CN217920317U - Full-automatic grinding and milling production line - Google Patents

Abstract

The utility model discloses a full-automatic milling production line, which comprises a feeding mechanism, wherein a conveying device, a feeding robot device for visual detection and positioning and a sucker carrying manipulator are sequentially arranged from the feeding end to the discharging end of the feeding mechanism; the transferring module device is arranged at the discharge end of the feeding mechanism, a plurality of CNC grinding devices are arranged along the moving direction of the transferring module device, and the transferring module device is used for transferring the glass workpiece between the stations on the front and rear CNC grinding devices; after the glass workpiece is detected and positioned by the feeding robot device, the glass workpiece is sucked and transferred to the transfer module device by the sucker carrying manipulator, so that the glass workpiece is processed by a plurality of process procedures, the purpose of full automation of the processing technology of the vehicle-mounted glass is realized, and the effects of high efficiency and high precision and reduction of labor intensity are achieved.

Description

Full-automatic grinding and milling production line

Technical Field

The utility model relates to a glass processing equipment field especially relates to a full-automatic milling production line.

Background

The vehicle-mounted glass, namely the automobile glass, is one of essential parts in automobile body accessories and mainly plays a role in protection. With the development of vehicle-mounted display design towards large screen, curved surface and high definition, the cooperation of a plurality of panel glass processing devices is required, and meanwhile, the requirements on the panel glass processing devices are higher and higher. Therefore, the existing processing technology of the vehicle-mounted glass needs manual operation and supervision, has high dependence on manual operation, and further causes the problems of low processing efficiency and processing precision of the vehicle-mounted glass and high processing cost.

SUMMERY OF THE UTILITY MODEL

In order to overcome above-mentioned prior art at least one defect, the utility model provides a full-automatic milling production line realizes vehicle-mounted glass's processing technology full automatization's purpose, reaches high-efficient high accuracy and reduces intensity of labour's effect.

The utility model discloses a solve the technical scheme that its problem adopted and be:

a full-automatic milling production line comprises:

the automatic feeding device comprises a feeding mechanism, a feeding robot device and a sucker carrying manipulator, wherein the feeding mechanism is provided with a conveying device, the feeding robot device and the sucker carrying manipulator in sequence from a feeding end to a discharging end of the feeding mechanism;

the transferring module device is arranged at the discharge end of the feeding mechanism, a plurality of CNC grinding devices are arranged along the moving direction of the transferring module device, and the transferring module device is used for transferring the glass workpiece between the front station and the rear station on the CNC grinding devices;

and after the glass workpiece is detected and positioned by the feeding robot device, the glass workpiece is sucked and transferred to the transfer module device by the sucker carrying manipulator, so that the glass workpiece is processed by a plurality of process procedures.

Therefore, the glass workpieces are conveyed to the detection range of the feeding robot device under the action of the conveying device for visual detection, the glass workpieces are accurately and efficiently detected and positioned by utilizing the principle of visual detection, after the detection and the positioning, the feeding robot device is matched with the sucker carrying manipulator to be conveyed to the transferring module device, and finally, the transferring module device is moved to convey the glass workpieces, so that the glass workpieces are processed in multiple process procedures on the CNC grinding device. Therefore, after the inspection and positioning, the feeding robot device, the sucker carrying manipulator and the transfer module device are linked to transport, so that the glass workpiece is fully automatically positioned on the whole milling production line, the positioning is very accurate and effective in the process of transporting and processing the glass workpiece, the problem of inaccurate position caused by repeated positioning and time occupied by the repeated positioning is avoided, and the glass workpiece is subjected to high efficiency processing in multiple process procedures.

Further, the material loading robot device comprises a CCD camera, a material sending robot and a positioning table which are fixedly connected to the mounting seat, wherein the CCD camera and the positioning table are located in the moving range of the material sending robot, so that the purpose of continuous automatic operation of conveying, scanning and positioning the glass workpieces and conveying the glass workpieces is achieved through mutual cooperation among the conveying device, the CCD camera, the material sending robot and the positioning table.

Furthermore, the sucker carrying manipulator comprises a guide rail sliding module, a carrying moving seat and a lifting module, wherein the carrying moving seat is connected to the guide rail sliding module in a sliding mode, and the lifting module is fixedly installed on the carrying moving seat.

