Milling blade peripheral chamfer grinding machine and using method

Abstract

The invention discloses a milling blade peripheral chamfer grinding machine and a using method. According to the technical scheme, the device comprises a rack, and a grinding wheel module, an image measuring module, a blade clamping driving rotating module, a blade clamping driven rotating module, a V-shaped base lifting module, a material disc conveying module and a blade taking, placing and transferring module are arranged on the rack; the material disc conveying module comprises a belt conveying line and a material disc arranged on the belt conveying line, a plurality of milling blades are placed in the material disc, and the blade taking, placing and transferring module grabs the milling blades in the material disc through a material taking finger air cylinder and places the milling blades in a V-shaped base of the V-shaped base lifting module. The image measuring module can conduct image detection on the position, needing to be ground, of the milling blade in the V-shaped base, and the grinding wheel module can grind the milling blade in the V-shaped base through a grinding wheel. According to the scheme, automatic feeding, cleaning, automatic detection, multi-angle grinding and automatic discharging of the milling blades can be achieved, and the grinding efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of grinders, and in particular to a milling cutter peripheral chamfering grinder and a use method thereof. Background Art

[0002] In the prior art, the process of processing and producing square milling cutters is generally to directly fix the milling cutter body, and then grind the cutting edge at the edge of the body with a grinding wheel. The processing of each cutting edge requires the body to be re-clamped once. Such a production process has low efficiency and low processing accuracy. Summary of the invention

[0003] In view of the shortcomings of the prior art, the main purpose of the present invention is to provide a milling cutter peripheral chamfering grinding machine and a method of use which can realize automatic loading, cleaning, automatic detection, multi-angle grinding and automatic unloading of milling cutters, thereby greatly improving the grinding efficiency.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a milling blade peripheral chamfer grinding machine, comprising a frame, on which a grinding wheel module, an image measurement module, a blade clamping active rotation module, a blade clamping driven rotation module, a V-seat lifting module, a material tray conveying module and a blade picking and placing transfer module are arranged; the material tray conveying module comprises a belt conveyor line and a material tray arranged on the belt conveyor line, a plurality of milling blades are placed in the material tray, the blade picking and placing transfer module grabs the milling blades in the material tray through a material picking finger cylinder and places them in the V-seat of the V-seat lifting module, the blade clamping active rotation module and the blade clamping driven rotation module can fix the milling blade in the V-seat and can drive the milling blade to rotate, the image measurement module can perform image detection on the milling blade in the V-seat where grinding is required, and the grinding wheel module can grind the milling blade in the V-seat through the grinding wheel.

[0005] Preferably, the tray conveying module includes a forward belt conveyor line and a reverse belt conveyor line arranged side by side, a connecting channel is provided between the forward belt conveyor line and the reverse belt conveyor line, a rubber-coated roller group capable of transferring the tray from the forward belt conveyor line to the reverse belt conveyor line is provided at the connecting channel, and a lifting block capable of blocking the tray is provided at the front end of the connecting channel on the forward belt conveyor line, and the lifting block is connected to the block lifting cylinder.

[0006] Preferably, the blade picking, placing and loading module includes an X-axis linear module and a Y-axis linear module, and the Y-axis linear module is connected to a clamp lifting mechanism, and the clamp lifting mechanism includes a main lifting cylinder, and the main lifting cylinder is connected to a mounting plate, and a left lifting cylinder and a right lifting cylinder are arranged on the mounting plate, and the left lifting cylinder and the right lifting cylinder are respectively connected to a left finger cylinder and a right finger cylinder.

[0007] Preferably, the V-seat lifting module includes a V-shaped seat capable of carrying a milling cutter blade and a V-seat lifting cylinder capable of driving the V-shaped seat to rise and fall.

[0008] Preferably, the blade clamping active rotating module and the blade clamping driven rotating module are respectively arranged on both sides of the V-seat lifting module, the blade clamping active rotating module includes an active end motor, an active end rotating shaft and an active end push rod connected to the active end rotating shaft and capable of abutting the milling cutter; the blade clamping driven rotating module includes a driven end base, a driven end cylinder, a front and rear reciprocating shaft sleeve, a rotating shaft and a driven end push rod, the driven end cylinder is fixedly connected to the front and rear reciprocating shaft sleeve through the shaft, the front and rear reciprocating shaft sleeve is arranged in the driven end base and can move left and right with the shaft, the rotating shaft is arranged in the front and rear reciprocating shaft sleeve, the front and rear reciprocating shaft sleeve can drive the rotating shaft to move left and right during the left and right movement, and the rotating shaft is fixedly connected to the driven end push rod.

