3D disorderly grasping/grinding: In view of the irregular scene of incoming materials, the 3D vision system can be used to disorderly grasping of chaotic materials, and then through automatic alignment to achieve high-precision loading and unloading processing of products. After grasping, the system can support machining center, loading and unloading, grinding, welding, spraying, fixed-point handling and other operations. Through the disorderly grasping, mechanical alignment, floating grinding, can realize the efficient grinding of parts.