Self-positioning glass edging machine

Abstract

The application discloses a self-positioning glass trimming machine which belongs to the glass trimming machine and solves the problem that there is no automatic glass substrate taking and placing device in the prior art, the glass substrate is attracted by a rotating fixing device, the edge neatness of the glass substrate is detected by a light projection micrometer, high-precision polishing is conducted through a polishing device, and the generated polishing debris can be timely sucked away to prevent the glass substrate from being polluted. The self-positioning glass trimming machine mainly comprises a feeding roller water belt, a fixed polishing platform and a discharging roller water belt, the feeding roller water belt and the discharging roller water belt are provided with anti-friction positioning mechanisms, the fixed polishing platform is provided with a taking and placing mechanical hand, a rotating fixing device and a polishing device, detecting devices are arranged on the two sides of the rotating fixing device, a dust suction cover is arranged at a grinding wheel of the polishing device, a dust suction cover is connected with an existing dust suction device, and the rotating fixing device comprises a motor speed reduction set which is installed on the fixed polishing platform. The self-positioning glass trimming machine is mainly used for polishing the side edges of the glass substrate.

Description

Technical Field

[0001] This invention relates to a glass trimming machine, and more particularly to a self-positioning glass trimming machine. Background Technology

[0002] In the current glass substrate manufacturing field, correcting the cut glass substrates according to process requirements is a crucial step. However, with the development of the display industry, the requirements for the size of glass substrates are becoming increasingly stringent. Due to their inherent characteristics, glass substrates are less than 0.5mm thick, and the edge neatness is insufficient during cutting, requiring secondary correction of the cutting size. During the correction process, how to handle and fix large-sized glass substrates and identify the correction amount is the key to high-precision size control. Ensuring product yield while meeting the production line's needs and improving product competitiveness is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this invention is to provide a self-positioning glass trimming machine to solve the problem in the prior art of lacking a self-positioning glass trimming machine that can automatically pick up and place glass substrates, hold the glass substrates by a rotating fixing device, detect the edge uniformity of the glass substrates by a through-beam micrometer, and then perform high-precision grinding by a grinding device, and can promptly remove the grinding debris to prevent contamination of the glass substrates.

[0004] This invention is achieved through the following technical solution:

[0005] A self-positioning glass trimming machine includes a feeding roller conveyor belt, a fixed grinding platform, and a discharging roller conveyor belt. The feeding and discharging roller conveyor belts are equipped with anti-friction positioning mechanisms. The fixed grinding platform is equipped with a pick-and-place robot, a rotating fixing device, and a grinding device. Detection devices are located on both sides of the rotating fixing device. A dust suction hood is installed at the grinding wheel of the grinding device, and the dust suction hood is connected to an existing dust suction device. The rotating fixing device includes a motor reduction gear set mounted on the fixed grinding platform. The motor reduction gear set includes a motor and a worm gear right-angle reducer. The output shaft of the speed reducer is connected to the rotating base plate. The rotating base plate is equipped with a non-contact suction cup and a suction cup mounting seat. The non-contact suction cup is located in the middle hole of the suction cup mounting seat. The suction cup mounting seat is equipped with a guide groove. Support plates are provided around the rotating base plate. Limiting holes are provided at the bottom of the rotating base plate. A limiting cylinder is provided on the fixed grinding platform. A limiting post is provided on the piston rod of the limiting cylinder. The limiting post cooperates with the limiting hole. The detection device includes a through-beam micrometer I and a through-beam micrometer II. The through-beam micrometer I and the through-beam micrometer II are respectively installed on the detection electric slide.

[0006] Furthermore, the fixed polishing platform is provided with four roller seats, and the roller seats are provided with support rollers. The support rollers make rolling contact with the bottom of the rotating substrate to ensure that the rotating substrate does not deform after long-term use.

[0007] Furthermore, the non-contact suction cups are used in pairs for left and right rotation. The support plate is made of anti-static non-metallic material PEEK, which has a lower hardness than glass. The non-contact suction cups are SMC non-contact suction cups, which, together with the guide grooves on the suction cup mounting base, firmly fix the glass substrate to the support plate, allowing gas to be discharged in time and avoiding turbulence.