[0009] Preferably, the image measurement module comprises a bracket adjustment plate arranged on one side of the V-seat lifting module, and the bracket adjustment plate is provided with a height measurement detection lens capable of performing image detection on the milling blade.

[0010] Preferably, the grinding wheel module includes a grinding wheel transfer base, the grinding wheel transfer base is provided with a left and right servo transfer unit, the left and right servo transfer unit includes a left and right slide rail seat and a left and right servo motor capable of driving the left and right slide rail seats to move, the left and right slide rail seats are provided with a fixed plate, the fixed plate is provided with a front and rear servo transfer unit, the front and rear servo transfer unit includes a front and rear slide rail seat and a front and rear servo motor capable of driving the front and rear slide rail seats to move, the left and right slide rail seats are provided with a grinding wheel angle adjustment plate, the grinding wheel angle adjustment plate is connected to a grinding wheel spindle clamp seat by fixing bolts, the grinding wheel spindle clamp seat is fixedly connected to a grinding wheel spindle, and the grinding wheel spindle is connected to a grinding wheel.

[0011] Preferably, the tray conveying module is also provided with an air blowing cleaning mechanism, and the air blowing cleaning mechanism comprises a bracket and an air blowing nozzle arranged on the bracket.

[0012] Preferably, the tray conveying module is also provided with an NG material placement frame.

[0013] A method for using a milling cutter peripheral chamfering grinder comprises the following steps: (1) The tray conveying module conveys the tray carrying the milling blade to the lifting block; (2) The blade pick-up and placement module moves the X-axis linear module and the Y-axis linear module so that the left finger cylinder and the right finger cylinder clamp the milling blade respectively; (3) The blade pick-up and placement module moves the milling blade grasped by the left finger cylinder to the air blowing cleaning mechanism for cleaning; (4) The blade loading and unloading module places the cleaned milling blade into the V-seat of the V-seat lifting module; (5) The blade clamping active rotating module and the blade clamping driven rotating module fix the milling blade on the V-shaped seat through the active end push rod and the driven end push rod. After the fixation is completed, the V-shaped seat of the V-seat lifting module descends; (6) The height measurement lens of the image measurement module takes photos of the areas on the milling blade that need to be ground; (7) The grinding wheel module transfers the grinding wheel to the milling blade for grinding through the left and right servo transfer units and the front and rear servo transfer units; (8) After grinding of one part of the milling blade is completed, the blade clamping active rotation module drives the milling blade to rotate a certain angle, and the height detection lens of the image measurement module takes pictures and detects the part of the milling blade that needs to be ground again; the grinding wheel module transfers the grinding wheel to the milling blade through the left and right servo transfer units and the front and rear servo transfer units for grinding until all the parts of the milling blade that need to be ground are completed; (9) After the milling blade is ground, the V-shaped seat of the V-seat lifting module rises and carries the milling blade. The left finger cylinder grabs the ground milling blade and prepares to place it on the return tray. At the same time, the right finger cylinder places the grabbed unground milling blade into the V-seat lifting module for grinding.

[0014] Compared with the prior art, the present invention has the following advantages: the present invention can realize automatic loading, cleaning, automatic detection, multi-angle grinding and automatic unloading of milling cutters; the cooperation of the double-finger cylinder can realize rapid material picking and unloading, greatly improving the grinding efficiency; the image measurement module can realize high-precision detection of the required grinding part on the milling cutter blade, and can realize automatic identification of wrong materials and materials with opposite angles; the blade picking and placing transfer module can automatically transfer NG materials to the NG material placement frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the top view of the structure of a milling cutter peripheral chamfering grinding machine of the present invention; Figure 2 The structure diagram of a milling cutter peripheral chamfering grinding machine of the present invention is shown in FIG. Figure 1 ; Figure 3 for Figure 2 A schematic diagram of the enlarged structure of the middle part A; Figure 4 The structure diagram of a milling cutter peripheral chamfering grinding machine of the present invention is shown in FIG. Figure 2 ; Figure 5 for Figure 4 A schematic diagram of the enlarged structure of the middle part A; Figure 6 The structural intention of the blade clamping driven rotating module; Figure 7 for Figure 6 Schematic cross-section of .

