Full-automatic scanning and polishing machine

Abstract

The utility model provides a kind of full-automatic scanning light machine.Full-automatic scanning light machine includes: the upper and lower material discharging piece arranging table is provided with feeding tray and discharging tray;Glass feeding assembly includes glass feeding bin and feeding transport piece, glass feeding bin is located in the circumferential side of upper and lower material discharging piece arranging table and is set close to feeding tray relative to discharging tray, glass feeding bin is used to provide glass sheet, feeding transport piece is used to transport glass sheet in glass feeding bin to feeding tray;Scanning light component is located in the side of upper and lower material discharging piece arranging table not being provided with glass feeding bin, scanning light component is used to grind glass sheet;Gantry component includes material taking suction cup, material taking suction cup is movably set in the above of scanning light component and upper and lower material discharging piece arranging table along X axis, Y axis and Z axis, material taking suction cup is used to feed glass sheet in feeding tray to scanning light component, and the glass sheet that grinding is completed in scanning light component is discharged to discharging tray.The utility model solves the problem that scanning light machine in prior art has low degree of automation and low production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of optical surface treatment technology, and more specifically, to a fully automatic optical cleaning machine. Background Technology

[0002] In the current optical glass manufacturing industry, the polishing process is a crucial step in improving the smoothness and optical performance of glass surfaces. Traditional polishing machines typically employ manual or semi-automatic methods for loading, grinding, and unloading glass sheets. This is not only inefficient but also poses significant safety risks to operators during the high-speed rotation of the polishing process. With the development of industrial automation, the market's demand for improved production efficiency and reduced labor costs is becoming increasingly urgent, making the limitations of traditional polishing machines particularly prominent.

[0003] In traditional glass polishing machines, each glass sheet is manually placed onto the polishing position, which is not only labor-intensive but also prone to causing unstable production cycles, affecting overall production efficiency and yield. Due to the lack of effective automated control methods, parameter adjustments during the polishing process rely on the operator's experience, making it difficult to guarantee the consistency and stability of the polishing effect, especially when processing large batches of glass sheets of various sizes.

[0004] In other words, existing polishing machines suffer from low automation and low production efficiency. Utility Model Content

[0005] The main purpose of this utility model is to provide a fully automatic polishing machine to solve the problems of low automation and low production efficiency in existing polishing machines.

[0006] To achieve the above objectives, this utility model provides a fully automatic polishing machine, comprising: a loading and unloading sheet arrangement table, on which a loading tray and a unloading tray are arranged; a glass loading assembly, which includes a glass loading bin and a loading transport component, the glass loading bin being located on the periphery of the loading and unloading sheet arrangement table and positioned close to the loading tray relative to the unloading tray, the glass loading bin being used to provide glass sheets, and the loading transport component being used to transport the glass sheets in the glass loading bin to the loading tray; a polishing assembly, located on the side of the loading and unloading sheet arrangement table where the glass loading bin is not located, the polishing assembly being used to polish the glass sheets; and a gantry assembly, which includes a material-retrieving suction cup, the material-retrieving suction cup being movably arranged above the polishing assembly and the loading and unloading sheet arrangement table along the X-axis, Y-axis, and Z-axis, the material-retrieving suction cup being used to load glass sheets from the loading tray to the polishing assembly, and to unload the glass sheets polished by the polishing assembly to the unloading tray.

[0007] Furthermore, the glass feeding assembly also includes a lifting assembly. Multiple glass sheets are stacked in the glass feeding hopper. At least a portion of the lifting assembly passes through the bottom of the glass feeding hopper and is movably arranged along the Z-axis to lift the multiple glass sheets in the glass feeding hopper upward.

[0008] Furthermore, the lifting assembly includes: a lifting rod with a support block at its top; a cleanroom module with a slide rail extending along the Y-axis, the bottom end of the lifting rod being slidably connected to the slide rail; and a servo motor mounted on the cleanroom module to drive the lifting rod to move.

[0009] Furthermore, the glass loading bin includes: a base plate; a side plate, the bottom of which is connected to the base plate to form a space for accommodating glass sheets between them; both the side plate and the base plate are provided with position-adjustable limiting plates, and the size of the space for accommodating glass sheets in the glass loading bin is adjusted by adjusting the position of the limiting plates.

[0010] Furthermore, the limiting plate on the base plate is configured to flip outward so that the limiting plate can flip between defining the position of the glass sheet and allowing the glass sheet to enter and exit; and / or, the glass loading bin also includes an air blowing element and a glass positioning sensor, both of which are located on the top of the side plate.

[0011] Furthermore, the loading and transport components include a glass sheet loading robot, a glass buffer belt, and a loading and unloading XYZU axis assembly. The glass sheet loading robot has a first vacuum nozzle, which is movably positioned above the glass loading bin and the glass buffer belt along the X and Z axes to pick up glass sheets from the glass loading bin and place them on the glass buffer belt. The glass buffer belt is positioned on the loading and unloading platform and located between the glass loading bin and the loading tray. The loading and unloading XYZU axis assembly has a second vacuum nozzle, which is movably positioned along the X, Y, and Z axes and can translate and rotate along the plane formed by the X and Y axes. The second vacuum nozzle is used to transport the glass sheets on the glass buffer belt to the loading tray.

[0012] Furthermore, the glass buffer belt includes a conveyor belt, the conveyor belt's transport direction is parallel to the X-axis, and the glass buffer belt is equipped with a glass presence / absence detection sensor to detect whether there is a glass piece on the conveyor belt; and / or, the glass buffer belt is provided in one or more sets, and when there are multiple sets of glass buffer belts, the multiple sets of glass buffer belts are arranged sequentially along the Y-axis direction.

[0013] Furthermore, the loading and transport component also includes a glass positioning assembly, which is located on the side of the glass buffer belt facing the loading tray. The glass positioning assembly includes: a back plate with a slide extending along the Y-axis; two positioning arms movably mounted on the slide, forming a space between the two positioning arms for clamping and aligning the glass sheet; and a drive motor connected to the positioning arms to drive the positioning arms to move on the slide.