[0008] Furthermore, the anti-friction positioning mechanism includes a side-shifting ejector cylinder, which is respectively installed on the bottom support plate frame of the feed roller conveyor belt and the discharge roller conveyor belt. The piston rod of the side-shifting ejector cylinder is connected to the side-shifting wheel fixing frame. The side-shifting wheel fixing frame is provided with a plurality of side-shifting wheel fixing plates, and side-shifting wheels are provided on the side-shifting wheel fixing plates. The side-shifting wheel fixing plates are respectively located in the roller gap of the feed roller conveyor belt and the roller gap of the discharge roller conveyor belt. The side-shifting wheel fixing frame is provided with a guide shaft, and guide plate frames are provided on both sides of the support plate frame of the feed roller conveyor belt and the discharge roller conveyor belt. Guide sleeves are provided on the guide plate frames. The guide sleeves and guide shaft cooperate to guide and ensure the stability of the side-shifting wheel fixing frame during the rising and falling process.

[0009] Furthermore, the anti-friction positioning mechanism also includes a central guide rod, with both ends of the central guide rod fixed to the support plates on both sides of the feed roller conveyor belt and the discharge roller conveyor belt. The support plates on both sides of the feed roller conveyor belt and the discharge roller conveyor belt are also equipped with a central pulley and a central motor. The output end of the central motor is equipped with a pulley, and a central belt is provided between the output pulley of the central motor and the central pulley. Belt clamps are provided on both sides of the central belt, and the belt clamps are respectively connected to the two central base plates. The central base plates are slidably connected to the central guide rod through guide slides. The central base plates are connected to the central guide plate through connecting rods, and the connecting rods are respectively located in the roller gap of the feed roller conveyor belt and the roller gap of the discharge roller conveyor belt.

[0010] Furthermore, the loading and unloading robot includes a loading robot and an unloading robot. The loading robot and the unloading robot each include a horizontal electric slide, a vertical electric slide, a connecting bracket, a suction cup frame, and several vacuum suction cups on both sides of the suction cup frame. The vacuum suction cups are existing technology.

[0011] Furthermore, the grinding device includes a coarse adjustment translation electric slide table. A mounting bracket is provided on the slide table base of the coarse adjustment translation electric slide table. A feed motor is provided on the mounting bracket, and the feed motor drives a feed screw. The feed slide is slidably connected to a feed rail on the mounting bracket. The feed screw drives the feed slide. A mounting plate I is provided on the feed slide. A fine adjustment translation motor, a fine adjustment translation screw, and a fine adjustment translation rail are provided on the mounting plate I. The fine adjustment translation motor drives the fine adjustment translation screw, and the fine adjustment translation slide is driven by the fine adjustment translation screw. The sliding slide is slidably connected to the fine-adjustment sliding rail. The fine-adjustment sliding slide is equipped with a mounting plate II. The mounting plate II is equipped with a height adjustment motor, a height adjustment rail, and a height adjustment screw. The height adjustment slide is slidably connected to the height adjustment rail. The height adjustment motor drives the height adjustment screw, which in turn drives the height adjustment slide. The height adjustment slide is equipped with a grinding bracket, and the grinding bracket is equipped with a grinding motor. The grinding motor drives the grinding wheel to rotate through a transmission shaft. The transmission shaft is mounted on the grinding bracket through a bearing seat and a bearing.

[0012] Furthermore, the dust hood is an arc-shaped dust hood.

[0013] Furthermore, the feed roller conveyor and the discharge roller conveyor are equipped with laser rangefinders. The laser rangefinders are used to measure whether the glass substrate is in place, so that the pick-and-place robot can accurately grasp the glass substrate.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. It can automatically pick up and place glass substrates. The glass substrates are held by a rotating fixing device. The edge uniformity of the glass substrates is detected by a through-beam micrometer. Then, a high-precision grinding device is used for grinding. The grinding debris can be sucked away in time to prevent contamination of the glass substrates.

[0016] 2. During the centering adjustment of the glass substrate, the raised lateral shifting wheels prevent the glass substrate from being scratched.

[0017] 3. A high-precision through-beam micrometer is used to measure the dimensions of the glass substrate, with a measurement accuracy of ±0.5 micrometers.

[0018] 4. Non-contact suction cups are used for adsorption and positioning. The use of pairs ensures that the glass substrate does not deflect during adsorption and fixation, and the adsorption force of the suction cups is much greater than the deflection force generated when grinding the edge of the glass substrate.