Further, sucking disc transport manipulator still includes the sucking disc module, the installation of sucking disc module is fixed on lifting module's the drive end, then realizes the automatic purpose of absorbing glass work piece through the sucking disc module, and adopts the sucking disc module to snatch glass work piece, and is not high to glass work piece's shape requirement, can snatch the glass work piece of different shapes, reaches the high effect of adaptability, can deal with opposite sex's vehicle-mounted glass's processing in a flexible way, simultaneously, has avoided the rigid contact to cause the scratch to scrape colored problem to the glass surface.

Further, conveyor includes power transport machine and first lift, first lift is located power transport machine's direction of delivery one side, the CCD camera with the material dispatching robot sets up above first lift.

Further, the conveying device further comprises a second lifter arranged below the sucker carrying manipulator.

Furthermore, the transfer module device comprises a guide rail assembly and at least one material taking and placing manipulator, the at least one material taking and placing manipulator is assembled on the guide rail assembly in a sliding mode, and the CNC grinding devices are arranged on one side of the guide rail assembly.

Furthermore, the material taking and placing manipulator comprises a material adsorption bracket and a shifting sliding module for driving the material adsorption bracket to perform lifting operation.

Further, a material adsorption module is fixedly mounted on the material adsorption support.

Further, a full-automatic milling production line still includes the frame that embeds there is control system, conveyor feed robot device sucking disc transport machinery hand move and carry module device and a plurality of CNC grinder all assembles in the frame, and all with the control system electricity is connected.

To sum up, the utility model provides a pair of full-automatic milling production line has following technological effect:

through conveyor, material loading robot device, sucking disc transport machinery hand, move the cooperation of carrying module device and a plurality of CNC grinder and use, not only realize on-vehicle glass's processing technology full automatization, reduce intensity of labour's purpose, simultaneously, under the visual detection and the positioning action of material loading robot device, the purpose of accurate detection and location has been realized, and combine sucking disc transport machinery hand and move and carry the purpose that module device also can realize accurate transportation and accurate processing, thereby guarantee the purpose of high-efficient high accuracy processing.

Drawings

FIG. 1 is an overall structure diagram of a full-automatic milling production line of the present invention;

fig. 2 is a schematic view of the overall structure of the feeding mechanism of the present invention;

fig. 3 is a schematic view of the overall structure of the conveying device of the present invention;

fig. 4 is a schematic view of the overall structure of the robot device of the present invention;

fig. 5 is a schematic view of the overall structure of the chuck carrying manipulator of the present invention;

fig. 6 is a schematic view of the overall structure of the transfer module device of the present invention;

fig. 7 is a schematic view of the overall structure of the material taking and placing manipulator of the present invention;

fig. 8 is a schematic diagram illustrating the overall explosion of the transfer sliding module according to the present invention.

An icon: 1-feeding mechanism, 11-transporting device, 111-first elevator, 112-second elevator, 113-power conveyor, 12-feeding robot device, 121-mounting seat, 122-CCD camera, 123-feeding robot, 124-positioning table, 13-sucker carrying manipulator, 131-guide rail sliding module, 132-carrying moving seat, 133-lifting module, 134-sucker module, 2-transferring module device, 21-picking and placing manipulator, 211-material absorbing bracket, 212-transferring sliding module, 212 a-transferring slide block, 212 b-transferring motor, 212 c-transferring guide rail, 212 d-transferring connecting seat, 213-material absorbing module, 22-guide rail component, 3-CNC grinding device, 4-machine frame.

Detailed Description

For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Specifically please show with fig. 1 to fig. 6, the utility model discloses a full-automatic milling production line, include:

the automatic feeding device comprises a feeding mechanism 1, a conveying device 11, a feeding robot device 12 for visual detection and positioning and a sucker carrying manipulator 13, wherein the conveying device, the feeding robot device and the sucker carrying manipulator are sequentially arranged from a feeding end to a discharging end of the feeding mechanism 1;

the transferring module device 2 is arranged at the discharge end of the feeding mechanism 1, a plurality of CNC grinding devices 3 are arranged along the moving direction of the transferring module device 2, and the transferring module device 2 is used for transferring the glass workpiece between the front and rear stations on the CNC grinding devices 3;

after the glass workpiece is detected and positioned by the feeding robot device 12, the glass workpiece is sucked and transferred to the transfer module device 2 by the sucker transfer manipulator 13, so that the glass workpiece is processed by a plurality of process procedures.