[0014] Furthermore, the glass buffer belt also includes a single / double sheet detection ultrasonic sensor, which is located at the end of the glass buffer belt near the loading tray. The single / double sheet detection ultrasonic sensor is used to detect whether the glass sheet to be transferred to the loading tray is a single sheet.

[0015] Furthermore, the XYZU axis assembly for feeding and stacking also includes: a feeding X-axis stacking module having a track extending along the X-axis; a feeding Y-axis stacking module movably mounted on the track having a track extending along the Y-axis; a feeding Z-axis up-and-down cylinder movably mounted on the feeding Y-axis stacking module; a second vacuum nozzle mounted on the feeding Z-axis up-and-down cylinder, which enables movement in the Z-axis direction; and a feeding U-axis rotary motor mounted on the feeding Z-axis up-and-down cylinder and driving the second vacuum nozzle to translate and rotate along the plane formed by the X-axis and Y-axis.

[0016] Furthermore, the fully automatic polishing machine also includes a first frame and a second frame, which are located on opposite sides of the polishing assembly and on different sides from the loading and unloading tray. The gantry assembly also includes: a gantry Y-axis module, including a first Y-axis track and a second Y-axis track, which are arranged in parallel and respectively mounted on the first frame and the second frame; a gantry X-axis module, whose two ends are slidably connected to the first Y-axis track and the second Y-axis track, and includes the first X-axis track and the second X-axis track arranged in parallel; and a gantry Z-axis module, which is located between the first X-axis track and the second X-axis track and slidably connected to them. A material-picking suction cup is movably mounted on the gantry Z-axis module along the Z-axis direction. The material-picking suction cup has multiple vacuum suction cups and is used to load and unload the polishing assembly.

[0017] Furthermore, the light-scanning assembly includes: a light-scanning mat module; a light-scanning disc module, which is mounted on the light-scanning mat module, with multiple light-scanning disc structures on both the first and second surfaces of the light-scanning disc module; a flipping module, which has extension arms on both sides of the light-scanning disc module, and is connected to one of the extension arms to flip the light-scanning disc module; and a lifting module, which is connected to the extension arms to lift the light-scanning disc module.

[0018] Furthermore, the light-sweeping blanket module includes: a light-sweeping blanket structure; a rotating platform, wherein the light-sweeping blanket structure is disposed on the rotating platform; and a drive unit, which is drivenly connected to the rotating platform to drive the rotating platform to rotate.

[0019] Furthermore, the scanning disc structure includes: a disc body having multiple vacuum adsorption holes for adsorbing multiple glass slides; a rotary servo motor connected to the disc body for driving the disc body to rotate; and a precision reducer and origin sensor mounted on the rotary servo motor.

[0020] Furthermore, the fully automatic polishing machine also includes a feeding and arranging XYZU axis assembly, which is set on the feeding and arranging platform. The feeding and arranging XYZU axis assembly includes: a feeding X-axis arranging module with a track extending along the X-axis; a feeding Y-axis arranging module, which is movably set on the track and has a track extending along the Y-axis; a feeding Z-axis lifting cylinder, which is movably set on the feeding Y-axis arranging module and has a third vacuum nozzle, which moves in the Z-axis direction via the feeding Z-axis lifting cylinder; and a feeding U-axis rotary motor, which is set on the feeding Z-axis lifting cylinder and drives the third vacuum nozzle to translate and rotate along the plane formed by the X-axis and Y-axis.

[0021] Furthermore, the fully automatic polishing machine also includes a feeding and positioning fixture, which is set on the loading and unloading sheet assembly platform and located between the feeding tray and the feeding sheet assembly XYZU axis assembly. The feeding and positioning fixture has a positioning area, and a third vacuum nozzle is used to transport the glass sheet in the feeding tray to the positioning area.

[0022] Furthermore, the fully automatic polishing machine also includes a material unloading and storage platform, which is located on the side of the loading and unloading sheeting platform away from the glass loading bin, and the platform surface of the material unloading and storage platform is lower than that of the loading and unloading sheeting platform.

[0023] Furthermore, the fully automatic polishing machine also includes a material unloading tray transport module and a tray turntable module. The tray turntable module is rotatably mounted on the material unloading storage platform. The material unloading tray transport module is located between the material unloading tray and the tray turntable module. The material unloading tray transport module has a fourth vacuum nozzle, which is movable along the X, Y, and Z axes and is equipped with a tilting cylinder. The fourth vacuum nozzle is used to unload the glass sheet from the material unloading tray into the tray turntable module.

[0024] Furthermore, the insert turntable module includes: a material rack positioning turntable; multiple material racks arranged around the circumference of the material rack positioning turntable, and each material rack having multiple sets of parallel placement areas; and a material rack drive unit connected to the material rack positioning turntable drive unit to drive the material rack positioning turntable to rotate.

[0025] Furthermore, the fully automatic polishing machine also includes a vacuum drainage system, which is connected to the polishing components. The vacuum drainage system includes a vacuum tank, which is used to store vacuum and isolate grinding water. Vacuum valves and drain valves are respectively installed at both ends of the vacuum tank.

[0026] Furthermore, the fully automatic polishing machine also includes a circulating grinding water tank, which is connected to a vacuum drainage system. The circulating grinding water tank has a filter screen and cooling water pipes.

[0027] According to the technical solution of this utility model, the fully automatic polishing machine includes a loading and unloading sheet arrangement table, a glass loading component, a polishing component, and a gantry component. The loading and unloading sheet arrangement table is provided with a loading tray and a unloading tray. The glass loading component includes a glass loading bin and a loading transport component. The glass loading bin is located on the periphery of the loading and unloading sheet arrangement table and is positioned close to the loading tray relative to the unloading tray. The glass loading bin is used to provide glass sheets, and the loading transport component is used to transport the glass sheets in the glass loading bin to the loading tray. The polishing component is located on the side of the loading and unloading sheet arrangement table where the glass loading bin is not located. The polishing component is used to polish the glass sheets. The gantry component includes a material-retrieving suction cup, which is movably arranged above the polishing component and the loading and unloading sheet arrangement table along the X-axis, Y-axis, and Z-axis. The material-retrieving suction cup is used to load the glass sheets in the loading tray into the polishing component and to unload the glass sheets polished by the polishing component into the unloading tray.

