A material taking mechanism, a material taking device and a processing equipment

Abstract

The utility model discloses a kind of material taking mechanism, material taking device and processing equipment.Material taking mechanism is used to grab the material located in predetermined grab position from the layering group of multiple material stacking, and material taking mechanism includes support frame, shakes material piece and grab piece, and grab piece and shakes material piece are arranged in support frame;Grab piece is used to fix material, and shakes material piece is used to drive material to reciprocate along first direction, so that the material fixed by grab piece can be separated from the remaining material of layering group.The material grabbed by grab piece is driven to reciprocate along first direction by shakes material piece, the cohesion between the grabbed material and other material of stacking can be eliminated, and then the grabbed material and other material of stacking are separated.The operation of manually separating material by artificial is avoided, and human cost is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of circuit board processing technology, and in particular relates to a material handling mechanism, material handling device and processing equipment. Background Technology

[0002] In the PCB (Printed Circuit Board) manufacturing industry, automated loading and unloading is key to improving production efficiency. Currently, the industry commonly uses robotic arms to grab stacked PCBs in hoppers to achieve automated PCB transfer. However, because the surfaces of stacked PCBs are in close contact and have high edge flatness, adjacent PCBs are prone to sticking together, resulting in robotic arms sometimes grabbing two or more PCBs at a time.

[0003] In existing technologies, when multiple PCBs are picked up at once, operators typically need to manually separate the adhered PCBs and then put them back into the hopper or process them separately. Clearly, this manual handling method increases labor costs and operation time, impacting production efficiency. Utility Model Content

[0004] The technical problem to be solved by this utility model is that, in the prior art, when multiple PCBs are picked up at once, operators need to manually separate the PCBs that are stuck together, which increases labor costs and operation time and affects production efficiency. This utility model provides a material picking mechanism, a material picking device and a processing equipment.

[0005] To address the aforementioned problems, on one hand, this utility model provides a material-grabbing mechanism for grabbing materials located at a predetermined grabbing position from a stack of multiple stacked materials. The material-grabbing mechanism includes a support frame, a shaking component, and a grabbing component, with the grabbing component and the shaking component arranged at intervals on the support frame.

[0006] The gripper is used to fix the material, and the shaking component is used to drive the material to move back and forth along a first direction, so that the material fixed by the gripper can be separated from the rest of the material in the stacked group.

[0007] Optionally, the material shaking component includes a driving component and a first adsorption component. The driving component is arranged on the support frame, and the first adsorption component is connected to the output end of the driving component. The first adsorption component can adsorb the material. The driving component drives the first adsorption component to reciprocate along the first direction, so that the material reciprocates along the first direction.

[0008] Optionally, the driving component includes a cylinder, the cylinder body of which is arranged on the support frame, and the first adsorption component is fixedly connected to the piston rod of the cylinder.

[0009] Optionally, the support frame includes a base plate, a first mounting beam, and a second mounting beam, wherein the first mounting beam and the second mounting beam are spaced apart on the base plate along a second direction;

[0010] The gripper is disposed in at least one of the first mounting beam and the second mounting beam;

[0011] The material shaking component is arranged in at least one of the first mounting beam and the second mounting beam;

[0012] The first direction intersects with the second direction.

[0013] Optionally, the gripping member includes a plurality of second adsorption members, some of which are arranged at intervals along a third direction on the first mounting beam, and another portion of which are arranged at intervals along a third direction on the second mounting beam; wherein the first direction, the second direction, and the third direction are not coplanar and intersect each other.

[0014] Optionally, the shaking element is arranged on the first mounting beam, and along the third direction, the shaking element and a plurality of second adsorption elements are arranged in sequence.

[0015] Optionally, the material handling mechanism further includes a first locking member, which is used to lock the first mounting beam on the base plate. After the first locking member is released from locking the first mounting beam, the first mounting beam can move along the second direction.

[0016] And / or,

[0017] The material handling mechanism further includes a second locking member, which is used to lock the second mounting beam on the base plate. After the second locking member is released from locking the second mounting beam, the second mounting beam can move along the second direction.

[0018] Optionally, the material handling mechanism further includes a third locking member and a first mounting plate. The material shaking member is arranged on the first mounting plate. The third locking member is used to lock the first mounting plate on the support frame. After the third locking member releases the lock on the first mounting plate, the first mounting plate can move along the second direction; wherein the first direction intersects with the second direction.