[0016] In the figure: 1. Grinding wheel module; 11. Grinding wheel transfer base; 12. Left and right servo transfer unit; 121. Left and right slide rail seat; 122. Left and right servo motor; 13. Front and rear servo transfer unit; 131. Front and rear slide rail seat; 132. Front and rear servo motor; 14. Grinding wheel angle adjustment plate; 15. Grinding wheel spindle clamp seat; 16. Grinding wheel spindle; 17. Grinding wheel; 2. Image measurement module; 21. Bracket adjustment plate; 22. Height measurement detection lens; 3. Blade clamping active rotation module; 31. Active end motor; 32. Active end rotation axis; 33. Active end ejector rod; 4. Blade clamping driven rotation module; 41. Driven end base; 42. Driven end cylinder; 43. Front and rear reciprocating sleeve; 44. Rotating shaft; 45. Driven end push rod; 5. V-seat lifting module; 51. V-shaped seat; 6. Tray conveying module; 61. Forward belt conveyor line; 62. Reverse belt conveyor line; 63. Connecting channel; 64. Rubber-coated roller group; 65. Lifting block; 66. Tray; 67. Milling blade; 7. Blade pick-up and placement module; 71. X-axis linear module; 72. Y-axis linear module; 73. Main lifting cylinder; 74. Left lifting cylinder; 75. Right lifting cylinder; 76. Left finger cylinder; 77. Right finger cylinder; 8. Air blowing and cleaning mechanism; 9. NG material placement frame. Implementation

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] like Figure 1 , 2 As shown in Figure 4, a chamfering grinding machine for the periphery of a milling blade 67 comprises a frame, on which a grinding wheel module 1, an image measuring module 2, a blade clamping active rotating module 3, a blade clamping driven rotating module 4, a V-seat lifting module 5, a tray conveying module 6 and a blade picking and placing transfer module 7 are arranged; the tray conveying module 6 comprises a belt conveyor line and a tray 66 arranged on the belt conveyor line, a plurality of milling blades 67 are placed in the tray 66, the blade picking and placing transfer module 7 grabs the milling blades 67 in the tray 66 through a material picking finger cylinder and places them in the V-seat of the V-seat lifting module 5, the blade clamping active rotating module 3 and the blade clamping driven rotating module 4 can fix the milling blade 67 in the V-seat and can drive the milling blade 67 to rotate, the image measuring module 2 can perform image detection on the milling blade 67 in the V-seat that needs to be ground, and the grinding wheel module 1 can grind the milling blade 67 in the V-seat through the grinding wheel.

[0019] See attached Figure 2 Furthermore, the tray conveying module 6 includes a forward belt conveyor line 61 and a reverse belt conveyor line 62 arranged side by side, a connecting channel 63 is arranged between the forward belt conveyor line 61 and the reverse belt conveyor line 62, and a rubber-coated roller group 64 capable of transferring the tray 66 from the forward belt conveyor line 61 to the reverse belt conveyor line 62 is arranged at the connecting channel 63, and a lifting block 65 capable of blocking the tray 66 is arranged at the front end of the connecting channel 63 on the forward belt conveyor line 61, and the lifting block 65 is connected to the block lifting cylinder.

[0020] The forward belt conveyor line 61 and the reverse belt conveyor line 62 cooperate to realize the loading and automatic unloading of the material tray 66. The material tray 66 is loaded at the forward belt conveyor line 61 and is limited and stopped by the lifting block 65, so that the blade pick-up and placement transfer module 7 grabs the milling blades 67 in the material tray 66 one by one for grinding, and puts them back to their original positions after grinding. When the milling blades 67 on the entire material tray 66 are ground, the lifting block 65 descends, and the material tray 66 enters the reverse belt conveyor line 62 from the connecting channel 63 through the rubber-coated roller group 64. A baffle is provided at the end of the reverse belt conveyor line 62. This arrangement can prevent the material tray 66 from directly detaching from the reverse belt conveyor line 62.

