CN111283252A - CNC milling machine capable of connecting material taking mechanical arm unit - Google Patents

Abstract

A CNC milling machine that can be connected to a reclaiming robotic arm unit, comprising a base unit, a processing unit, a reclaiming robotic arm unit and a connecting unit, the base unit includes two vertical seats, and the processing unit includes a front and rear moving processing unit located above the vertical seat. The seat, the left and right moving processing seat arranged on the front side of the front and rear moving processing seat, the up and down moving processing seat arranged on the front side of the left and right moving processing seat, and the processing tool group arranged at the bottom of the up and down moving processing seat. The front and rear moving reclaimer above the vertical seat and in front of the front and rear moving processing seat, the left and right moving reclaimer arranged above the front and rear moving reclaimer, the up and down moving reclaimer adjacent to the left and right moving reclaimers, and the upper and lower moving reclaimers. By moving the jaw group at the bottom of the reclaimer, through the connection of the connection unit, the reclaimer robotic arm unit can be driven by the processing unit to move, thereby saving costs.

Description

CNC milling machine that can be connected to the reclaimer arm unit

technical field

The invention relates to a processing machine, in particular to a CNC milling machine which can be connected with a material-reclaiming mechanical arm unit.

Background technique

An existing CNC milling machine includes a processing unit and a reclaiming robot arm unit arranged adjacently, the processing unit has a three-axis processing drive module, and a three-axis processing drive module arranged and subjected to the three-axis processing drive module. A processing tool group that can move in three mutually perpendicular directions by interlocking, the reclaiming robot arm unit has a three-axis reclaiming drive module, and a set and is linked by the three-axis reclaiming drive module And the jaw groups that can move in the three mutually perpendicular directions clamp a workpiece to be processed by the jaw group of the reclaiming robot arm unit, and the processing tool group of the processing unit The workpiece to be processed is processed so that the workpiece to be processed can be processed.

However, in order to achieve three-axis movement, the three-axis machining drive module needs to have at least three servo motors, and the three-axis reclaiming drive module also needs to have at least three servo motors, which makes the CNC milling machine very expensive. high.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a CNC milling machine that can be connected with a reclaiming robot arm unit, which overcomes the shortcomings of the background art.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention includes a base unit and a processing unit, and is characterized in that: the CNC milling machine that can be connected to the reclaiming robot arm unit also includes a reclaiming robot arm unit and a connecting unit, Define mutually perpendicular X direction, Y direction and Z direction, the X direction is towards the front and rear direction, the Y direction is towards the left and right direction, the Z direction is towards the up and down direction, the base unit includes two along the Y direction Stands arranged at intervals, the processing unit includes a front and rear moving processing seat located above the vertical seat, two are respectively arranged between the vertical seat and the front and rear moving processing seat and can drive the front and rear moving processing seat edge The front and rear drive groups that move in the X-direction, the left and right moving processing bases installed on the front side of the front and rear moving processing bases, and the left and right moving processing bases are installed between the left and right moving processing bases and the front and rear moving processing bases and can drive the left and right moving processing A left and right drive group for the seat to move in the Y direction, a vertical moving processing seat arranged on the front side of the left and right moving processing seat, and a vertical moving processing seat arranged between the vertical moving processing seat and the left and right moving processing seat and capable of driving the vertical moving processing seat The up-and-down machining drive group that moves the machining seat along the Z direction, and the machining tool group arranged at the bottom of the up-and-down movable machining seat, and the reclaiming robot arm unit includes a unit located above the vertical seat and located in the front and rear movement The front and rear moving reclaiming seat in front of the processing seat, two front and rear sliding groups, which are respectively arranged between the vertical seat and the front and rear moving reclaiming seat and can allow the front and rear moving reclaiming seat to move along the X direction. The left and right moving reclaimer above the front and rear moving reclaimer is arranged between the left and right moving reclaimer and the front and rear moving reclaimer and can be used for the left and right moving reclaimer to move along the Y direction The left and right sliding groups, the up and down moving reclaimers adjacent to the left and right moving reclaimers, are arranged between the up and down moving reclaimers and the left and right moving reclaimers and can provide the edge of the up and down moving reclaimers. The up-and-down sliding group that moves in the Z direction, and the jaw group that is arranged at the bottom of the up-and-down moving reclaimer seat, the connecting unit includes a first connecting piece that is arranged on the up-and-down moving processing seat and extends forward, a set of A second link extending backward from the reclaiming robot arm unit, and a link drive group capable of drivingly linking the first link and the second link, and the processing unit is connected through the link The unit moves in conjunction with the left-right moving reclaimer and the front-rear moving reclaimer.