In this embodiment, the glass workpiece is conveyed to the detection range of the feeding robot device 12 under the effect of the conveying device 11 for visual detection, the precise and efficient detection and positioning of the glass workpiece is realized by utilizing the principle of visual detection, after the detection and positioning, the feeding robot device 12 is matched with the sucker carrying manipulator 13 to be conveyed to the transferring module device 2, and finally, the glass workpiece is conveyed through the movement of the transferring module device 2, so that the glass workpiece is processed on the CNC grinding device 3 through a plurality of process procedures. Therefore, after the inspection and positioning, the material loading robot device 12, the sucker carrying manipulator 13 and the transfer module device 2 are linked to transport, so that the glass workpiece is fully automatically positioned on the whole milling production line, the positioning is very accurate and effective in the process of transporting and processing the glass workpiece, the problems of time occupied by repeated positioning and inaccurate position caused by repeated positioning are avoided, the duration for processing and forming a vehicle-mounted glass product on the whole milling production line is only about 48 seconds after multiple trial production tests, and the purpose of efficiently processing a plurality of technological processes on the glass workpiece is realized.

Specifically, as shown in fig. 2 and fig. 4, the feeding robot apparatus 12 includes a CCD camera 122, a material sending robot 123 and a positioning table 124, which are fixedly connected to the mounting base 121, and the CCD camera 122 and the positioning table 124 are located within a moving range of the material sending robot 123. Specifically, the CCD camera 122 supports the white glass edge detection, so that the subsequent material sending robot 123 and the suction of the transfer module device 2 are conveyed to the CNC grinding device 3 for processing without secondary angle positioning, thereby effectively ensuring the processing efficiency and the processing precision of the glass workpiece. The material sending robot 123 is preferably an industrial manipulator, a mechanical head for sucking the glass workpiece is arranged on a mechanical arm of the material sending robot 123, and the material sending robot 123 sucks the glass workpiece which is subjected to the visual scanning detection and places the glass workpiece on the positioning table 124 to wait for subsequent transportation and process processing. Meanwhile, in the process of sucking and conveying the glass workpiece by the material sending robot 123, the conveying device 11 can continue to convey the next glass workpiece for detection, so that the purpose of continuous automatic operation of conveying, scanning and positioning the glass workpiece and then conveying the glass workpiece is realized through mutual matching among the conveying device 11, the CCD camera 122, the material sending robot 123 and the positioning table 124.

It should be noted that two CCD cameras 122 are disposed on the mounting base 121, the two CCD cameras 122 are respectively defined as a first CCD camera and a second CCD camera, the first CCD camera is used for identifying the number and the placing position of the glass workpieces, so as to facilitate the absorption of the subsequent dispensing robot 123, the second CCD camera is used for identifying the relative position of the feature points on the glass workpieces/glass workpieces with respect to the dispensing robot 123 after the glass workpieces are gripped by the dispensing robot 123, so that the dispensing robot 123 transports the glass workpieces and places the glass workpieces on the positioning table 124 more accurately, thereby achieving the purpose of accurate positioning and accurate transportation, and of course, a third CCD camera may be disposed in the control system (CNC) to cooperate with the first CCD camera and the second CCD camera for identifying the state and accurate position of the glass workpieces during the movement process.

Specifically, as shown in fig. 2 and 5, the chuck transporting robot 13 includes a rail sliding module 131, a transporting motion base 132, and an elevating module 133, wherein the transporting motion base 132 is slidably connected to the rail sliding module 131, and the elevating module 133 is fixed on the transporting motion base 132. Specifically, the guide rail sliding module 131 includes a slide rail, a driver and a slide block, the slide block is slidably connected to the slide rail, the carrying moving seat 132 is fixedly connected to the slide block, the actuating end of the driver is connected to the slide block, the slide block is driven to slide on the slide rail, and then the carrying moving seat 132 is driven to be slidably connected to the guide rail sliding module 131, and the driver is preferably a lead screw motor or an optional air cylinder. The lifting module 133 includes a lifter and a lifting plate, the lifter is fixedly mounted on the carrying moving seat 132, the driving end of the lifter is connected to the lifting plate, wherein the driver preferably selects a lifting cylinder, and the driving end of the lifter is a piston rod, but not limited to the lifting cylinder, for example, a push rod motor, so that the lifting module 133 and the rail sliding module 131 achieve the purpose of vertical lifting movement and horizontal transportation.