[0021] See attached Figure 4 Furthermore, the blade picking, placing and loading module 7 includes an X-axis linear module 71 and a Y-axis linear module 72, and the Y-axis linear module 72 is connected to a clamp lifting mechanism, and the clamp lifting mechanism includes a total lifting cylinder 73, and the total lifting cylinder 73 is connected to a mounting plate, and a left lifting cylinder 74 and a right lifting cylinder 75 are provided on the mounting plate, and the left lifting cylinder 74 and the right lifting cylinder 75 are respectively connected to a left finger cylinder 76 and a right finger cylinder 77.

[0022] The left finger cylinder 76 and the right finger cylinder 77 can respectively grab and release the milling blade 67, and synchronous operation can greatly improve efficiency. The left finger cylinder 76 and the right finger cylinder 77 can be lifted and lowered by the left lifting cylinder 74 and the right lifting cylinder 75, and can also move in the X-axis direction and the Y-axis direction through the X-axis linear module 71 and the Y-axis linear module 72, so that each milling blade 67 in the tray 66 can be grabbed.

[0023] See attached Figure 5 Furthermore, the V-seat lifting module 5 includes a V-shaped seat 51 capable of carrying the milling cutter 67 and a V-seat lifting cylinder capable of driving the V-shaped seat 51 to rise and fall.

[0024] See attached Figure 4 , 6and 7, further, the blade clamping active rotating module 3 and the blade clamping driven rotating module 4 are respectively arranged on both sides of the V-seat lifting module 5, the blade clamping active rotating module 3 includes an active end motor 31, an active end rotating shaft 32 and an active end push rod 33 connected to the active end rotating shaft 32 and capable of abutting the milling cutter 67; the blade clamping driven rotating module 4 includes a driven end base 41, a driven end cylinder 42, a front and rear reciprocating shaft sleeve 43, a rotating shaft 44 and a driven end push rod 45, the driven end cylinder 42 is fixedly connected to the front and rear reciprocating shaft sleeve 43 through the shaft, the front and rear reciprocating shaft sleeve 43 is arranged in the driven end base 41 and can move left and right with the shaft, the rotating shaft 44 is arranged in the front and rear reciprocating shaft sleeve 43, the front and rear reciprocating shaft sleeve 43 can drive the rotating shaft 44 to move left and right during the left and right movement, and the rotating shaft 44 is fixedly connected to the driven end push rod 45. The blade clamping active rotating module 3 and the blade clamping driven rotating module 4 fix the milling blade 67 on the V-shaped seat 51 through the active end push rod 33 and the driven end push rod 45.

[0025] Furthermore, the image measurement module 2 includes a support adjustment plate 21 arranged on one side of the V-seat lifting module 5 , and a height measurement detection lens 22 capable of performing image detection on the milling blade 67 is arranged on the support adjustment plate 21 .

[0026] See attached Figure 1 , 2 And 4, further, the grinding wheel module 1 includes a grinding wheel transfer base 11, the grinding wheel transfer base 11 is provided with a left and right servo transfer unit 12, the left and right servo transfer unit 12 includes a left and right slide rail seat 121 and a left and right servo motor 122 capable of driving the left and right slide rail seat 121 to move, the left and right slide rail seat 121 is provided with a fixed plate, the fixed plate is provided with a front and rear servo transfer unit 13, the front and rear servo transfer unit 13 includes a front and rear slide rail seat 131 and a front and rear servo motor 132 capable of driving the front and rear slide rail seat 131 to move, the left and right slide rail seat 121 is provided with a grinding wheel angle adjustment plate 14, the grinding wheel angle adjustment plate 14 is connected to a grinding wheel spindle clamp 15 by fixing bolts, the grinding wheel spindle clamp 15 is fixedly connected to a grinding wheel spindle 16, and the grinding wheel spindle 16 is connected to a grinding wheel 17.

[0027] Furthermore, the tray conveying module 6 is also provided with an air blowing cleaning mechanism 8, and the air blowing cleaning mechanism 8 includes a bracket and an air blowing nozzle arranged on the bracket.

[0028] Furthermore, the tray conveying module 6 is also provided with an NG material placement frame 9.