[0019] 5. By adopting loading and unloading robots, loading and unloading can be carried out simultaneously, shortening the waiting time for picking and unloading materials, reducing cycle time and improving production efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a top view of the present invention;

[0022] Figure 3 This is an enlarged view of point A in the present invention;

[0023] Figure 4 This is a partial structural schematic diagram of the anti-friction positioning mechanism of the present invention;

[0024] Figure 5 This is a schematic diagram of the rotating fixing device of the present invention. Figure I ;

[0025] Figure 6 This is a schematic diagram of the rotating fixing device of the present invention. Figure II ;

[0026] Figure 7 This is a schematic diagram of the grinding device of the present invention. Figure I ;

[0027] Figure 8 This is a schematic diagram of the grinding device of the present invention. Figure II ;

[0028] Figure 9 This is a schematic diagram of the picking and placing robot of the present invention;

[0029] Figure 10 This is a schematic diagram of the detection device of the present invention.

[0030] In the diagram: 1. Feed roller conveyor belt; 2. Grinding device; 3. Rotating fixing device; 4. Through-beam micrometer I; 5. Through-beam micrometer II; 6. Loading robot; 7. Unloading robot; 8. Discharge roller conveyor belt; 9. Side-shifting wheel fixing frame; 10. Roller; 11. Fixed grinding platform; 12. Side-shifting ejector cylinder; 13. Side-shifting wheel fixing plate; 14. Side-shifting wheel; 15. Centering motor; 16. Belt clamp; 17. Centering belt; 18. Centering base plate; 19. Centering guide plate; 20. Robotic arm transverse electric slide; 21. Robotic arm. 21. Vertical electric slide; 22. Connecting bracket; 23. Suction cup holder; 24. Vacuum suction cup; 25. Motor reduction gear; 26. Support roller; 27. Limit cylinder; 28. Limit hole; 29. ​​Suction cup mounting base; 30. Detection electric slide; 31. Grinding motor; 32. Drive shaft; 33. Grinding wheel; 34. Dust hood; 35. Coarse adjustment translation electric slide; 36. Feed slide; 37. Feed motor; 38. Rotary base plate; 39. Fine adjustment translation motor; 40. Grinding bracket; 41. Guide groove; 42. Support plate; 43. Height adjustment motor. Detailed Implementation

[0031] The present invention will now be further described in conjunction with the accompanying drawings.

[0032] like Figure 1 As shown in Figure 2, Embodiment 1, a self-positioning glass trimming machine, includes a feeding roller conveyor belt 1, a fixed grinding platform 11, and an output roller conveyor belt 8. The feeding roller conveyor belt 1 and the output roller conveyor belt 8 are existing technologies. Anti-friction positioning mechanisms are provided on the feeding roller conveyor belt 1 and the output roller conveyor belt 8. The fixed grinding platform 11 is equipped with a pick-and-place robot arm, a rotating fixing device 3, and a grinding device 2. Detection devices are provided on both sides of the rotating fixing device 3. A dust suction hood 34 is provided at the grinding wheel 33 of the grinding device 2. The dust suction hood 34 is connected to an existing dust suction device. The rotating fixing device 3 includes components installed on... A motor reduction gear 25 is mounted on the fixed grinding platform 11. The motor reduction gear 25 includes a motor and a right-angle worm gear reducer. The output shaft of the motor reduction gear 25 is connected to the rotating base plate 38. The rotating base plate 38 is equipped with a non-contact suction cup and a suction cup mounting seat 29. The non-contact suction cup is located in the middle hole of the suction cup mounting seat 29. The suction cup mounting seat 29 is equipped with a guide groove 41. Support plates 42 are provided around the rotating base plate 38. A limiting hole 28 is provided at the bottom of the rotating base plate 38. A limiting cylinder 27 is provided on the fixed grinding platform 11. A limiting post is provided on the piston rod of the limiting cylinder 27. The limiting post cooperates with the limiting hole 28. Figure 10 As shown, the detection device includes a through-beam micrometer I4 and a through-beam micrometer II5, which are respectively mounted on the detection electric slide 30.