[0028] The loading and unloading platform is equipped with loading and unloading trays, which work closely with the glass loading assembly, polishing assembly, and gantry assembly to achieve automated loading, polishing, and unloading of glass sheets. This reduces reliance on manual operation and improves the continuity and automation of the production process. The glass loading bin in the glass loading assembly is positioned appropriately on the loading and unloading platform, ensuring optimized glass sheet loading paths and reducing time and material loss during loading. Simultaneously, the loading transport component efficiently transports glass sheets from the loading bin to the loading tray, accelerating preparation before polishing. The gantry assembly's suction cups can move freely in three-dimensional space, greatly improving the flexibility and precision of glass sheet positioning, making the polishing process more accurate and rapid. Furthermore, this design allows the polishing machine to handle glass sheets of different sizes and shapes, enhancing the equipment's adaptability and production versatility. By automating the loading, polishing, and unloading processes, labor costs are significantly reduced, while the glass sheet damage rate caused by improper manual operation is lowered, thereby saving raw material costs. The efficient grinding of the polishing assembly not only improves the yield rate but also reduces energy and material consumption, further lowering production costs. The efficient automated process reduces operator time spent in harsh conditions, such as high temperatures and dusty environments, improving working conditions and ensuring employee health and safety. The precise positioning and movement capabilities of the gantry assembly, along with the controllable grinding conditions of the polishing assembly, together ensure that each piece of glass reaches a consistent high-quality standard after polishing, reducing product defects caused by operational variability.

[0029] In summary, the fully automatic polishing machine of this application, through its unique design, has successfully achieved full automation from loading to unloading, which not only significantly improves production efficiency and reduces production costs, but also improves the working environment and ensures the stability and consistency of product quality. Attached Figure Description

[0030] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0031] Figure 1 A schematic diagram of the structure of a fully automatic polishing machine according to an optional embodiment of the present invention is shown;

[0032] Figure 2 It shows Figure 1 A schematic diagram of the glass feeding hopper in the diagram;

[0033] Figure 3 It shows Figure 1 A schematic diagram of the lifting component in the middle;

[0034] Figure 4It shows Figure 1 A schematic diagram of the structure of the glass sheet feeding robot in the diagram;

[0035] Figure 5 It shows Figure 1 A schematic diagram of the glass buffer belt structure in the diagram;

[0036] Figure 6 It shows Figure 5 A schematic diagram of the glass positioning component in the diagram;

[0037] Figure 7 It shows Figure 1 Diagram showing the fit and connection of the XYZU axis assembly and the feeding tray in the feeding and sorting process;

[0038] Figure 8 It shows Figure 1 A schematic diagram of the gantry assembly in the diagram;

[0039] Figure 9 It shows Figure 1 A schematic diagram of the structure of the light-scanning component in the image;

[0040] Figure 10 It shows Figure 9 A schematic diagram of the structure of the optical disc scanning device;

[0041] Figure 11 It shows Figure 9 A schematic diagram of the lifting module in the middle;

[0042] Figure 12 It shows Figure 9 A schematic diagram of the structure of the light-sweeping blanket module in the image;

[0043] Figure 13 It shows Figure 1 Diagram showing the fit and connection of the XYZU axis assembly for blanking, the blanking tray, and the blanking positioning fixture;

[0044] Figure 14 It shows Figure 1 The diagram shows the material unloading rack transport module, rack turntable module, and their working relationship.

[0045] Figure 15 It shows Figure 1 A schematic diagram of the structure of the material unloading rack transport module;

[0046] Figure 16 It shows Figure 1 A schematic diagram of the structure of the vacuum tank in the diagram;

[0047] Figure 17 It shows Figure 1 A schematic diagram of the circulating grinding water tank in the process.

[0048] The above figures include the following reference numerals:

[0049] 10. Loading and unloading tray; 11. Loading tray; 12. Unloading tray; 20. Glass sheet; 30. Glass loading bin; 31. Base plate; 32. Side plate; 33. First limit plate; 34. Second limit plate; 35. Air blowing component; 36. Glass arrival sensor; 37. Locking handle; 40. Lifting assembly; 41. Lifting rod; 42. Support block; 43. Cleanroom module; 44. Servo motor; 50. Glass sheet loading robot; 51. First vacuum nozzle; 52. Stepper motor; 53. Cylinder; 60. Glass buffer belt; 61. Conveyor belt; 62. Glass presence / absence detection sensor; 63. Single / double sheet detection ultrasonic sensor; 64. Glass arrival sensing device; 70. Loading and unloading X YZU axis assembly; 71. Second vacuum nozzle; 72. Loading X-axis sheet arrangement module; 73. Loading Y-axis sheet arrangement module; 74. Loading Z-axis upper and lower cylinders; 75. Loading U-axis rotary motor; 80. Glass positioning assembly; 81. Back plate; 82. Positioning arm; 83. Drive motor; 90. Polishing assembly; 91. Polishing mat module; 911. Polishing mat structure; 912. Rotary platform; 913. Drive unit; 914. Squeegee; 915. Bellows cover; 92. Polishing disc module; 921. First surface; 922. Second surface; 923. Polishing disc structure; 9231. Disc body; 9232. Rotary servo motor; 9233. Precision reducer; 9234. Origin sensor; 923 5. Pneumatic rotary joint; 924. Extending arm; 93. Tilting module; 94. Lifting module; 941. Bearing with seat; 942. Lifting motor; 100. Gantry assembly; 101. Material suction cup; 102. First Y-axis track; 103. Second Y-axis track; 104. First X-axis track; 105. Second X-axis track; 106. Gantry Z-axis module; 107. Dustproof protective cover; 200. Unloading and sorting XYZU-axis assembly; 201. Unloading X-axis sorting module; 202. Unloading Y-axis sorting module; 203. Unloading Z-axis upper and lower cylinders; 204. Unloading U-axis rotary motor; 205. Third vacuum nozzle; 300. Unloading positioning fixture; 400. Unloading insert transport module; 4 01. Fourth vacuum nozzle; 402. Tilting cylinder; 403. X-axis module of insert holder; 404. Y-axis module of insert holder; 405. Z-axis module of insert holder; 500. Turntable module of insert holder; 501. Positioning turntable of material rack; 502. Material rack; 503. Material rack drive unit; 504. Material tray sensor; 600. Unloading storage platform; 701. Vacuum tank; 702. Vacuum valve; 703. Drain valve; 704. Vacuum breaking structure; 800. Circulating grinding water tank; 801. Filter screen; 802. Cooling water pipe; 803. Water pump mounting position; 900. Frame; 901. First frame; 902. Second frame; 903. Control panel; M1. Positive limit; M2. Negative limit; M0. Origin. Detailed Implementation

