Manipulator material taking device and material disc positioning and clamping method

The invention discloses a manipulator material taking device and a material tray positioning and clamping method. The manipulator material taking device comprises a mechanical arm, a clamping jaw assembly fixedly located at the tail end of the mechanical arm and a material tray assembly for storing materials. The clamping jaw assembly moves to the position above the charging tray assembly along with movement of the tail end of the mechanical arm, and the clamping jaw assembly can be automatically centered and positioned in the clamping force direction in space and can further conduct positioning and clamping on the horizontal plane perpendicular to the clamping force direction in the transverse direction and the longitudinal direction. The material disc assembly can elastically stretch out and draw back in a self-adaptive mode in the vertical direction of the space, and when the materials are clamped, the materials can be tightly attached to the clamping jaw assembly. According to the invention, the positioni