The CNC milling machine that can be connected with the reclaiming robot arm unit of the present invention is characterized in that: the second connecting piece is arranged on the up and down moving reclaiming seat, and the processing unit is linked to the left and right movement through the connecting unit The reclaiming seat, the front-rear moving reclaiming seat and the up-and-down moving reclaiming seat move.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the first connecting member has a first cylinder disposed on the up-and-down moving processing seat and extending forward, and surrounds the first column. The groove of the column body, the second link has a second column body disposed on the up-and-down moving reclaimer seat and extending backward, and a second column body formed on the second column body adjacent to the first column body. side and corresponding to a connecting groove for the first cylinder to pass through, and a through hole formed on the second cylinder and communicating with the connecting groove, and the connecting drive group has a A driving member, and a latching member that can be driven by the driving member to pass through the through hole and into the groove to restrict the first column body and the second column body from being disengaged.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the front and rear driving groups, the left and right driving groups and the upper and lower processing driving groups are a combination type of a lead screw and a servo motor. The sliding group, the left-right sliding group and the up-down sliding group are a combination type of a sliding rail and a sliding seat.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the front and rear driving groups are linear motors, the left and right driving groups and the upper and lower machining driving groups are a combination type of a lead screw and a servo motor, The front and rear sliding groups, the left and right sliding groups and the up and down sliding groups are a combination type of a sliding rail and a sliding seat.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the second connecting piece is arranged on the left and right moving reclaiming seat, and the reclaiming robot arm unit also includes a set and drives the up and down The sliding group moves to make the upper and lower reclaimer drive group move along the Z direction.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the first connecting member has a first cylinder disposed on the up-and-down moving processing seat and extending forward, and surrounds the first column. The groove of the column body, the second link has a second column body disposed on the left and right moving reclaimer and extending backward, and a second column body formed on the second column body adjacent to the first column body. side and corresponding to a connecting groove for the first cylinder to pass through, and a through hole formed on the second cylinder and communicating with the connecting groove, and the connecting drive group has a A driving member, and a latching member that can be driven by the driving member to pass through the through hole and into the groove to restrict the first column body and the second column body from being disengaged.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the front and rear driving groups, the left and right driving groups and the upper and lower processing driving groups are a combination type of a lead screw and a servo motor. The sliding group, the left-right sliding group and the up-down sliding group are a combination type of a sliding rail and a sliding seat.

The CNC milling machine that can be connected to the reclaiming robot arm unit of the present invention is characterized in that: the front and rear driving groups are linear motors, the left and right driving groups and the upper and lower machining driving groups are a combination type of a lead screw and a servo motor, The front and rear sliding groups, the left and right sliding groups and the up and down sliding groups are a combination type of a sliding rail and a sliding seat.

The beneficial effect of the present invention is that: by arranging the processing unit and the reclaiming robot arm unit on the stand and connecting them through the connecting unit, the reclaiming robot arm unit can be subjected to the processing. The unit is driven to move, thereby saving costs.

Description of drawings

1 is a perspective view of a first embodiment of a CNC milling machine, a processing table and a reclaiming table that can be connected to a reclaiming robot arm unit according to the present invention;

2 is a perspective view of the first embodiment, the processing table and the reclaiming table from another perspective;

3 is a perspective view of the first embodiment, the processing table and the reclaiming table from another perspective;

FIG. 4 is a right side view of the first embodiment, the processing table and the take-up table, illustrating a state in which a processing tool group is removed;

Fig. 5 is a view similar to Fig. 4, illustrating that a processing unit is connected to a reclaiming robot arm unit facing forward;

FIG. 6 is a view similar to FIG. 5 , illustrating that the processing unit pulls the reclaimer arm unit backwards;

Figure 7 is a view similar to Figure 6, illustrating the processing unit pulling the reclaimer arm unit downward;

8 is a perspective view of a second embodiment of a CNC milling machine that can be connected to a reclaiming robot arm unit according to the present invention, the processing table and the reclaiming table from the same viewing angle as FIG. 3;

FIG. 9 is a view of the second embodiment, the processing table and the reclaiming table from the same viewing angle as FIG. 4;

Fig. 10 is a view similar to Fig. 9, illustrating that the processing unit is connected to the reclaiming robot arm unit facing forward;

Figure 11 is a view similar to Figure 10, illustrating the processing unit pulling the reclaimer arm unit backwards;

Figure 12 is a view similar to Figure 11 illustrating an upper and lower take-up drive group actuated to move a jaw group downward.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

Referring to Figures 1, 2, and 3, a first embodiment of a CNC milling machine that can be connected to a reclaiming robot arm unit of the present invention includes a base unit 2, a processing unit 3, a reclaiming robot arm unit 4, and a connection Unit 5.