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0051] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0052] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0053] In order to solve the problems of low automation and low production efficiency of existing polishing machines, this utility model provides a fully automatic polishing machine.

[0054] like Figures 1 to 17 As shown, the fully automatic polishing machine includes a loading and unloading table 10, a glass loading assembly, a polishing assembly 90, and a gantry assembly 100. The loading and unloading table 10 is equipped with a loading tray 11 and a unloading tray 12. The glass loading assembly includes a glass loading bin 30 and a loading conveyor. The glass loading bin 30 is located on the periphery of the loading and unloading table 10 and is positioned close to the loading tray 11 relative to the unloading tray 12. The glass loading bin 30 is used to provide glass sheets 20, and the loading conveyor is used to transport the glass sheets 20 in the glass loading bin 30 to the loading tray 10. In tray 11; the polishing assembly 90 is located on the side of the loading and unloading sheet tray 10 where the glass loading bin 30 is not provided. The polishing assembly 90 is used to polish the glass sheet 20. The gantry assembly 100 includes a material pick-up suction cup 101, which is movably arranged above the polishing assembly 90 and the loading and unloading sheet tray 10 along the X-axis, Y-axis and Z-axis. The material pick-up suction cup 101 is used to load the glass sheet 20 in the loading tray 11 into the polishing assembly 90, and to unload the glass sheet 20 polished by the polishing assembly 90 into the unloading tray 12.

[0055] The loading / unloading table 10 is equipped with a loading tray 11 and an unloading tray 12, which work closely with the glass loading assembly, polishing assembly 90, and gantry assembly 100 to achieve automatic loading, grinding, and unloading of glass sheets 20. This reduces reliance on manual operation and improves the continuity and automation of the production process. The glass loading bin 30 in the glass loading assembly is located at an appropriate position on the loading / unloading table 10, ensuring optimized loading path for the glass sheets 20 and reducing time and material loss during loading. Simultaneously, the loading transport component efficiently transports the glass sheets 20 from the loading bin to the loading tray 11, thereby accelerating preparation before polishing. The gantry assembly 100's suction cup 101 can move freely in three-dimensional space, greatly improving the flexibility and accuracy of adjusting the position of the glass sheets 20, making the polishing process more precise and rapid. Furthermore, this design allows the polishing machine to handle glass sheets 20 of different sizes and shapes, enhancing the equipment's adaptability and production versatility. By automating the material handling, polishing, and unloading processes, labor costs are significantly reduced, while the damage rate of glass sheets 20 caused by improper manual operation is also lowered, thereby saving raw material costs. The efficient polishing of the polishing assembly 90 not only improves the yield rate but also reduces energy and consumable consumption, further reducing production costs. The efficient automated process reduces operator working time in harsh conditions, such as high-temperature and dusty environments, improving working conditions and ensuring employee health and safety. The precise positioning and movement capabilities of the gantry assembly 100, along with the controllable polishing conditions of the polishing assembly 90, together ensure that each piece of glass reaches a consistent high-quality standard after polishing, reducing product defects caused by operational variability.

[0056] In summary, the fully automatic polishing machine of this application, through its unique design, has successfully achieved full automation from loading to unloading, which not only significantly improves production efficiency and reduces production costs, but also improves the working environment and ensures the stability and consistency of product quality.

[0057] like Figure 2As shown, the glass loading bin 30 includes a base plate 31 and side plates 32. The bottom of the side plates 32 is connected to the base plate 31 to form a space for accommodating glass sheets 20 between them. The three sides of the base plate 31 are surrounded by the side plates 32, meaning that the side plates 32 are arranged in an n-shape on the base plate 31. Both the side plates 32 and the base plate 31 are provided with adjustable limiting plates. By adjusting the position of the limiting plates, the size of the space in the glass loading bin 30 for accommodating the glass sheets 20 can be adjusted. The glass loading bin 30 provides a space for accommodating the glass sheets 20. In actual operation, the stacked glass sheets 20 are manually placed into the glass loading bin 30. The adjustable limiting plate design allows the glass loading bin 30 to accommodate glass sheets 20 of different sizes. By simply adjusting the position of the limiting plates, the size of the space for accommodating the glass sheets 20 can be changed, thereby supporting products of various specifications and improving the versatility of the equipment and the flexibility of the production line. The precise adjustment of the limiting plate ensures that the glass sheet 20 is neatly arranged in the feeding bin, preventing the glass sheet 20 from shifting or collapsing during movement, reducing the need for manual intervention, speeding up the feeding speed, and thus improving the overall production efficiency.