[0019] Optionally, the material handling mechanism further includes a fourth locking member and a second mounting plate. The gripping member is arranged on the second mounting plate. The fourth locking member is used to lock the second mounting plate on the support frame. After the fourth locking member releases the lock on the second mounting plate, the second mounting plate can move along a second direction; wherein the first direction intersects with the second direction.

[0020] According to the material handling mechanism provided in this embodiment of the invention, the gripping component can fix the material, ensuring that the gripped material remains stable during operation. By driving the gripped material to reciprocate along a first direction through a shaking component, the adhesive force between the gripped material and other stacked materials can be eliminated, thereby separating the gripped material from the other stacked materials, and then completing the gripping operation of the target material. Through automated separation and gripping, manual material separation is avoided, reducing labor costs and operation time, and improving the overall efficiency of the production line.

[0021] This utility model provides a material handling device, including a robot, a workstation, and the aforementioned material handling mechanism. The support frame is connected to the output end of the robot. The workstation has a loading area and a unloading area. The loading area is used to place the stacked assembly. The robot can drive the material handling mechanism to move to the loading area, so that the material handling mechanism can grab the material. The robot can also drive the material handling mechanism to move to the unloading area, so that the material handling mechanism can place the material in the unloading area.

[0022] Optionally, the workstation includes a loading workstation and a unloading workstation spaced apart from each other, with the loading area located at the loading workstation and the unloading area located at the unloading workstation.

[0023] This utility model provides a processing device including a drilling machine and the aforementioned material handling device. The drilling machine is used to process materials. The robot can drive the material handling mechanism to move to the processing area of ​​the drilling machine, so that the material handling mechanism can place the material to be processed in the processing area; or, so that the material handling mechanism can grab the processed material in the processing area. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the material handling mechanism provided in one embodiment of the present invention;

[0026] Figure 2 This is a top view of the material handling mechanism provided in one embodiment of the present invention;

[0027] Figure 3This is a schematic diagram of the processing equipment provided in one embodiment of the present invention after removing part of the structure.

[0028] The reference numerals in the accompanying drawings are as follows:

[0029] 10. Material handling mechanism; 20. Robot; 30. Workstation; 50. Drilling machine; 60. Material; 601. Gripping area; 602. Shaking area; 70. Protective fence; 80. Display; 90. Tri-color light;

[0030] 1. Support frame; 11. Base plate; 12. First mounting beam; 13. Second mounting beam; 2. Shaking component; 21. Driving component; 22. First adsorption component; 3. Gripping component; 31. Second adsorption component; 4. First mounting plate; 5. Second mounting plate. Detailed Implementation

[0031] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0032] In the description of this utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] like Figures 1 to 3As shown, an embodiment of the present invention provides a material picking mechanism 10 for picking up a material 60 located at a predetermined picking position from a stack of multiple materials 60. The material picking mechanism 10 includes a support frame 1, a shaking component 2 and a picking component 3, and the picking component 3 and the shaking component 2 are both arranged on the support frame 1.

[0035] The gripping component 3 is used to fix the material 60, and the shaking component 2 is used to drive the material 60 to reciprocate along a first direction, so that the material 60 fixed by the gripping component 3 can be separated from the other materials in the stacked group. In this embodiment, one possible implementation is: the material 60 has a gripping area 601 and a shaking area 602. The gripping component 3 can be temporarily fixed to the gripping area 601 of the material 60, and the shaking component 2 can be temporarily fixed to the shaking area 602 of the material 60. The shaking component 2 can drive the shaking area 602 to reciprocate relative to the gripping area 601 along a first direction, so that the gripped material 60 can be separated from the other materials 60 in the stacked group. The material can be a circuit board, cardboard, or aluminum foil, etc. The first direction is a vertical direction, or, the first direction is an attached direction. Figure 1 In the Z-direction. The gripping component 3 and the shaking component 2 can temporarily fix the material 60 in the gripping area 601 or shaking area 602 by vacuum suction. Through the synergistic action of the shaking component 2 and the gripping component 3, the adhering material 60 can be automatically separated without manual separation by operators, significantly reducing labor costs and operation time. At the same time, the automated separation and gripping process avoids downtime caused by manual intervention, shortens the production cycle, and improves the overall efficiency of the production line.