[0033] Example 2: A self-positioning glass trimming machine, such as... Figure 5-6 As shown, the fixed polishing platform 11 is equipped with four roller seats, and the roller seats are equipped with supporting rollers 26. The supporting rollers 26 roll in contact with the bottom of the rotating substrate 38 to ensure that the rotating substrate 38 does not deform after long-term use; the non-contact suction cups are used in pairs for left and right rotation, the support plate 42 is made of anti-static non-metallic material PEEK, which has a lower hardness than glass, and the non-contact suction cups are SMC non-contact suction cups. With the guide groove 41 on the suction cup mounting base 29, the glass substrate is firmly fixed on the support plate 42, and gas can be discharged in time to avoid turbulence; Figure 3-4As shown, the anti-friction positioning mechanism includes a side-shifting ejector cylinder 12, which is respectively installed on the bottom support plate frame of the feed roller conveyor belt 1 and the discharge roller conveyor belt 8. The piston rod of the side-shifting ejector cylinder 12 is connected to the side-shifting wheel fixing frame 9. The side-shifting wheel fixing frame 9 is provided with a plurality of side-shifting wheel fixing plates 13, and side-shifting wheels 14 are provided on the side-shifting wheel fixing plates 13. The side-shifting wheel fixing plates 13 are respectively located in the gap between the rollers 10 of the feed roller conveyor belt 1 and the gap between the rollers 10 of the discharge roller conveyor belt 8. The side-shifting wheel fixing frame 9 is provided with a guide shaft, and the two side support plate frames of the feed roller conveyor belt 1 and the discharge roller conveyor belt 8 are provided with guide plate frames. The guide plate frames are provided with guide sleeves. The guide sleeves and the guide shaft cooperate to guide and ensure the stability of the side-shifting wheel fixing frame 9 during the rising and falling process. The anti-friction positioning mechanism also includes a central guide rod, with both ends of the central guide rod fixed to the support plates on both sides of the feed roller conveyor belt 1 and the discharge roller conveyor belt 8. A central pulley and a central motor 15 are also provided on the support plates on both sides of the feed roller conveyor belt 1 and the discharge roller conveyor belt 8. A pulley is provided at the output end of the central motor 15, and a central belt 17 is provided between the output pulley of the central motor 15 and the central pulley. Belt clamps 16 are provided on both sides of the central belt 17, and the belt clamps 16 are respectively connected to the two central base plates 18. The central base plates 18 are slidably connected to the central guide rod via guide slides, and the central base plates 18 are connected to the central guide plate 19 via connecting rods. The connecting rods are located at the gaps between the rollers 10 of the feed roller conveyor belt 1 and the rollers 10 of the discharge roller conveyor belt 8, respectively. Figure 9 As shown, the loading and unloading robot includes a loading robot 6 and an unloading robot 7. The loading robot 6 and the unloading robot 7 each include a horizontal electric slide 20, a vertical electric slide 21, and a connecting bracket 22. A suction cup frame 23 is mounted on the connecting bracket 22, and several vacuum suction cups 24 are mounted on both sides of the suction cup frame 23. The vacuum suction cups 24 are existing technology. Figure 7-8As shown, the grinding device 2 includes a coarse adjustment translation electric slide 35. A mounting frame is provided on the slide base of the coarse adjustment translation electric slide 35. A feed motor 37 is provided on the mounting frame, and the feed motor 37 drives a feed screw. A feed slide 36 is slidably connected to a feed rail on the mounting frame. The feed screw drives the feed slide 36. A mounting plate I is provided on the feed slide 36. A fine adjustment translation motor 39, a fine adjustment translation screw, and a fine adjustment translation rail are provided on the mounting plate I. The fine adjustment translation motor 39 drives the fine adjustment translation screw, and the fine adjustment translation slide is driven by the fine adjustment translation screw. The fine adjustment translation slide is slidably connected to the fine adjustment translation rail. A mounting plate II is provided on the fine adjustment translation slide. A height adjustment motor 43 and a height adjustment motor 44 are provided on the mounting plate II. The system includes an adjustable slide rail and a height adjusting screw. The height adjusting slide block is slidably connected to the height adjusting slide rail. The height adjusting motor 43 drives the height adjusting screw, which in turn drives the height adjusting slide block. A grinding bracket 40 is mounted on the height adjusting slide block, and a grinding motor 31 is mounted on the grinding bracket 40. The grinding motor 31 drives the grinding wheel 33 to rotate via a transmission shaft 32. The transmission shaft 32 is mounted on the grinding bracket 40 via a bearing seat and a bearing. The dust collection hood 34 is an arc-shaped dust collection hood. Laser rangefinders are mounted on the feed roller conveyor belt 1 and the discharge roller conveyor belt 8. The laser rangefinders are used to measure whether the glass substrate is in place, so that the pick-and-place robot can accurately grasp the glass substrate. Other aspects are the same as in Embodiment 1.