Further, as shown in fig. 2 and fig. 5, the chuck carrying robot 13 further includes a chuck module 134, and the chuck module 134 is fixed on the driving end of the lifting module 133. It is specific, evenly be provided with a plurality of sucking discs on the sucking disc module 134, inside when the sucking disc forms the negative pressure, every sucking disc will adsorb to be fixed on glass work piece, and the sucking disc resumes when the ordinary pressure, every sucking disc will with glass work piece autosegregation, then realize sucking disc module 134 automatic purpose of absorbing glass work piece, and adopt sucking disc module 134 to snatch the mode to glass work piece, it is not high to the shape requirement of glass work piece, can snatch the glass work piece of different shapes, reach the effect that adaptability is high, can deal with different sex vehicle-mounted glass's processing in a flexible way, and simultaneously, the problem that the rigidity contact caused the scratch to the glass surface and scraped the flower has been avoided. Certainly, in order to ensure that the sucker carrying manipulator 13 can stably suck the glass workpiece, a detector can be arranged on the sucker module 134, when one of the suckers is in a negative pressure condition, the sucker and the glass workpiece are in an automatic separation state, and the detector feeds back a detection signal to the control system, so that the control system forms a corresponding emergency measure, and automatically gives an early warning to prompt an operator to replace the sucker or the sucker module 134 after the glass workpiece is processed in the process.

Sucking disc module 134 and lift module 133, guide rail sliding module 131 combines the use, realize steadily snatching glass workpiece and transport glass workpiece to assigned position steadily, compare in the artifical mode of transporting glass workpiece, not only protect the product not only to receive the wearing and tearing of colliding with, simultaneously, data behind CCD camera 122 scanning location forms control command through control system conversion, send to lift module 133, guide rail sliding module 131, also make sucking disc transport manipulator 13 accurately transport glass workpiece to the assigned position, reach the purpose of accurate transportation, and then guarantee that on-vehicle glass mills the production line and realize under the automatic purpose condition, the accurate positioning, it is accurate, the purpose of steadily transporting.

Specifically, referring to fig. 2 and 3, the conveying device 11 includes a power conveyer 113 and a first lifter 111, the first lifter 111 is located at one side of the conveying direction of the power conveyer 113, and the CCD camera 122 and the dispensing robot 123 are disposed above the first lifter 111. The power conveyor 113 is preferably a roller conveyor, certainly, the power conveyor is not limited to a roller conveyor, and may also be a belt conveyor, the first elevator 111 includes a first conveyor and a first elevator 111 mechanism, the first conveyor is assembled on the first elevator 111 mechanism, preferably, the first elevator 111 is located on one side of the power conveyor 113 and is connected with the power conveyor 113, so that the glass workpiece is stably conveyed to the first elevator 111 from the power conveyor 113, and is lifted to a specified height by the first elevator 111, so that the glass workpiece is scanned and positioned in an optimal range of the CCD camera 122, and finally, the purpose of accurately conveying the glass workpiece by the material sending robot 123 after being positioned and scanned is finally achieved.

Similarly, as shown in fig. 2 and 3, the conveying device 11 further includes a second lifter 112 disposed below the chuck carrying robot 13. The second lifter 112 includes a second conveyor and a second lifter 112 mechanism, the second conveyor is assembled on the second lifter 112 mechanism, preferably, the second lifter 112 is disposed on one side of the first lifter 111 along the conveying direction of the guide rail sliding module 131, so that the conveying device 11 is more compact as a whole, and then the suction cup carrying manipulator 13 sucks the glass workpiece from the positioning table 124 of the feeding robot device 12, conveys the glass workpiece to be placed on the second lifter 112 mechanism, adjusts the height to a proper height again, and facilitates the subsequent grabbing and conveying of the transfer module device 2.