[0036] In one embodiment, the shaking component 2 includes a driving component 21 and a first adsorption component 22. The driving component 21 is arranged on the support frame 1, and the first adsorption component 22 is connected to the output end of the driving component 21. The first adsorption component 22 can adsorb the material 60. The driving component 21 drives the first adsorption component 22 to reciprocate along a first direction, causing the material 60 to reciprocate along the first direction. In this embodiment, the reciprocating movement of the material 60 along the first direction can be the reciprocating movement of a portion of its structure along the first direction. One feasible approach is that the first adsorption component 22 adsorbs the shaking area 601 of the material 60, and the driving component 21 drives the first adsorption component 22 to reciprocate along the first direction, causing the shaking area 602 of the material 60 to reciprocate relative to the gripping area 601 along the first direction. By having the first adsorption component 22 adsorb the material 60 in the shaking area 602, the stability of the material 60 during shaking is ensured, preventing displacement or falling due to shaking. By driving the adsorption element to move back and forth along the first direction, the adsorption element can be effectively broken by the adhesion between the materials 60 (e.g., PCB), achieving efficient separation, reducing manual intervention, avoiding manual separation of PCB, and reducing labor costs and operation time.

[0037] In one embodiment, the driving component 21 includes a cylinder, the cylinder body of which is arranged on the support frame 1, and the first suction component 22 is fixedly connected to the piston rod of the cylinder. In this embodiment, the cylinder relies on the power of compressed air to drive the piston movement, which has the characteristics of rapid response and can complete a large number of production tasks in a short time, significantly improving production efficiency.

[0038] In one embodiment, the support frame 1 includes a base plate 11, a first mounting beam 12 and a second mounting beam 13, wherein the first mounting beam 12 and the second mounting beam 13 are arranged at intervals along a second direction on the base plate 11;

[0039] The gripper 3 is disposed in at least one of the first mounting beam 12 and the second mounting beam 13;

[0040] The shaking component 2 is arranged in at least one of the first mounting beam 12 and the second mounting beam 13;

[0041] The first direction intersects with the second direction. In this embodiment, the second direction is perpendicular to the first direction, and the second direction is an auxiliary direction. Figure 1 The base plate 11 serves as a fundamental support, providing a stable platform to ensure the stability of the entire material handling mechanism 10 during operation. Since the gripping component 3 and the shaking component 2 can be arranged on at least one of the first mounting beam 12 or the second mounting beam 13, the installation position can be flexibly selected according to the size and shape of the components. For larger components, the relevant components can be arranged simultaneously on two mounting beams to ensure installation stability and reliability; for smaller components, they can be arranged on a single mounting beam to further optimize space utilization. Furthermore, the gripping component 3 and the shaking component 2 can be arranged in various ways and flexibly combined according to actual needs.

[0042] In one embodiment, the gripping member 3 includes a plurality of second adsorption members 31. Some of the second adsorption members 31 are arranged at intervals along a third direction on the first mounting beam 12, and another portion of the second adsorption members 31 are arranged at intervals along a third direction on the second mounting beam 13; wherein the first direction, the second direction, and the third direction are not coplanar and intersect each other. In this embodiment, the second adsorption member 31 is a vacuum suction cup, and the first direction, the second direction, and the third direction are perpendicular to each other, with the third direction being an adsorption member. Figure 1 The Y-axis is a key feature. Multiple adsorption elements are arranged along the third direction, providing a more uniform gripping force, ensuring the stability of the gripping process, and reducing displacement or falling due to uneven gripping force. The adsorption elements are distributed on two mounting beams and spaced apart along the third direction, which can accommodate materials of different shapes and thicknesses 60, providing greater gripping flexibility.

[0043] In one embodiment, the shaking component 2 is arranged on the first mounting beam 12, and along a third direction, the shaking component 2 and a plurality of second adsorption components 31 are arranged sequentially. In this embodiment, the shaking component 2 and the plurality of second adsorption components 31 are arranged sequentially along a third direction, such that the shaking component 2 is located at one end of the material 60, so that the shaking component 2 can shake one corner of the material 60, and can concentrate the force in a small area, avoiding unnecessary vibration and impact on other parts of the material 60, thereby reducing the risk of deformation and damage to the material 60 during the shaking process.

[0044] In one embodiment, the material handling mechanism 10 further includes a first locking member, which is used to lock the first mounting beam 12 onto the base plate 11. After the first locking member is released from locking the first mounting beam 12, the first mounting beam 12 can move along the second direction.