[0058] Specifically, a limiting plate 33 is provided on one side plate 32 of the glass loading hopper 30, which is used to accommodate glass plates. The first limiting plate 33 extends along the Y-axis and is slidably mounted on the side plate 32 via a column structure. It is locked by a locking handle 37 located on the side of the side plate 32 away from the limiting plate. Another limiting plate 34 is provided on the other side of the glass loading hopper 30, which is used to accommodate glass plates. The second limiting plate 34 extends along the Y-axis. Extending further, the second limiting plate 34 is located at the opening of the side plate 32, and the bottom of the second limiting plate 34 is connected to the bottom plate 31. The second limiting plate 34, which is mounted on the bottom plate 31, is configured to flip outwards, allowing it to rotate between limiting the position of the glass sheet 20 and allowing the glass sheet 20 to enter and exit. The glass loading bin 30 also includes an air blowing component 35 and a glass positioning sensor 36. Both the air blowing component 35 and the glass positioning sensor 36 are located on the top of the side plate 32, and are respectively located on a set of opposite sides of the top of the glass loading bin 30. The glass positioning sensor 36 is used to detect whether the glass sheet 20 has risen to the picking position.

[0059] In an optional embodiment of this application, the bottom of the second limiting plate 34 and the bottom plate 31 can be pivotally connected, so that the top of the second limiting plate 34 can be flipped outward through the pivotal connection, thereby allowing the glass sheet 20 to enter the glass loading bin 30.

[0060] The first limiting plate 33 extends along the Y-axis and can be slidably adjusted via a column structure. Combined with the locking mechanism of the locking handle 37, it can precisely fix glass sheets 20 of different widths, ensuring their stable position within the glass loading bin 30. This design guarantees the accuracy of subsequent glass sheet 20 transfer, reducing deviations and breakage risks. The second limiting plate 34 is connected to the base plate 31 and has an outward flipping function. This design not only restricts the position of the glass sheet 20 but also facilitates its entry and exit when needed, improving the flexibility and efficiency of the loading process. The air blowing component 35 and the glass positioning sensor 36 are located on the top of the side plate 32, enabling immediate detection and cleaning after the glass sheet 20 is placed in position. The air blowing component 35 removes dust and foreign objects from the surface of the glass sheet 20, improving cleanliness before polishing, while the glass positioning sensor 36 ensures correct gripping by the subsequent robotic arm, preventing malfunctions and accidents caused by positional deviations.

[0061] The combination of the flip-up second limiting plate 34 and the sliding first limiting plate 33 not only allows for flexible adjustment of the internal space according to the size of the glass sheet 20, but also enables quick opening when not in use, facilitating the rapid loading and unloading of large quantities of glass sheets 20, greatly improving operational convenience and space utilization. Through this design, the glass loading bin 30 of this application can more quickly and accurately position and prepare the glass sheet 20, reducing manual adjustment time and accelerating the loading speed, thereby directly improving the overall production efficiency of the polishing machine.

[0062] like Figure 2 and Figure 3 As shown, the glass loading assembly also includes a lifting assembly 40. Multiple glass sheets 20 are stacked in the glass loading bin 30. At least a portion of the lifting assembly 40 passes through the bottom of the glass loading bin 30, i.e., the base plate 31, and is movably arranged along the Z-axis to lift the multiple glass sheets 20 in the glass loading bin 30 upwards. The lifting assembly 40 can lift the glass sheets 20 in the glass loading bin 30 to a designated position. The lifting assembly 40 includes a lifting rod 41, a cleanroom module 43, and a servo motor 44. The top of the lifting rod 41 has a support block 42; the cleanroom module 43 has a slide rail extending along the Y-axis, and the bottom end of the lifting rod 41 is slidably connected to the slide rail; the servo motor 44 is mounted on the cleanroom module 43 to drive the lifting rod 41 to move, and the servo motor 44 is a servo motor 44 with a brake.

[0063] The use of servo motor 44 ensures precise control of the lifting process, enabling stable and continuous lifting motion along the Z-axis and precise adjustment of the lifting height. This avoids vibration and displacement of the glass sheet 20 during lifting, reduces breakage rate, and improves the accuracy and reliability of automated feeding. The introduction of the cleanroom module 43, especially its slide design, provides a clean track for the smooth movement of the lifting rod 41, reducing interference from dust and particles and maintaining a clean environment for the feeding process, which is crucial for the high-quality processing of the glass sheet 20. The top support block 42 of the lifting rod 41 effectively supports the stacked glass sheets 20. As the lifting rod 41 moves along the Z-axis, it automatically lifts the bottom glass sheet 20 to a set position, facilitating subsequent segmentation and gripping by the robotic arm. This design optimizes space utilization, and the precise control of the servo motor 44 significantly accelerates the feeding speed, improving the overall production efficiency of the equipment. The automation of the lifting assembly 40 reduces direct contact between operators and the glass sheets 20, lowering safety risks during operation. It also simplifies loading operations, reduces the possibility of human error, and improves operational convenience and safety. The adjustability of the lifting assembly 40 allows it to accommodate glass sheets 20 of varying thicknesses and stacking heights, enhancing the equipment's flexibility and adaptability to diverse production needs.

[0064] like Figure 3 As shown, the movement of the lifting rod 41 on the cleanroom module 43 has a positive limit M1, a negative limit M2, and an origin M0. When the bottom end of the lifting rod 41 is at the negative limit M2, the bottom end of the lifting rod 41 is located at the lower end of the cleanroom module 43. When the bottom end of the lifting rod 41 is at the positive limit M1, the bottom end of the lifting rod 41 is located near the top of the cleanroom module 43.

[0065] like Figure 2 As shown in the specific embodiment of this application, two sets of glass feeding bins 30 and lifting components 40 are provided, with the two sets of glass feeding bins 30 and the two sets of lifting components 40 corresponding one-to-one. In other optional embodiments, the number of glass feeding bins 30 and lifting components 40 can be set according to actual conditions, and is not limited to the two sets in this application.