[0034] When the glass substrate enters the feed roller conveyor belt 1, the roller 10 transports the glass substrate to the corresponding position. A sensor detects the glass substrate, and the lateral displacement ejector cylinder 12 lifts the lateral displacement wheel fixing plate 13. The centering motor 15 drives the centering belt 17 to move, causing the centering guide plates 19 on both sides to move towards each other and center the glass substrate. During this process, the lateral displacement wheel 14 prevents wear on the glass substrate during the translational centering process. Since the centering guide plates 19 are connected to both sides of the centering belt 17, the forward and reverse rotation of the centering motor 15 can control the centering guide plates 19 to move towards or away from each other. Subsequently, the loading robot 6 picks up the glass substrate and places it on the support plate 42, and the lateral displacement ejector cylinder 12 resets. The SMC non-contact suction cup operates by adsorbing the glass substrate onto the support plate 42 using Bernoulli's principle. The support plate 42 is made of anti-static non-metallic material (PEEK), with a hardness lower than glass. To counteract the rotational force of the suction cup, the suction cups are used in pairs, rotating in both directions, ensuring the glass substrate is firmly fixed to the support plate 42. The suction cup mounting base 29 has a guide groove 41 to allow gas to escape promptly without generating turbulence. The through-beam micrometers I4 and II5 on both sides move on the detection electric slide 30 to verify and identify the dimensions of the glass substrate. After the through-beam micrometers upload and analyze the measured data, the rotating substrate 38 rotates under the drive of the motor reduction group 25, rotating the side of the glass substrate to be polished to the polishing device. The rotating substrate 38 is limited by the cooperation of the limiting cylinder 27 and the limiting hole 28 to prevent the rotating substrate 38 from moving randomly. The electric slide and lead screw adjustment mechanisms of the grinding device 2 adjust the grinding wheel 33 to the grinding position. The coarse adjustment translation electric slide 35 has low precision, so a fine adjustment translation motor 39 and fine adjustment lead screw are used to reduce costs. Alternatively, a high-precision electric slide can be used to simplify the structure. A dust collection hood 34 installed at the grinding wheel 33 allows debris generated during grinding adjustment to be discharged outside the equipment, preventing possible contamination of the glass substrate during correction. During side correction, the detection device checks and identifies the remaining two sides. After side correction, the rotating substrate 38 rotates again. While the grinding device grinds the sides, the detection device performs a second identification of the corrected sides and verifies the post-correction dimensions, ensuring the accuracy of the data for each correction. After all four sides are corrected, the non-contact suction cup stops working, and the unloading robot 7 uses the vacuum suction cup 24 to lift the glass substrate and place it on the discharge roller conveyor belt 8. Similarly, after centering and positioning, it is transferred to the next process.

Claims

1. A self-positioning glass trimming machine, comprising an infeed roller conveyor belt (1), a fixed polishing platform (11), and an outlet roller conveyor belt (8), characterized in that: The feed roller conveyor belt (1) and the discharge roller conveyor belt (8) are equipped with anti-friction positioning mechanisms. The fixed grinding platform (11) is equipped with a pick-and-place robot, a rotating fixing device (3) and a grinding device (2). The rotating fixing device (3) is equipped with detection devices on both sides. The grinding wheel (33) of the grinding device (2) is equipped with a dust suction hood (34). The rotating fixing device (3) includes a motor reduction gear (25) installed on the fixed grinding platform (11). The output shaft of the motor reduction gear (25) is connected to the rotating base. The plate (38) is connected, and a non-contact suction cup and a suction cup mounting base (29) are provided on the rotating base plate (38). The non-contact suction cup is located in the middle hole of the suction cup mounting base (29). A guide groove (41) is provided on the suction cup mounting base (29). Support plates (42) are provided around the rotating base plate (38). A limiting hole (28) is provided at the bottom of the rotating base plate (38). A limiting cylinder (27) is provided on the fixed grinding platform (11). A limiting post is provided on the piston rod of the limiting cylinder (27). The limiting post and the limiting hole (28) are connected. The detection device includes a through-beam micrometer I (4) and a through-beam micrometer II (5), which are respectively installed on the detection electric slide (30); the anti-friction positioning mechanism includes a side-shifting ejector cylinder (12), which is respectively installed on the bottom support plate frame of the feed roller conveyor belt (1) and the discharge roller conveyor belt (8), and the piston rod of the side-shifting ejector cylinder (12) is connected to the side-shifting wheel fixing frame (9). The frame (9) is provided with several side-shifting wheel fixing plates (13), and the side-shifting wheel fixing plates (13) are provided with side-shifting wheels (14). The side-shifting wheel fixing plates (13) are respectively located in the gap between the rollers (10) of the feed roller conveyor belt (1) and the gap between the rollers (10) of the discharge roller conveyor belt (8). The side-shifting wheel fixing frame (9) is provided with a guide shaft, and the two sides of the support plate frame of the feed roller conveyor belt (1) and the discharge roller conveyor belt (8) are provided with guide plate frames. The guide plate frames are provided with guide sleeves, and the guide sleeves and guide shafts cooperate to guide.