One X direction, one Y direction, and one Z direction that are perpendicular to each other are defined. The X direction faces the front-rear direction, the Y direction faces the left-right direction, and the Z direction faces the up-down direction.

The base unit 2 includes two stand bases 21 spaced apart along the Y direction.

The processing unit 3 includes a front and rear moving processing seat 31 located above the vertical seat 21 , and two front and rear moving processing seats 31 respectively disposed between the vertical seat 21 and the front and rear moving processing seat 31 and capable of driving the front and rear moving processing seats 31 . A front and rear drive group 32 moving along the X direction, a left and right moving processing seat 33 arranged on the front side of the front and rear moving processing seat 31, and a left and right moving processing seat 33 and the front and rear moving processing seat 31. and a left and right drive group 34 capable of driving the left and right moving processing seat 33 to move along the Y direction, a vertical moving processing seat 35 arranged on the front side of the left and right moving processing seat 33, and a vertical moving processing seat 35 arranged on the vertical moving processing seat 35 and the left-right moving processing seat 33 and can drive the vertical moving processing seat 35 to move along the Z direction. . In this embodiment, the machining tool set 37 is used to process a to-be-machined workpiece (not shown) placed on a processing table 8 below, because the structure of the machining tool set 37 is not the main technology of this case. It is the key point, and it is a common device of a general CNC milling machine, so this case will not explain it further.

The reclaiming robot arm unit 4 includes a front-rear moving reclaiming seat 41 located above the vertical seat 21 and in front of the front-rear moving processing seat 31 , and two reclaiming seats 41 respectively disposed on the vertical seat 21 and the front-rear moving processing seat 31 . A front and rear sliding group 42 between the reclaiming seats 41 and capable of moving the reclaiming seat 41 forward and backward along the X direction, a left and right moving reclaiming seat 43 arranged above the front and rear moving reclaiming seat 41, a Between the left-right moving reclaimer 43 and the front-rear moving reclaimer 41 and capable of allowing the left-right moving reclaimer 43 to move along the Y direction, a left-right sliding group 44, one adjacent to the left-right moving reclaimer 44. The up-and-down moving reclaimer 45 of the material seat 43, and a reclaimer 45 arranged between the up-and-down moving reclaimer 45 and the left-right moving reclaimer 43 and capable of allowing the up-and-down moving reclaimer 45 to move along the Z direction. An up and down sliding group 46 and a clamping jaw group 47 arranged at the bottom of the up and down moving reclaimer 45 . In this embodiment, the jaw group 47 is used to pick up the workpiece to be processed on a reclaiming table 9 below, because the structure of the jaw group 47 is not the main technical focus of this case, and is The usual device of a general CNC milling machine, so this case will not further explain it.

Referring to FIGS. 2 , 3 and 4 , the connecting unit 5 includes a first connecting member 51 disposed on the up-and-down moving processing seat 35 and extending forward, a first connecting member 51 disposed on the reclaiming robot arm unit 4 and extending backward The second connecting member 52 is connected, and a connecting driving group 53 can be driven to connect the first connecting member 51 and the second connecting member 52 .

The first connecting member 51 has a first column body 511 disposed on the up-and-down moving processing base 35 and extending forward, and a groove 512 surrounding the first column body 511 .

The second connecting member 52 is disposed on the up-and-down moving reclaimer 45, and has a second column 521 disposed on the up-and-down moving reclaimer 45 and extending backward, and a second column 521 formed on the second column. The body 521 is adjacent to one side of the first column body 511 and corresponds to a connecting groove 522 for the first column body 511 to pass through, and a connecting groove 522 is formed on the second column body 521 and communicates with the connecting groove 522. The hole 523 is drilled.