[0066] Specifically, the loading and transport components include a glass sheet loading robot 50, a glass buffer belt 60, and a loading and unloading XYZU axis assembly 70. The glass sheet loading robot 50 has a first vacuum nozzle 51, which is movably disposed above the glass loading bin 30 and the glass buffer belt 60 along the X and Z axes to pick up the glass sheets 20 in the glass loading bin 30 and place them on the glass buffer belt 60. The glass buffer belt 60 is disposed on the loading and unloading table 10 and located between the glass loading bin 30 and the loading tray 11. The loading and unloading XYZU axis assembly 70 has a second vacuum nozzle 71, which is movably disposed along the X, Y, and Z axes and can translate and rotate along the plane formed by the X and Y axes. The second vacuum nozzle 71 is used to transport the glass sheets 20 on the glass buffer belt 60 to the loading tray 11.

[0067] like Figure 4 As shown, the glass sheet loading robot 50 also includes a track extending along the X-axis and a stepper motor 52 mounted thereon. A first vacuum nozzle 51 is connected to the track via a cylinder 53. The stepper motor 52 controls the movement of the first vacuum nozzle 51 along the X-axis, and the cylinder 53 drives the first vacuum nozzle 51 to move along the Z-axis. The movement of the first vacuum nozzle 51 in the X-axis direction also has positive limits M1, negative limits M2, and an origin M0. The first vacuum nozzle 51 of the glass sheet loading robot 50 is used to pick up the glass sheet 20 that has been lifted into position in the glass loading bin 30 and place it on the glass buffer belt 60. A negative pressure gauge is installed on the first vacuum nozzle 51 to detect whether there is any vacuum leakage.

[0068] like Figure 5 As shown, the glass buffer belt 60 is used to transport the glass to a designated position for secondary positioning. The glass buffer belt 60 includes a conveyor belt 61, the transport direction of which is parallel to the X-axis. A glass presence / absence detection sensor 62 is provided on the glass buffer belt 60 to detect whether there is a glass piece 20 on the conveyor belt 61.

[0069] The design of the conveyor belt 61, parallel to the X-axis, perfectly matches the transmission direction of the glass sheet 20 with the layout of the production line, reducing unnecessary turning and waiting time, and accelerating the transmission speed of the glass sheet 20 from the glass loading bin 30 to the secondary positioning position, thereby improving overall production efficiency. The integrated glass presence / absence detection sensor 62 can immediately sense whether the glass sheet 20 has been placed on the conveyor belt 61, responding instantly and adjusting the transmission process to avoid idle operation and repetitive operations, ensuring transmission accuracy and the continuity of subsequent processing. The glass buffer belt 60, as a key bridge between the glass loading bin 30 and the loading tray 11, reduces the need for manual intervention due to its automation features. Through intelligent control of the sensors, it achieves automatic transmission and orderly management of the glass sheet 20, improving the automation and intelligence level of the equipment.

[0070] Specifically, one or more sets of glass buffer belts 60 are provided. When there are multiple sets of glass buffer belts 60, they are arranged sequentially along the Y-axis. In a specific embodiment of this application, there are two sets of glass buffer belts 60, which are arranged side by side between the glass loading bin 30 and the loading tray 11. A glass positioning sensor 64 is provided at the tail end of each of the two glass buffer belts 60.

[0071] like Figure 5 As shown, the glass buffer belt 60 also includes a single / double sheet detection ultrasonic sensor 63. This sensor is located at the end of the glass buffer belt 60 near the loading tray 11. The single / double sheet detection ultrasonic sensor 63 is used to detect whether the glass sheet 20 to be transferred to the loading tray 11 is a single sheet. Positioned at the end of the glass buffer belt 60 near the loading tray 11, the single / double sheet detection ultrasonic sensor 63 can accurately detect whether the glass sheet 20 is a single sheet before it is transferred to the loading tray 11. This step is crucial because stacking can lead to inaccurate positioning or damage of the glass sheet 20 in subsequent processing, such as during polishing, affecting finished product quality and production efficiency. Through real-time monitoring, once a non-single glass sheet 20 is detected, the system can immediately issue a warning and stop transmission, avoiding unnecessary troubleshooting and downtime, ensuring smooth operation of the production line, and thus significantly improving production efficiency. Preventing stacking not only avoids loss of the glass sheet 20 itself but also reduces waste of abrasive, water, and energy due to errors, helping to reduce production costs and achieve green manufacturing.

[0072] Meanwhile, it ensures that each glass sheet 20 can be independently and accurately transferred to the feeding tray 11, avoiding uneven polishing and other processing defects caused by stacking, thereby improving the quality consistency of the final product and enhancing its market competitiveness. The integration of the single / double sheet detection ultrasonic sensor 63 enhances the automation and intelligence of the equipment, reduces manual inspection steps, lowers the operator's workload, and improves the overall automation level of the production line.

[0073] like Figure 5 As shown, the loading and transport component also includes a glass positioning assembly 80, which is located on the side of the glass buffer belt 60 facing the loading tray 11, that is, at the end of the glass buffer belt 60. The glass positioning assembly 80 includes a back plate 81, two positioning arms 82, and a drive motor 83. The back plate 81 has a slide rail extending along the Y-axis. The bottoms of the two positioning arms 82 are movably mounted on the slide rail, extending upwards and bending towards the glass buffer belt 60 to form L-shaped positioning arms 82. A space is formed between the two positioning arms 82 for clamping and aligning the glass sheet 20. The drive motor 83 is driven by the positioning arms 82 to drive the positioning arms 82 to move on the slide rail. Each positioning arm 82 has a corresponding drive motor 83.

[0074] The positions of the two L-shaped positioning arms 82 can be finely adjusted via slides on the back plate 81. When the glass sheet 20 is conveyed to this assembly from the glass buffer belt 60, the positioning arms 82 can clamp the glass sheet 20 from the side and ensure precise alignment with the set loading position through slight oscillation and adjustment. This mechanism significantly improves the positioning accuracy of the glass sheet 20, providing a reliable foundation for subsequent polishing processes. Each positioning arm 82 is equipped with its own drive motor 83, enabling them to move independently and respond quickly according to the size and shape of the glass sheet 20, thus adapting to products of different specifications. This high dynamic adaptability ensures that the equipment can flexibly handle various types of glass sheets 20, meeting diverse production needs.