[0045] And / or,

[0046] The material handling mechanism 10 also includes a second locking member, which locks the second mounting beam 13 onto the base plate 11. After the second locking member is released from locking the second mounting beam 13, the second mounting beam 13 can move along the second direction. In this embodiment, the locking member can be a bolt, and a through groove can be provided on the base plate 11. The first mounting beam 12 and the second mounting beam 13 are correspondingly provided with mounting grooves. The mounting beams and the base plate 11 can be locked together by the bolts, through grooves, and mounting grooves. The locking member can ensure that the mounting beam remains stable during operation, avoiding displacement caused by vibration or external force, thereby improving the accuracy of gripping and shaking operations. After the locking is released, the mounting beam can move along the second direction, which facilitates adjustment of the gripping position or adaptation to materials 60 of different specifications, improving the flexibility of the equipment.

[0047] In one embodiment, the material handling mechanism 10 further includes a third locking member and a first mounting plate 4. A shaking component is arranged on the first mounting plate 4. The third locking member locks the first mounting plate onto the support frame 1. After releasing the third locking member from locking the first mounting plate 4, the first mounting plate 4 can move along a second direction; wherein the first direction intersects the second direction. In this embodiment, the third locking member ensures that the first mounting plate 4 remains stable during operation, preventing displacement due to vibration or external force, thereby improving the accuracy of the gripping and shaking operations. After releasing the locking member, the first mounting plate 4 can move along the second direction, facilitating adjustment of the gripping position or adaptation to materials 60 of different specifications, thus improving the flexibility of the equipment.

[0048] In one embodiment, the material handling mechanism 10 further includes a fourth locking member and a second mounting plate 5. The gripping member 3 is arranged on the second mounting plate 5. The fourth locking member is used to lock the second mounting plate onto the support frame 1. After the fourth locking member is released from locking the second mounting plate 5, the second mounting plate 5 can move along a second direction; wherein the first direction intersects the second direction. In this embodiment, the fourth locking member can ensure that the second mounting plate 5 remains stable during operation, avoiding displacement caused by vibration or external force, thereby improving the accuracy of the gripping operation. After the locking is released, the second mounting plate 5 can move along the second direction, which facilitates adjustment of the gripping position or adaptation to materials 60 of different specifications, improving the flexibility of the equipment.

[0049] In one embodiment, the support frame 1 is equipped with a flange, a gas distribution block, a ring light source, a solenoid valve, a vacuum generator, a negative pressure gauge, a diffuse reflection photoelectric sensor, and an industrial camera. The support frame 1 is connected to the output end of the robot 20 through the flange. The gas distribution block is used to divide the gas source into multiple paths, which are connected to multiple vacuum generators through air pipes to synchronously drive the vacuum generators and the first adsorption element 22 and the second adsorption element 31 (vacuum suction cup) to generate negative pressure, thereby sucking up the material 60. The negative pressure gauge monitors the vacuum degree of the vacuum system in real time to determine whether the suction is successful. The diffuse reflection photoelectric sensor is used to monitor in real time whether the material 60 (PCB) is stably sucked up by the picking mechanism 10 and to provide feedback signals to the control system. The industrial camera and the ring light source are set on the support frame 1 and adopt an "eye-in-hand" hand-eye system to capture and identify the positioning features on the material 60 and the CNC drilling machine 50, so as to accurately place the PCB in the target position.

[0050] According to the material handling mechanism 10 provided in this embodiment of the present invention, the gripper 3 can fix the material 60 (for example, the gripper 3 is temporarily fixed to the gripping area 601 of the material 60), ensuring that the gripped material 60 remains stable during operation. By driving the material 60 gripped by the gripper 3 to reciprocate along a first direction through the shaking component (the movement of the material 60 can be a partial movement of the material 60 along the first direction. For example, the shaking component 2 is temporarily fixed to the shaking area 602 of the material 60, and by driving the shaking area 602 to reciprocate relative to the gripping area 601 along the first direction), the adhesion between the gripped material 60 and other stacked materials 60 can be eliminated, thereby separating the gripped material 60 from the other stacked materials 60, and then completing the gripping operation of the target material 60. Through automated separation and gripping, the manual separation of the material 60 is avoided, reducing labor costs and operation time, and improving the overall efficiency of the production line.