[0029] A method for using a milling blade 67 peripheral chamfering grinding machine comprises the following steps: (1) The tray conveying module 6 conveys the tray 66 carrying the milling blade 67 to the lifting block 65; (2) The blade loading and unloading module 7 moves the X-axis linear module 71 and the Y-axis linear module 72 so that the left finger cylinder 76 and the right finger cylinder 77 clamp the milling blade 67 respectively; (3) The blade pick-up and placement module 7 moves the milling blade 67 grasped by the left finger cylinder 76 to the air blowing cleaning mechanism 8 for cleaning; (4) The blade loading and unloading module 7 places the cleaned milling blade 67 into the V-seat of the V-seat lifting module 5; (5) The blade clamping active rotating module 3 and the blade clamping driven rotating module 4 fix the milling blade 67 on the V-shaped seat 51 through the active end push rod 33 and the driven end push rod 45. After the fixation is completed, the V-shaped seat 51 of the V-seat lifting module 5 descends; (6) The height measuring lens 22 of the image measuring module 2 takes photos of the areas on the milling blade 67 that need to be ground; (7) The grinding wheel module 1 transfers the grinding wheel to the milling blade 67 for grinding through the left and right servo transfer units 12 and the front and rear servo transfer units 13; (8) After the grinding of one part of the milling blade 67 is completed, the blade clamping active rotation module 3 drives the milling blade 67 to rotate a certain angle, and the height detection lens 22 of the image measurement module 2 takes pictures and detects the part of the milling blade 67 that needs to be ground again; the grinding wheel module 1 transfers the grinding wheel to the milling blade 67 through the left and right servo transfer units 12 and the front and rear servo transfer units 13 for grinding until all the parts of the milling blade 67 that need to be ground are completed; (9) After the milling blade 67 is ground, the V-shaped seat 51 of the V-seat lifting module 5 rises and carries the milling blade 67. The left finger cylinder 76 grabs the ground milling blade 67 and prepares to place it on the return plate 66. At the same time, the right finger cylinder 77 places the grabbed unground milling blade 67 into the V-seat lifting module 5 for grinding.

[0030] The entire detection process can realize automatic loading, cleaning, automatic detection, multi-angle grinding and automatic unloading of the milling blade 67. The cooperation of the double-finger cylinder can realize rapid material picking and unloading, greatly improving the grinding efficiency. The image measurement module 2 can realize high-precision detection of the required grinding part on the milling blade 67, and can realize automatic identification of wrong materials and materials with opposite angles. The blade picking and placing transfer module 7 automatically transfers NG materials to the NG material placement frame 9. The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above-mentioned embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, a number of improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A milling blade peripheral chamfering grinding machine, comprising a frame, characterized in that: The frame is provided with a grinding wheel module, an image measurement module, a blade clamping active rotation module, a blade clamping driven rotation module, a V-seat lifting module, a tray conveying module and a blade picking and placing transfer module; the tray conveying module includes a belt conveyor line and a tray arranged on the belt conveyor line, a plurality of milling blades are placed in the tray, the blade picking and placing transfer module grabs the milling blades in the tray through the material picking finger cylinder and places them in the V-seat of the V-seat lifting module, the blade clamping active rotation module and the blade clamping driven rotation module can fix the milling blade in the V-seat and can drive the milling blade to rotate, the image measurement module can perform image detection on the milling blade in the V-seat that needs to be ground, and the grinding wheel module can grind the milling blade in the V-seat through the grinding wheel.

2. A milling cutter peripheral chamfering grinding machine according to claim 1, characterized in that: The tray conveying module includes a forward belt conveyor line and a reverse belt conveyor line arranged side by side, a connecting channel is arranged between the forward belt conveyor line and the reverse belt conveyor line, a rubber-coated roller group capable of transferring the tray from the forward belt conveyor line to the reverse belt conveyor line is arranged at the connecting channel, a lifting block capable of blocking the tray is arranged at the front end of the connecting channel on the forward belt conveyor line, and the lifting block is connected to the block lifting cylinder.

3. A milling cutter peripheral chamfering grinding machine according to claim 1, characterized in that: The blade picking, placing and loading module includes an X-axis linear module and a Y-axis linear module. The Y-axis linear module is connected to a clamp lifting mechanism. The clamp lifting mechanism includes a main lifting cylinder. The main lifting cylinder is connected to a mounting plate. A left lifting cylinder and a right lifting cylinder are arranged on the mounting plate. The left lifting cylinder and the right lifting cylinder are respectively connected to a left finger cylinder and a right finger cylinder.

4. A milling cutter peripheral chamfering grinding machine according to claim 1, characterized in that: The V-seat lifting module comprises a V-shaped seat capable of carrying a milling cutter blade and a V-seat lifting cylinder capable of driving the V-shaped seat to rise and fall.