[0075] Precise positioning and calibration reduce the offset and vibration of the glass sheet 20 during the polishing process, ensuring uniform grinding on each side, thereby improving the optical performance and surface quality of the finished product and reducing the defect rate. Automated positioning and calibration reduce the need for manual intervention, accelerate the transfer speed of the glass sheet 20 from the buffer belt to the loading tray 11, shorten the overall production cycle, and improve production efficiency. The automated operation of the glass positioning assembly 80 reduces direct contact between the operator and the high-speed rotating glass sheet 20, lowers the risk of safety accidents during operation, and optimizes the working environment.

[0076] In summary, the loading process of the glass sheet 20 of the fully automatic polishing machine is as follows: the stacked glass sheet 20 is manually placed into the glass loading bin 30, the lifting component 40 lifts the placed glass sheet 20 to the designated position, the glass position sensor 36 detects whether the glass sheet 20 has risen to the picking position, when it rises to the picking position, the glass sheet loading robot 50 picks up the lifted glass sheet 20 and places it on the glass buffer belt 60, the glass buffer belt 60 conveys the glass sheet 20 to the designated position, the glass position sensor 64 senses the presence of the glass sheet 20, and the glass positioning component 80 positions the glass sheet 20.

[0077] like Figure 7 As shown, the XYZU axis loading and unloading assembly 70 also includes an X-axis loading module 72, a Y-axis loading module 73, a Z-axis loading cylinder 74, and a U-axis loading motor 75. The X-axis loading module 72 is located on the side of the loading disk 11 facing the scanning assembly 90, and has a track extending along the X-axis. One end of the Y-axis loading module 73 is movably mounted on the track, and has a track extending along the Y-axis. The Z-axis loading cylinder 74 is movably mounted on the Y-axis loading module 73. A second vacuum nozzle 71 is mounted on the Z-axis loading cylinder 74, and the second vacuum nozzle 71 moves in the Z-axis direction via the Z-axis loading cylinder 74. The U-axis loading motor 75 is mounted on the Z-axis loading cylinder 74 and drives the second vacuum nozzle 71 to translate and rotate along the plane formed by the X-axis and Y-axis. The XYZU axis assembly 70 for feeding and stacking also includes a vacuum detection negative pressure gauge for detecting whether there is a vacuum leak in the second vacuum nozzle 71.

[0078] The X-axis and Y-axis loading modules 72 and 73 provide bidirectional positioning capabilities along the X and Y axes, enabling the second vacuum nozzle 71 to precisely reach the designated position and ensure that each glass sheet 20 is accurately picked up and placed on the preset coordinates. The addition of the Z-axis upper and lower cylinders 74 gives the assembly the ability to move in the Z-axis direction, allowing the second vacuum nozzle 71 to smoothly contact and lift the glass sheet 20 vertically, reducing the risk of glass breakage due to unstable contact and improving the safety of material transport. The U-axis rotary motor 75 drives the second vacuum nozzle 71 to rotate and translate, thereby adjusting the angle of the glass sheet 20 on the plane formed by the X and Y axes, ensuring that each glass sheet is precisely aligned before being placed on the loading tray 11, meeting the specific directional requirements of subsequent processes. Through automation and precision control, the loading speed of the glass sheet 20 can be significantly accelerated, waiting time and manual intervention reduced, thus greatly improving the production efficiency and capacity of the polishing machine. Precise positioning and rotation alignment help ensure that all glass plates 20 are in the same ideal state before polishing, reducing processing quality problems caused by positional deviations and improving the consistency of optical performance and surface quality of the finished product.

[0079] The working process of the XYZU axis assembly 70 for loading and stacking glass sheets: After the glass sheet 20 at the end of the glass buffer belt 60 is positioned, the second vacuum nozzle 71 operates to pick up the glass sheet 20 from the positioning point, rotate it to the corresponding direction, move it to the designated position, and place it in the loading tray 11. This cycle continues until the glass sheet 20 fills the entire loading tray 11.

[0080] like Figure 1 As shown, the fully automatic polishing machine also includes a first frame 901 and a second frame 902. The first frame 901 and the second frame 902 are respectively placed on a set of opposite sides of the polishing assembly 90, and are on different sides from the loading and unloading tray 10.

[0081] like Figure 8As shown, the gantry assembly 100 also includes a gantry Y-axis module, a gantry X-axis module, and a gantry Z-axis module 106. The gantry Y-axis module includes a first Y-axis track 102 and a second Y-axis track 103, which are parallel and spaced apart, and respectively mounted on the first frame 901 and the second frame 902. The two ends of the gantry X-axis module are slidably connected to the first Y-axis track 102 and the second Y-axis track 103, respectively. The gantry X-axis module includes parallel... The first X-axis track 104 and the second X-axis track 105; the gantry Z-axis module 106 is located between the first X-axis track 104 and the second X-axis track 105 and is slidably connected to them. The gantry Z-axis module 106 has a track extending along the Z-axis direction. The material pick-up suction cup 101 is movably arranged on the track of the gantry Z-axis module 106 along the Z-axis direction. The material pick-up suction cup 101 has multiple vacuum suction cups. The material pick-up suction cup 101 is used to realize the loading and unloading of the glass sheet 20 on the light-scanning assembly 90.