[0051] like Figure 3As shown, in another embodiment of this utility model, a material handling device is provided, including a robot 20, a workstation 30, and the aforementioned material handling mechanism 10. A support frame 1 is connected to the output end of the robot 20. The workstation 30 has a loading area and a unloading area. The loading area is used to place stacked materials. The robot 20 can drive the material handling mechanism 10 to move to the loading area, so that the material handling mechanism 10 can grasp the material 60. The robot 20 can also drive the material handling mechanism 10 to move to the unloading area, so that the material handling mechanism 10 can place the material 60 in the unloading area. In this embodiment, the robot 20 is a six-axis robot 20. The robot 20 can automatically complete the grasping and placing operations, reducing manual intervention and improving production efficiency. The combined design of the robot 20 and the material handling mechanism 10 makes the structure of the entire material handling device more compact and occupies less space. Within a limited production space, the workstation 30 and other production equipment can be reasonably arranged, improving the utilization rate of the production space.

[0052] In one embodiment, workstation 3030 includes a loading workstation 3030 and a unloading workstation 3030 spaced apart from each other. The loading area is located at the loading workstation 3030, and the unloading area is located at the unloading workstation 3030. In this embodiment, the number of workstations 30 is preferably 4-6, with some workstations 30 serving as loading workstations and others as unloading workstations. However, there is no limitation on which workstations 30 are specifically designated as loading workstations and which as unloading workstations. The loading and unloading workstations 30 are spatially separated to avoid cross-interference between loading and unloading operations and to reduce the risk of collisions between equipment or personnel. At the same time, the loading and unloading areas are set up independently, and the size or position of the areas can be flexibly adjusted to meet different process requirements, adapting to the production of various types of products.

[0053] In one embodiment, workstation 30 is a fixed frame; or, workstation 30 is a trolley. In this embodiment, the fixed frame can be fixed to the ground by bolts, welding, or other means. The fixed frame's stability makes it less prone to tipping over or shifting during operation, effectively reducing the risk of material falling or equipment damage and improving the safety of workstation 30. The trolley can be moved out of the workstation 30 area when not in use, freeing up space. Simultaneously, the trolley can be moved as needed, suitable for scenarios requiring frequent adjustments to the position of workstation 30 or material transportation. For example, in multi-workstation 30 switching or dynamic production environments, the trolley can quickly respond to changes in demand, improving the flexibility of workstation 30. Both the trolley and the fixed frame are displayed in the attached... Figure 3 In the middle, the six identical workstations 30 on the right are fixed frames, and the independent trolleys on the left outside the six fixed frames are trolleys.

[0054] like Figure 3As shown, in another embodiment of this utility model, a processing device is provided, including a drilling machine 50 and the aforementioned material handling device. The drilling machine 50 is used to process material 60. The robot 20 can drive the material handling mechanism 10 to move to the processing area of ​​the drilling machine 50, so that the material handling mechanism 10 can place the material 60 to be processed in the processing area; or, so that the material handling mechanism 10 can grab the processed material 60 in the processing area. In this embodiment, the material 60 can be a circuit board, cardboard, or aluminum foil, etc. With the precise drive of the robot 20, the entire process from picking up and placing the material 60 to drilling is automated. Without human intervention, the production line can run continuously and stably according to the preset program, significantly improving the degree of production automation. At the same time, according to the processing progress of the drilling machine 50, the material 60 to be processed is accurately placed in the processing area in a timely manner, and the processed material 60 is quickly grabbed after processing, realizing efficient collaborative operation between the material handling device and the drilling machine 50, and improving the operating efficiency of the entire production system.

[0055] In one embodiment, the processing equipment further includes a protective fence 70, which surrounds the processing areas of the robot, loading station 30, unloading station 30, and drilling machine. The protective fence 70 is equipped with a safety light curtain, a tri-color light 90, and a display 80 (control platform). The tri-color light 90, safety light curtain, drilling machine, and robot 20 (e.g., an industrial six-axis robot or a collaborative six-axis robot) are electrically connected to the display 80. The protective fence 70 isolates hazardous areas such as the processing areas of the robot, loading station 30, unloading station 30, and drilling machine 50 from the outside world, preventing operators from accidentally entering and avoiding accidents such as collisions and pinching injuries that may occur during equipment operation or material processing. The safety light curtain can detect the intrusion of personnel or objects in real time; once an abnormality is detected, it will immediately trigger the equipment to stop operating, providing additional safety for operators. The tri-color indicator light 90 serves as a clear visual indicator, displaying the equipment's operating status clearly. For example, green indicates normal operation, yellow indicates a warning, and red indicates an emergency stop, allowing operators to quickly assess the equipment's condition and take appropriate action. The display 80 acts as a control platform, enabling operators to operate and monitor the equipment from a centralized location. This reduces the time spent moving between different devices and improves work efficiency.