5. A milling cutter peripheral chamfering grinding machine according to claim 1, characterized in that: The blade clamping active rotating module and the blade clamping driven rotating module are respectively arranged on both sides of the V-seat lifting module, the blade clamping active rotating module includes an active end motor, an active end rotating shaft and an active end push rod connected to the active end rotating shaft and capable of abutting the milling blade; the blade clamping driven rotating module includes a driven end base, a driven end cylinder, a front and rear reciprocating shaft sleeve, a rotating shaft and a driven end push rod, the driven end cylinder is fixedly connected to the front and rear reciprocating shaft sleeve through the shaft, the front and rear reciprocating shaft sleeve is arranged in the driven end base and can move left and right with the shaft, the rotating shaft is arranged in the front and rear reciprocating shaft sleeve, the front and rear reciprocating shaft sleeve can drive the rotating shaft to move left and right during the left and right movement, and the rotating shaft is fixedly connected to the driven end push rod.

6. A milling cutter peripheral chamfering grinding machine according to claim 1, characterized in that: The image measurement module comprises a support adjustment plate arranged on one side of the V-seat lifting module, and a height measurement detection lens capable of performing image detection on the milling blade is arranged on the support adjustment plate.

7. A milling cutter peripheral chamfering grinding machine according to claim 1, characterized in that: The grinding wheel module includes a grinding wheel transfer base, the grinding wheel transfer base is provided with a left and right servo transfer unit, the left and right servo transfer unit includes a left and right slide rail seat and a left and right servo motor capable of driving the left and right slide rail seats to move, the left and right slide rail seats are provided with a fixed plate, the fixed plate is provided with a front and rear servo transfer unit, the front and rear servo transfer unit includes a front and rear slide rail seat and a front and rear servo motor capable of driving the front and rear slide rail seats to move, the left and right slide rail seats are provided with a grinding wheel angle adjustment plate, the grinding wheel angle adjustment plate is connected to a grinding wheel spindle clamp seat by fixing bolts, the grinding wheel spindle clamp seat is fixedly connected to a grinding wheel spindle, and the grinding wheel spindle is connected to a grinding wheel.

8. The milling cutter peripheral chamfer grinding machine according to claim 1, characterized in that: The tray conveying module is also provided with an air blowing cleaning mechanism, which comprises a bracket and an air blowing nozzle arranged on the bracket.

9. The milling cutter peripheral chamfer grinding machine according to claim 1, characterized in that: The tray conveying module is also provided with an NG material placement frame.

10. A method for using a milling insert peripheral chamfering grinder, based on the milling insert peripheral chamfering grinder according to claims 1 to 9, characterized in that: The following steps are included: (1) The tray conveying module conveys the tray carrying the milling blade to the lifting block; (2) The blade pick-up and placement module moves the X-axis linear module and the Y-axis linear module so that the left finger cylinder and the right finger cylinder clamp the milling blade respectively; (3) The blade pick-up and placement module moves the milling blade grasped by the left finger cylinder to the air blowing cleaning mechanism for cleaning; (4) The blade loading and unloading module places the cleaned milling blade into the V-seat of the V-seat lifting module; (5) The blade clamping active rotating module and the blade clamping driven rotating module fix the milling blade on the V-shaped seat through the active end push rod and the driven end push rod. After the fixation is completed, the V-shaped seat of the V-seat lifting module descends; (6) The height measurement lens of the image measurement module takes photos of the areas on the milling blade that need to be ground; (7) The grinding wheel module transfers the grinding wheel to the milling blade for grinding through the left and right servo transfer units and the front and rear servo transfer units; (8) After grinding of one part of the milling blade is completed, the blade clamping active rotation module drives the milling blade to rotate a certain angle, and the height detection lens of the image measurement module takes pictures and detects the part of the milling blade that needs to be ground again; the grinding wheel module transfers the grinding wheel to the milling blade through the left and right servo transfer units and the front and rear servo transfer units for grinding until all the parts of the milling blade that need to be ground are completed; (9) After the milling blade is ground, the V-shaped seat of the V-seat lifting module rises and carries the milling blade. The left finger cylinder grabs the ground milling blade and prepares to place it on the return tray. At the same time, the right finger cylinder places the grabbed unground milling blade into the V-seat lifting module for grinding.

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