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The utility model belongs to the field of glass edge grinding machine equipment, and particularly relates to a servo-controlled manual-automatic grinding head feeding system with a linear guide rail, which comprises an upper supporting plate, a lower supporting plate and a screw rod bearing seat, the upper supporting plate is slidably mounted at the upper end of the lower supporting plate, the screw rod bearing seat is mounted at one end of the upper supporting plate, and a screw rod nut seat is mounted at the upper end of the lower supporting plate. A lead screw is installed on the lead screw bearing seat, the front end of the lead screw is connected with the lead screw nut seat, a transmission gear is installed at the rear end of the lead screw, a first gear shaft and a second gear shaft which are located on the two sides of the transmission gear respectively are rotationally connected to the lead screw bearing seat, and a motor in power connection with the first gear shaft is installed on the lead screw bearing seat. The manual and automatic integrated grinding head position adjusting function is adopted, the automatic adjusting function has the advantages of being high in precision and not needing to be guarded by personnel, and the manual adjusting function meets the rapid temporary adjusting requirement.