[0056] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A material-grabbing mechanism for gripping material located at a predetermined gripping position from a stack of multiple stacked materials, characterized in that, The material handling mechanism includes a support frame, a shaking component, and a gripping component, wherein the gripping component and the shaking component are both arranged on the support frame; The gripper is used to fix the material, and the shaking component is used to drive the material to move back and forth along a first direction, so that the material fixed by the gripper can be separated from the rest of the material in the stacked group.

2. The material handling mechanism according to claim 1, characterized in that, The material shaking component includes a driving component and a first adsorption component. The driving component is arranged on the support frame, and the first adsorption component is connected to the output end of the driving component. The first adsorption component can adsorb the material. The driving component drives the first adsorption component to reciprocate along the first direction, so that the material reciprocates along the first direction.

3. The material handling mechanism according to claim 2, characterized in that, The driving component includes a cylinder, the cylinder body of which is arranged on the support frame, and the first adsorption component is fixedly connected to the piston rod of the cylinder.

4. The material handling mechanism according to claim 1, characterized in that, The support frame includes a base plate, a first mounting beam, and a second mounting beam, wherein the first mounting beam and the second mounting beam are spaced apart on the base plate along a second direction; The gripper is disposed in at least one of the first mounting beam and the second mounting beam; The material shaking component is arranged in at least one of the first mounting beam and the second mounting beam; The first direction intersects with the second direction.

5. The material handling mechanism according to claim 4, characterized in that, The gripping component includes a plurality of second adsorption components, some of which are arranged at intervals along a third direction on the first mounting beam, and another portion of which are arranged at intervals along a third direction on the second mounting beam; wherein the first direction, the second direction, and the third direction are not coplanar and intersect each other.

6. The material handling mechanism according to claim 5, characterized in that, The material shaking component is arranged on the first mounting beam, and along the third direction, the material shaking component and a plurality of second adsorption components are arranged in sequence.

7. The material handling mechanism according to claim 4, characterized in that, The material handling mechanism further includes a first locking member, which is used to lock the first mounting beam on the base plate. After the first locking member is released from locking the first mounting beam, the first mounting beam can move along the second direction. And / or, The material handling mechanism further includes a second locking member, which is used to lock the second mounting beam on the base plate. After the second locking member is released from locking the second mounting beam, the second mounting beam can move along the second direction.

8. The material handling mechanism according to claim 1, characterized in that, The material handling mechanism further includes a third locking member and a first mounting plate. The material shaking member is arranged on the first mounting plate. The third locking member is used to lock the first mounting plate on the support frame. After the third locking member is released from locking the first mounting plate, the first mounting plate can move along the second direction; wherein, the first direction intersects with the second direction.

9. The material handling mechanism according to claim 1, characterized in that, The material handling mechanism further includes a fourth locking member and a second mounting plate. The gripping member is arranged on the second mounting plate. The fourth locking member is used to lock the second mounting plate on the support frame. After the fourth locking member is released from locking the second mounting plate, the second mounting plate can move along a second direction; wherein, the first direction intersects with the second direction.

10. A material handling device, characterized in that, The device includes a robot, a workstation, and a material handling mechanism as described in any one of claims 1 to 9. The support frame is connected to the output end of the robot. The workstation has a loading area and a unloading area. The loading area is used to place the stacked assembly. The robot can drive the material handling mechanism to move to the loading area so that the material handling mechanism can pick up the material. The robot can also drive the material handling mechanism to move to the unloading area so that the material handling mechanism can place the material in the unloading area.

11. The material handling device according to claim 10, characterized in that, The workstation includes a loading workstation and a unloading workstation spaced apart from each other. The loading area is located at the loading workstation, and the unloading area is located at the unloading workstation.

12. A processing equipment, characterized in that, The device includes a drilling machine and a material handling device according to any one of claims 10 and 11, wherein the drilling machine is used to process materials, and the robot is capable of driving the material handling mechanism to move to the processing area of ​​the drilling machine, so that the material handling mechanism can place the material to be processed in the processing area; or, so that the material handling mechanism can grab the processed material in the processing area.

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