , the adapter 21 of the one material taking assembly 2 is connected with a first position of the synchronous belt 34, and the adapter 21 of the other material taking assembly 2 is connected with a second position of the synchronous belt 34. The first position is located above the second position. When the synchronous belt 34 moves, the adapters 21 at the first position and the second position can move towards or away from each other, thereby realizing the approach or movement away of the two material taking assemblies 2.

[0067] Figure 1 , Figure 2As shown, the mounting bracket 1 is equipped with two linear guide rails 11, and each linear guide rail 11 is equipped with a material picking component 2. The linear guide rail 11 extends along the first direction a, and the adapter 21 of the material picking component 2 can move along the linear guide rail 11. The linear guide rail 11 provides precise guidance for the adapter 21 of the material picking component 2, so that the movement of the material picking component 2 in the first direction a can be strictly along the direction of the linear guide rail 11, and the linear guide rail 11 makes the movement of the material picking component 2 smoother.

[0068] Preferably, four linear guide rails 11 are provided, of which two linear guide rails 11 are arranged in a specific configuration. Figure 2 On the left side of the mounting bracket 1, the adapter 21 of the left-side material handling assembly 2 is guided by two linear guide rails 11. The other two linear guide rails 11 are set at... Figure 2 On the right side of the mounting bracket 1, the adapter 21 of the material handling assembly 2 is guided by two linear guide rails 11, which provides better motion stability.

[0069] In one embodiment, such as Figure 1 As shown, the material handling mechanism 10 also includes a camera 4, which is mounted on the mounting bracket 1. The camera 4 is used to identify the position of the material plate. By positioning the material plate using the camera 4, the clamping member 23 can more accurately grasp the material plate during material handling. The camera 4 is a commonly used CCD industrial camera.

[0070] On the other hand, such as Figure 4 As shown, this embodiment of the present invention provides a robot, including an automated guided vehicle 30, a robotic arm 20, and a material handling mechanism 10 as described in the above embodiment. The robotic arm 20 is mounted on the automated guided vehicle 30, and the mounting frame 1 is connected to the robotic arm 20. The automated guided vehicle 30 enables the overall movement of the robot.

[0071] Among them, the robot arm 20 is a multi-axis robot arm, which can drive the material handling mechanism 10 to perform rotation or translation, so that the clamping component 23 can clamp the material plate.

[0072] On another front, this utility model provides a PCB processing equipment, including a processing machine, a hopper, and the robot described in the above embodiment. The hopper is used to store PCBs, and the robotic arm 20 can drive the material handling mechanism 10 to move so that PCBs can be exchanged between the hopper and the processing machine. The processing machine is used to process the PCBs.

[0073] When the feeding is performed, the automatic guided vehicle 30 moves to one side of the processing machine table, the manipulator 20 drives the material taking mechanism 10 to move to the material bin, after the clamping part 23 is extended and clamps the material plate, the manipulator 20 drives the material taking mechanism 10 to move above the processing machine table, the material taking mechanism 10 releases the material plate, and after the material plate is placed on the processing machine table, the processing of the material plate is performed.

[0074] In an embodiment, the processing machine table is a multi-axis drilling machine, the multi-axis drilling machine has a plurality of work stations, and after the manipulator 20 sequentially places the material plates on the plurality of work stations, the main shaft of the multi-axis drilling machine drills the material plates on the work stations.

[0075] The above merely describes a preferred embodiment of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A material taking-out mechanism characterized by comprising: The material taking mechanism comprises a mounting frame and at least one material taking assembly; The material taking assembly comprises an adapter, a first driving member and a clamping member, the adapter is slidably connected to the mounting frame along a first direction, the first driving member is capable of driving the clamping member to extend or retract along a second direction to clamp or release the material plate, and the first direction intersects the second direction.

2. The material taking-out mechanism according to claim 1, wherein The clamping member comprises two sub-clamping members, and the first driving member is used to drive one or both of the sub-clamping members to move to clamp or release the material plate.

3. The material taking-out mechanism according to claim 2, wherein The two sub-clamping members are arranged on opposite sides of the output end of the first driving member, and the first driving member is used to drive the two sub-clamping members to move close to or away from each other to clamp or release the material plate.

4. The material taking-out mechanism according to claim 2, wherein The first driving member comprises two sub-driving members, the output ends of the two sub-driving members are respectively and correspondingly connected to the sub-clamping members, the sub-driving members are used to drive the corresponding sub-clamping members to move along the second direction, and the two sub-clamping members clamp or release the material plate.

5. The material taking-out mechanism according to claim 2, wherein The two sub-clamping members are arranged on opposite sides of the output end of the first driving member, one of the sub-clamping members is fixedly arranged relative to the first driving member, and the other sub-clamping member moves along the second direction under the driving of the first driving member, so that the two sub-clamping members clamp or release the material plate.

6. The material taking-out mechanism according to claim 2, wherein The sub-clamping member comprises an adjusting member and a clamping jaw, the clamping jaw is arranged on the adjusting member, and the adjusting member is movably arranged in the adapter.

7. The material taking-out mechanism according to claim 6, wherein The first driving member comprises a first motor and a transmission member, the first motor is mounted on the adapter, and the transmission member is mounted on the output end of the first motor. The transmission member is arranged between the two sub-clamping members along the first direction, the transmission member is in transmission connection with the two sub-clamping members, and the first motor is capable of driving the transmission member to rotate to drive the two sub-clamping members to move in opposite directions along the second direction.

8. The material taking-out mechanism according to claim 7, wherein The adjusting member comprises a bottom plate and a rack mounted on the bottom plate, the bottom plate is slidably connected to the adapter, the clamping jaws of the two sub-clamping members are oppositely arranged along the second direction, and the clamping jaw mounted on the bottom plate is away from the clamping jaw of the other sub-clamping member. The transmission member is a gear, and the gear is in meshing connection with the racks of the adjusting members of the two sub-clamping members.

9. A material taking-out mechanism according to any one of claims 1 to 8, characterized in that, The material taking mechanism further comprises a second driving member, and the material taking assembly is provided in two numbers. The second driving member is capable of driving at least one of the two material taking assemblies to move along the first direction to adjust the spacing of the two material taking assemblies along the first direction.

10. The material taking-out mechanism according to claim 9, wherein The second driving member comprises a second motor, a driving wheel, a driven wheel and a synchronous belt, the output end of the second motor is connected to the driving wheel, the driven wheel is mounted on the mounting frame, and the synchronous belt is wound around the driving wheel and the driven wheel.

11. The material taking-out mechanism according to claim 1, wherein The mounting frame is provided with two linear guides, and each linear guide is provided with one material taking assembly. The linear guides extend along the first direction, and the adapter of the material taking assembly is capable of moving along the linear guides.

12. The material taking-out mechanism according to claim 1, wherein The material taking mechanism further comprises a camera, which is installed on the mounting frame, and is used to identify the position of the material plate.

13. A robot, characterized in that The material taking mechanism comprises an automatic guided vehicle, a manipulator, and any one of claims 1-12, wherein the manipulator is installed on the automatic guided vehicle, and the mounting frame is connected with the manipulator.

14. A PCB processing apparatus characterized by comprising: The robot comprises a processing machine, a material warehouse, and claim 13, wherein the material warehouse is used to store the material plate, the manipulator can drive the material taking mechanism to move, so that the material plate can be exchanged between the material warehouse and the processing machine, and the processing machine is used to process the material plate.

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