Specifically, referring to fig. 6, the transferring module device 2 includes a guide rail assembly 22 and at least one material taking and placing manipulator 21, the at least one material taking and placing manipulator 21 is slidably mounted on the guide rail assembly 22, and the plurality of CNC grinding devices 3 are disposed on one side of the guide rail assembly 22. Guide rail set spare 22 includes the guide rail seat, guide rail motor and guide rail slider, guide rail slider sliding connection is on the guide rail seat, guide rail motor fixed mounting is on the guide rail seat, and the actuating shaft of guide rail motor connects the guide rail slider, get material manipulator 21 fixed mounting on the guide rail slider, then get material manipulator 21 under guide rail set spare 22's effect, the accurate process technology processing that carries out correspondence to appointed CNC grinder 3 that transports, it should be noted, guide rail set spare 22 still can be linear guide.

Because this production line is applied to on-vehicle glass and mills, in above-mentioned a plurality of CNC grinder 3, CNC grinder 3's bottom can set up the liquid return groove to the realization is concentrated and is supplied to and washes the cooling on every CNC grinder 3's the main shaft, and then has guaranteed the processingquality of this production line in automatic production process.

Specifically, referring to fig. 6 and 7, the material taking and placing manipulator 21 includes a material absorbing frame 211 and a transferring and sliding module 212 for driving the material absorbing frame 211 to move up and down. Specifically, referring to the overall explosion diagram of the transfer sliding module 212 shown in fig. 8, the transfer sliding module 212 includes a transfer slider 212a, a transfer motor 212b, a transfer guide rail 212c and a transfer connecting seat 212d, the transfer slider 212a is slidably connected to the transfer guide rail 212c, a driving shaft of the transfer motor 212b is connected to the transfer slider 212a, the transfer motor 212b and the transfer guide rail 212c are both fixedly connected to the transfer connecting seat 212d, the transfer connecting seat 212d is bolted to the guide rail slider, and the material adsorption bracket 211 is fixedly connected to the transfer slider 212a, so as to achieve the purpose of fixedly mounting the material taking and placing robot 21 on the guide rail slider. The transfer guide rail 212c is vertically arranged, so that the material adsorption bracket 211 is moved up and down.

Specifically, as shown in fig. 6 and 7, the material adsorption module 213 is fixedly mounted on the material adsorption bracket 211, and the material adsorption module 213 has a plurality of evenly disposed suckers, so that the material taking and placing manipulator 21 can suck the glass workpiece through the adsorption module, and further the glass workpiece can be sucked by the material taking and placing manipulator 21 and stably transported to the designated CNC grinding apparatus 3 for processing.

Specifically, referring to fig. 1, the full-automatic milling production line further includes a frame 4 with a built-in control system, and a conveying device 11, a feeding robot device 12, a suction cup carrying manipulator 13, a transferring module device 2, and a plurality of CNC grinding devices 3 are all assembled on the frame 4 and are all electrically connected to the control system.

Specifically, the first lifter 111, the second lifter 112, the power conveyor 113, the mounting seat 121 of the feeding robot device 12 and the guide rail sliding module 131 of the suction cup carrying manipulator 13 are all fixedly mounted inside the frame 4, and the guide rail assembly 22 of the transfer module device 2 and the CNC grinding devices 3 are all fixedly mounted on the frame 4, so that the full-automatic milling production line is more integral.

In conclusion, the working principle of the full-automatic milling production line is as follows:

step S1, a feeding process of the conveyor 11: the glass workpiece is placed on a power conveyor 113 and is conveyed to a first lifter 111 through the power conveyor 113;

step S2, detecting and positioning of the feeding robot device 12:

s21, after the first lifter 111 is lifted to a specified height, the CCD camera 122 (the first CCD camera) scans and detects the glass workpiece on the first lifter 111, detected data and signals are transmitted to the control system to form positioning data and converted into a control command for subsequent conveying and sucking, and the material sending robot 123 precisely moves to a specified position to suck the glass workpiece after receiving the control command;

s22, the material sending robot 123 sucks the glass workpiece, moves the glass workpiece to a position of a CCD camera 122 (a second CCD camera) for scanning and recognition, so that the accurate relative position between the glass workpiece and the material sending robot 123 is analyzed, and the glass workpiece is conveyed to a preset position on a positioning table 124;

step S3, conveyance by the suction cup conveyance robot 13: the guide rail sliding module 131 receives a control instruction and then drives the carrying moving seat 132 to be close to the positioning table 124, after reaching a specified position, the lifting module 133 receives the instruction and descends to a specified height, the control system controls the sucker module 134 to suck the glass workpiece, and finally, the lifting module 133 resets and is conveyed to a specified position on the second lifter 112 through the guide rail sliding module 131;