The connecting driving group 53 has a driving member 531 disposed outside the second cylinder 521 , and a driving member 531 that can be driven by the driving member 531 to pass through the through hole 523 and into the groove 512 to restrict The latching member 532 that makes the first cylinder 511 and the second cylinder 521 inseparable.

In this embodiment, the front and rear driving groups 32 , the left and right driving groups 34 and the upper and lower processing driving groups 36 are combined types of lead screws and servo motors. The front and rear sliding groups 42 , the left and right sliding groups 44 And the upper and lower sliding group 46 is a combination type of sliding rail and a sliding seat, but in other embodiments, the front and rear driving group 32 can also be a linear motor, because the combination type of the lead screw and the servo motor, the sliding rail The combination type with the sliding seat and the linear motor are all commonly used drive combinations, so the detailed structure will not be further described in this manual.

When in use, the processing unit 3 can drive the front and rear moving processing base 31, the left and right moving processing base 33 and the The up-and-down moving machining seat 35 moves, and then the machining tool set 37 can process the workpiece to be machined along the Y direction, the X direction and the Z direction.

When the unprocessed workpiece to be processed is to be moved to the processing table 8 by the reclaiming table 9, or the processed workpiece to be processed is to be moved back to the reclaiming table 9, the After the machining tool set 37 is removed, the left-right moving machining seat 33 and the up-down moving machining seat 35 are moved to make the first cylinder 511 correspond to the connecting groove 522 of the second cylinder 521 position, the front-rear moving processing base 31 is driven to move forward, so that the first cylinder 511 penetrates into the connecting groove 522, and the driving member 531 of the connecting driving group 53 drives the locking member After 532 penetrates into the connecting groove 522 , the first cylinder 511 and the second cylinder 521 are connected, so that the processing unit 3 can drive the reclaiming robot arm unit 4 to move.

When the up-and-down moving processing seat 35 of the processing unit 3 is driven to move in the Z direction, the up-and-down moving reclaiming seat of the reclaiming robot arm unit 4 will be linked through the connecting unit 5 45 moves on the up and down sliding group 46, and can drive the clamping jaw group 47 to move along the Z direction.

When the up-and-down moving processing seat 35 of the processing unit 3 is driven to move in the Y direction, the up-and-down moving reclaiming seat of the reclaiming robot arm unit 4 will be linked through the connecting unit 5 45 and the left-right moving reclaimer 43 move on the left-right sliding group 44, and can drive the clamping jaw group 47 to move along the Y-direction.

When the up-and-down moving processing seat 35 of the processing unit 3 is driven to move in the X direction, the up-and-down moving reclaiming seat of the reclaiming robot arm unit 4 will be linked through the connecting unit 5 45. The left-right moving reclaimer 43 and the front-rear moving reclaimer 41 move on the front and rear sliding groups 42, and can drive the clamping jaw group 47 to move along the X direction.

In the process of moving the workpiece to be processed from the take-up table 9 to the processing table 8 , the processing tool group 37 is first removed (see FIG. 4 ), and then the processing unit 3 faces forward Move to the position adjacent to the reclaiming robot arm unit 4 and connect it with the connecting unit 5 (see FIG. 5 ), so that the clamping jaw group 47 can be driven downward to grip the reclaiming table 9 After removing the workpiece to be processed, it moves upward, and then moves backward to the top of the processing table 8 (see FIG. 6 ), and then moves downward so that the jaw group 47 places the workpiece to be processed on the on the processing table 8 (see Figure 7).

Referring to FIGS. 2 and 3 , it should be noted that the reclaiming robot arm unit 4 also includes three brake groups ( Not shown in the figure), when the reclaiming robot arm unit 4 is in a connecting reference position for the first cylinder 511 to penetrate, the brake group can restrict the front and rear movement of the reclaiming seat 41, The left-right moving reclaimer 43 and the up-and-down moving reclaimer 45 will not shift, and will only move when they are driven by the larger processing unit 3 .

Similarly, moving the workpiece to be processed from the processing table 8 to the reclaiming table 9 is also a similar action, but the moving direction is different, so the action flow will not be described in detail.

In this way, the reclaiming robot arm unit 4 can be combined with the processing unit 3 through the connecting unit 5 , and can be driven by the processing unit 3 to move along the Y direction, the X direction and all other directions. Therefore, compared with the existing CNC milling machine’s reclaiming robot arm unit, three servo motors must be set to perform the clamping operation of the workpiece to be processed. The CNC that can be connected to the reclaiming robot arm unit The milling machine can complete the clamping operation in the power part of the reclaiming robot arm unit 4 without the need for a servo motor, so the cost can be greatly reduced.