2. The self-positioning glass trimming machine according to claim 1, characterized in that: The fixed grinding platform (11) is provided with four roller seats, and the roller seats are provided with support rollers (26). The support rollers (26) are in rolling contact with the bottom of the rotating base plate (38).

3. The self-positioning glass trimming machine according to claim 1, characterized in that: The non-contact suction cups are used in pairs for left and right rotation, and the support plate (42) is made of anti-static non-metallic material PEEK, which has a lower hardness than glass.

4. The self-positioning glass trimming machine according to claim 1, characterized in that: The anti-friction positioning mechanism also includes a centering guide rod. The two ends of the centering guide rod are fixed on the support plates on both sides of the feed roller conveyor belt (1) and the discharge roller conveyor belt (8). The support plates on both sides of the feed roller conveyor belt (1) and the discharge roller conveyor belt (8) are also provided with a centering pulley and a centering motor (15). The output end of the centering motor (15) is provided with a pulley. A centering belt (17) is provided between the output pulley of the centering motor (15) and the centering pulley. Belt clamps (16) are provided on both sides of the centering belt (17). The belt clamps (16) are connected to the centering base plates (18) on both sides respectively. The centering base plate (18) is slidably connected to the centering guide rod through a guide slide. The centering base plate (18) is connected to the centering guide plate (19) through a connecting rod. The connecting rod is located in the gap between the rollers (10) of the feed roller conveyor belt (1) and the gap between the rollers (10) of the discharge roller conveyor belt (8).

5. The self-positioning glass trimming machine according to claim 1, characterized in that: The loading and unloading robot includes a loading robot (6) and an unloading robot (7). The loading robot (6) and the unloading robot (7) each include a horizontal electric slide (20), a vertical electric slide (21) is provided on the horizontal electric slide (20), a connecting bracket (22) is provided on the slide of the vertical electric slide (21), a suction cup frame (23) is provided on the connecting bracket (22), and several vacuum suction cups (24) are provided on both sides of the suction cup frame (23).

6. The self-positioning glass trimming machine according to claim 1, characterized in that: The grinding device (2) includes a coarse adjustment translation electric slide (35). A mounting frame is provided on the slide base of the coarse adjustment translation electric slide (35). A feed motor (37) is provided on the mounting frame. The feed motor (37) drives a feed screw. A feed slide (36) is slidably connected to a feed rail on the mounting frame. The feed screw drives the feed slide (36). A mounting plate I is provided on the feed slide (36). A fine adjustment translation motor (39), a fine adjustment translation screw, and a fine adjustment translation rail are provided on the mounting plate I. The fine adjustment translation motor (39) drives the fine adjustment translation screw. The fine adjustment translation slide is driven by the fine adjustment translation screw. The fine-adjustment sliding slide is slidably connected to the fine-adjustment translation slide rail. The fine-adjustment translation slide is provided with a mounting plate II. The mounting plate II is provided with a height adjustment motor (43), a height adjustment slide rail and a height adjustment screw. The height adjustment slide is slidably connected to the height adjustment slide rail. The height adjustment motor (43) drives the height adjustment screw, which in turn drives the height adjustment slide. The height adjustment slide is provided with a grinding bracket (40). The grinding bracket (40) is provided with a grinding motor (31). The grinding motor (31) drives the grinding wheel (33) to rotate through the transmission shaft (32). The transmission shaft (32) is mounted on the grinding bracket (40) through the bearing seat and the bearing.

7. The self-positioning glass trimming machine according to claim 1, characterized in that: The aforementioned dust hood (34) is an arc-shaped dust hood.

8. The self-positioning glass trimming machine according to claim 1, characterized in that: The feed roller conveyor belt (1) and the discharge roller conveyor belt (8) are equipped with laser range sensors. The laser range sensors are used to measure whether the glass substrate is in place, so that the pick-and-place robot can accurately grab the glass substrate.

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