step S4, transfer of the second lifter 112: the second lifter 112 is adjusted to a designated height, and simultaneously conveys the glass workpiece to be close to the discharging end of the feeding mechanism 1;

step S5, processing the glass workpiece by the following working procedure:

s51, after the guide rail assembly 22 receives the control instruction, the material taking and placing manipulator 21 is moved to the current specified position of the glass workpiece;

s52, sucking the glass workpiece by the material taking and placing manipulator 21;

s53, the guide rail assembly 22 receives the control command again, and moves the material taking and placing manipulator 21 to the designated CNC grinding apparatus 3, that is, transports the glass workpiece to the designated CNC grinding apparatus 3 for processing of the first process, and waits for processing of the CNC grinding apparatus 3;

and S54, after the CNC grinding devices 3 finish the machining of the current process technology, repeating the steps from S51 to S52 until all the set CNC grinding devices 3 finish machining, and finishing the machining production of the full-automatic grinding and milling production line.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by combining the above technical features at will. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims (10)

1. The utility model provides a full-automatic milling production line which characterized in that includes:

the device comprises a feeding mechanism (1), wherein a conveying device (11), a feeding robot device (12) for visual detection and positioning and a sucker carrying manipulator (13) are sequentially arranged from a feeding end to a discharging end of the feeding mechanism (1);

the transferring module device (2) is arranged at the discharge end of the feeding mechanism (1), and a plurality of CNC grinding devices (3) are arranged along the moving direction of the transferring module device (2);

the transfer module device (2) is used for transferring the glass workpiece between the front and rear stations on the CNC grinding device (3);

and after the glass workpiece is detected and positioned by the feeding robot device (12), the glass workpiece is sucked and transferred to the transfer module device (2) by the sucker carrying mechanical arm (13), so that the glass workpiece is processed by a plurality of process procedures.

2. The full-automatic milling production line according to claim 1, characterized in that: the feeding robot device (12) comprises a CCD camera (122), a material sending robot (123) and a positioning table (124) which are fixedly connected to a mounting seat (121), wherein the CCD camera (122) and the positioning table (124) are located in the moving range of the material sending robot (123).

3. The full-automatic milling production line according to claim 1, characterized in that: the sucker carrying manipulator (13) comprises a guide rail sliding module (131), a carrying moving seat (132) and a lifting module (133), wherein the carrying moving seat (132) is connected to the guide rail sliding module (131) in a sliding mode, and the lifting module (133) is installed and fixed on the carrying moving seat (132).

4. The full-automatic milling production line according to claim 3, characterized in that: the sucker carrying manipulator (13) further comprises a sucker module (134), and the sucker module (134) is installed and fixed on the driving end of the lifting module (133).

5. The full-automatic milling production line according to claim 2, characterized in that: the conveying device (11) comprises a power conveyor (113) and a first lifter (111), the first lifter (111) is located on one side of the conveying direction of the power conveyor (113), and the CCD camera (122) and the material sending robot (123) are arranged above the first lifter (111).

6. The full-automatic milling production line according to claim 5, characterized in that: the conveying device (11) further comprises a second lifter (112) arranged below the sucker carrying manipulator (13).

7. The full-automatic milling production line according to claim 1, characterized in that: move and carry module device (2) including guide rail subassembly (22) and at least one get material manipulator (21), at least one get material manipulator (21) sliding fit on guide rail subassembly (22), it is a plurality of CNC grinder (3) set up one side of guide rail subassembly (22).

8. The full-automatic milling production line according to claim 7, characterized in that: the material taking and placing manipulator (21) comprises a material adsorption bracket (211) and a transferring sliding module (212) used for driving the material adsorption bracket (211) to perform lifting operation.

9. The full-automatic milling production line of claim 8, characterized in that: and a material adsorption module (213) is fixedly arranged on the material adsorption bracket (211).

10. The fully automatic milling production line according to any one of claims 1 to 9, characterized in that: still including built-in frame (4) that has control system, conveyor (11) material loading robot device (12) sucking disc transport machinery hand (13) move and carry module device (2) and a plurality of CNC grinder (3) all assemble on frame (4), and all with the control system electricity is connected.

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