Referring to Figures 8, 9, and 10, a second embodiment of the present invention is similar to the first embodiment, with the differences:

The front and rear drive groups 32 are linear motors.

The second connecting member 52 is disposed on the left-right moving reclaimer 43 , and the second column 521 is disposed on the left-right moving reclaimer 43 and extends backward.

The reclaiming robotic arm unit 4 further includes an upper and lower reclaiming drive group 48 which is arranged and drives the up and down sliding group 46 to move so that the up and down moving reclaimer seat 45 moves along the Z direction. In this embodiment, the upper and lower reclaiming drive group 48 is a combination type of a lead screw and a servo motor.

The reclaiming robot arm unit 4 includes two braking groups (not shown) respectively disposed on the front and rear sliding groups 42 and the left and right sliding groups 44 .

Similar to the first embodiment, the processing unit 3 of the second embodiment is connected to the left-right moving reclaimer 43 (see FIG. 10 ) through the connecting unit 5 , and is connected to the connecting unit through the connecting unit 5 . 5. The front-rear moving reclaimer 41 and the left-right moving reclaimer 43 move along the X direction and the Y direction respectively (see FIG. 11 ).

Referring to FIGS. 8 and 12 , the moving method of the up-and-down moving reclaimer seat 45 is that the upper and lower reclaimer drive seat 48 drives the upper and lower sliding groups 46 to move, so that the upper and lower reclaimer can be driven The seat 48 can independently load the up-and-down reclaimer seat 45 and the clamping jaw group 47, which improves the stability, and does not need to remove the processing tool group 37 during use, which improves the convenience.

Therefore, compared with the existing CNC milling machine, the reclaiming robot arm unit must be equipped with three servo motors to perform the clamping operation of the workpiece to be processed. The power part of the material manipulator arm unit 4 can only use the upper and lower material reclaiming drive base 48 to complete the clamping operation, so the cost can be greatly reduced.

It is worth mentioning that, in another embodiment, the reclaiming robot arm unit 4 can further include a set and drive the front and rear sliding groups 42 to move, so that the front and rear moving reclaimer 41 can move along the X. The front and rear reclaiming drive groups (not shown in the figure) that move in the direction can drive the front and rear moving reclaimer seat 41 to move backward at the same time through the front and rear reclaiming drive groups, so that the processing unit 3 and the reclaiming machine can be accelerated. Connection time of arm unit 4.

In this way, the second embodiment can also achieve the same purpose and beneficial effects as the above-mentioned first embodiment.

To sum up, by disposing the processing unit 3 and the reclaiming robot arm unit 4 on the stand 21 and connecting them through the connecting unit 5, the reclaiming robot arm unit 4 can receive The processing unit 3 is driven to move, thereby saving costs, so the purpose of the present invention can be achieved.

Claims (9)

1. The utility model provides a can link CNC milling machine of material robotic arm unit, contains base unit, and processing unit, its characterized in that: the CNC milling machine capable of being connected with the material taking mechanical arm unit further comprises the material taking mechanical arm unit and a connecting unit, wherein the X direction, the Y direction and the Z direction which are perpendicular to each other are defined, the X direction faces the front-back direction, the Y direction faces the left-right direction, the Z direction faces the up-down direction, the base unit comprises two vertical seats which are arranged at intervals along the Y direction, the processing unit comprises a front-back moving processing seat which is positioned above the vertical seats, two front-back driving groups which are respectively arranged between the vertical seats and the front-back moving processing seat and can drive the front-back moving processing seat to move along the X direction, a left-right moving processing seat which is arranged at the front side of the front-back moving processing seat, a left-right driving group which is arranged between the left-right moving processing seat and the front-back moving processing seat and can, The material taking mechanical arm unit comprises a front-back moving material taking seat, two front-back sliding groups, a left-right moving material taking seat, a left-right sliding group, a left-right moving material taking seat, a right-left sliding group, a left-right sliding group and a processing tool group, wherein the front-back moving material taking seat is arranged above the vertical seat and can drive the vertical moving processing seat to move along the Z direction, the front-back sliding group is arranged between the vertical seat and the front-back moving material taking seat and can drive the front-back moving material taking seat to move along the X direction, the left-right moving material taking seat is arranged above the front-back moving material taking seat, the left-right sliding group is arranged between the left-right moving material taking seat and the front-back moving material taking seat and can drive the left-right moving material taking seat to move along the Y direction, The material taking device comprises a vertical moving material taking seat, a vertical sliding group and a clamping jaw group, wherein the vertical moving material taking seat is adjacent to the horizontal moving material taking seat, the vertical sliding group is arranged between the vertical moving material taking seat and the horizontal moving material taking seat and can be used for the vertical moving material taking seat to move along the Z direction, the clamping jaw group is arranged at the bottom of the vertical moving material taking seat, the connecting unit comprises a first connecting piece, a second connecting piece and a connecting driving group, the first connecting piece is arranged on the vertical moving processing seat and extends forwards, the second connecting piece is arranged on the material taking mechanical arm unit and extends backwards, the connecting driving group can be used for drivingly connecting the first connecting piece and the second connecting piece, and the processing unit is linked with the horizontal moving material taking seat and.

2. The CNC milling machine attachable to a take off robot unit of claim 1 wherein: the second connecting piece is arranged on the material taking seat which moves up and down, and the processing unit is linked with the material taking seat which moves left and right, the material taking seat which moves back and forth and the material taking seat which moves up and down through the connecting unit.

3. The CNC milling machine attachable to a take off robot unit of claim 2, wherein: the first connecting piece is provided with a first cylinder which is arranged on the vertical moving processing seat and extends forwards, and a groove which surrounds the first cylinder, the second connecting piece is provided with a second cylinder which is arranged on the vertical moving material taking seat and extends backwards, a connecting groove which is formed on one side of the second cylinder adjacent to the first cylinder and corresponds to the first cylinder, and a penetrating hole which is formed on the second cylinder and communicated with the connecting groove, the connecting driving group is provided with a driving piece which is arranged on the outer side of the second cylinder, and a clamping piece which can be driven by the driving piece to penetrate through the penetrating hole and penetrate into the groove so as to limit the first cylinder and the second cylinder to be incapable of being separated.

4. The CNC milling machine attachable to a take off robot unit of claim 2, wherein: the front-back driving group, the left-right driving group and the up-down processing driving group are in a combined type of a lead screw and a servo motor, and the front-back sliding group, the left-right sliding group and the up-down sliding group are in a combined type of a sliding rail and a sliding seat.

5. The CNC milling machine attachable to a take off robot unit of claim 2, wherein: the front and rear driving set is a linear motor, the left and right driving set and the up and down processing driving set are in a combined type of a lead screw and a servo motor, and the front and rear sliding set, the left and right sliding set and the up and down sliding set are in a combined type of a sliding rail and a sliding seat.

6. The CNC milling machine attachable to a take off robot unit of claim 1 wherein: the second connecting piece set up in remove about, get the material seat, get the material robotic arm unit still including setting up and drive the group that slides from top to bottom removes so that it gets the material seat along to reciprocate get the material from top to bottom that the Z direction removed gets the material drive group.

7. The CNC milling machine attachable to a take off robot unit of claim 6 wherein: the first connecting piece is provided with a first cylinder which is arranged on the vertical moving processing seat and extends forwards, and a groove which surrounds the first cylinder, the second connecting piece is provided with a second cylinder which is arranged on the left-right moving material taking seat and extends backwards, a connecting groove which is formed on one side of the second cylinder adjacent to the first cylinder and corresponds to the first cylinder, and a penetrating hole which is formed on the second cylinder and communicated with the connecting groove, the connecting driving group is provided with a driving piece which is arranged on the outer side of the second cylinder, and a clamping piece which can be driven by the driving piece to penetrate through the penetrating hole and penetrate into the groove so as to limit the first cylinder and the second cylinder to be incapable of being separated.

8. The CNC milling machine attachable to a take off robot unit of claim 6 wherein: the front-back driving group, the left-right driving group and the up-down processing driving group are in a combined type of a lead screw and a servo motor, and the front-back sliding group, the left-right sliding group and the up-down sliding group are in a combined type of a sliding rail and a sliding seat.

9. The CNC milling machine attachable to a take off robot unit of claim 6 wherein: the front and rear driving set is a linear motor, the left and right driving set and the up and down processing driving set are in a combined type of a lead screw and a servo motor, and the front and rear sliding set, the left and right sliding set and the up and down sliding set are in a combined type of a sliding rail and a sliding seat.

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