[0082] The gantry X-axis and Y-axis modules provide precise motion control in the horizontal X and Y axes, ensuring that the material-picking suction cup 101 can quickly and accurately move to the position of the glass sheet 20. This high-precision positioning helps reduce errors in the material transfer process, improving overall production efficiency and product quality. The gantry Z-axis module 106 gives the material-picking suction cup 101 free movement in the vertical Z-axis direction. Combined with the design of multiple vacuum suction cups, it ensures smooth operation when the suction cup contacts and separates the glass sheet 20, avoiding glass breakage or positional displacement caused by inaccurate vertical positioning, further ensuring the safety and accuracy of material transfer. The three modules of the gantry assembly 100 are independent yet closely coordinated, and can respond quickly after receiving instructions to complete complex positioning and picking / placing actions. This efficient material transfer mechanism significantly shortens the loading and unloading time, increases the throughput of the polishing machine, and thus improves overall production efficiency.

[0083] The flexibility and scalability of the gantry module 100 allow it to adapt to glass sheets 20 of different sizes and thicknesses, as well as different loading and unloading requirements, improving the equipment's versatility and adaptability for various production scenarios. The automated gantry module 100 significantly reduces the need for manual operation, lowers labor intensity, reduces the possibility of human error, and improves the automation level and operational safety of the production line.

[0084] Specifically, the suction cup 101 is also equipped with a dustproof protective cover 107 to prevent dust from affecting the glass sheet 20 and ensure the cleanliness of the suction cup 101. In a specific embodiment of this application, the suction cup 101 has 14 sets of vacuum suction cups, which can pick up 14 glass sheets 20 at a time.

[0085] Gantry component 100 operation process: The gantry X-axis module moves to the position of the loading tray 11, the material pick-up suction cup 101 descends to the material pick-up position through the gantry Z-axis module 106, the material pick-up suction cup 101 picks up the glass sheet 20 in the loading tray 11, then the material pick-up suction cup 101 rises through the gantry Z-axis module 106, and moves to the position of the polishing component 90 through the movement of the gantry X-axis module on the gantry Y-axis module, and places the glass sheet 20 on the polishing component 90 for polishing, at the same time the material pick-up suction cup 101 picks up the polished glass sheet 20 and sends it to the unloading tray 12, and the operation is repeated.

[0086] like Figure 9 As shown, the scanning assembly 90 includes a scanning mat module 91, a scanning disc module 92, a flipping module 93, and a lifting module 94. The scanning disc module 92 is mounted on the scanning mat module 91. Multiple scanning disc structures 923 are provided on both the first surface 921 and the second surface 922 of the scanning disc module 92. The scanning disc module 92 has extension arms 924 on both sides. The flipping module 93 is connected to one of the extension arms 924, and the flipping module 93 is used to flip the scanning disc module 92. The lifting module 94 is connected to the extension arms 924, and the lifting module 94 is used to raise and lower the scanning disc module 92.

[0087] like Figure 10As shown, the scanning optical disc structure 923 includes a disc body 9231, a rotary servo motor 9232, a precision reducer 9233, and a home point sensor 9234. The disc body 9231 has multiple vacuum adsorption holes for adsorbing multiple glass slides 20. The rotary servo motor 9232 is driven by the disc body 9231 to drive its rotation. The precision reducer 9233 and the home point sensor 9234 are mounted on the rotary servo motor 9232. The scanning optical disc structure 923 also has a pneumatic rotary joint 9235 communicating with the multiple vacuum adsorption holes. In a specific embodiment of this application, the number of vacuum adsorption holes in a single disc body 9231 is 14. However, in practical applications, different numbers of vacuum adsorption holes can be set according to actual conditions. The rotary servo motor 9232 drives the disc body 9231 to rotate, and the addition of the precision reducer 9233 ensures that the rotation speed of the scanning optical disc can be precisely controlled, which is a key factor in the uniformity of scanning. By adjusting the rotation speed, the pressure and contact time during polishing can be controlled, thereby achieving the desired polishing effect and improving the surface finish of the finished product. The origin sensor 9234 ensures that the polishing disc returns to a fixed and known initial position, the "origin," each time it starts. This function is particularly important in automated and continuous production environments, guaranteeing high repeatability and consistency in the polishing process of each batch of glass sheets 20, which is crucial for maintaining product quality standards. The multiple vacuum adsorption holes on the disc body 9231 effectively adsorb glass sheets 20 of various sizes, ensuring their stability under high-speed rotation. This adsorption mechanism not only reduces the displacement of the glass sheets 20 during polishing but also avoids damage caused by vibration or friction, improving processing safety and efficiency.

[0088] like Figure 12 As shown, the light-reflecting mat module 91 includes a light-reflecting mat structure 911, a rotating platform 912, and a drive unit 913. The light-reflecting mat structure 911 is mounted on the rotating platform 912. Both the light-reflecting mat structure 911 and the rotating platform 912 are circular. The drive unit 913 is driven by the rotating platform 912 to drive the rotating platform 912 to rotate. The drive unit 913 is specifically a motor, and the output end of the motor is connected to the central axis of the rotating platform 912. The light-reflecting mat module 91 also includes a wiper blade 914 located below the rotating platform 912.

[0089] The synchronous rotation of the rotating platform 912 and the polishing mat structure 911 ensures complete coverage of the contact surface between the polishing mat structure 911 and the glass slide 20. During rotation, the fibers of the polishing mat structure 911 uniformly rub against the surface of the glass slide 20, eliminating the localized wear problems that may occur during static polishing. This uniform contact results in a uniform polishing effect, improving the surface quality and optical performance of the finished product. The drive unit 913, in particular using a motor as the power source, can quickly start and stop the rotating platform 912 and precisely control the rotation speed. This feature speeds up the polishing cycle, reduces non-productive waiting time, and thus significantly improves the production efficiency of the polishing machine. Connecting the motor output directly to the central shaft of the rotating platform 912 provides strong rotational torque, ensuring the stability of the rotation process and the efficiency of power transmission. This design reduces power loss, extends the service life of the equipment, and lowers maintenance costs.

[0090] like Figure 9 and Figure 11 As shown, four scanning optical disc structures 923 are provided on each of the two surfaces of the scanning optical disc module 92. The rotary servo motor 9232, precision reducer 9233, and origin sensor 9234 of each scanning optical disc structure 923 are all located inside the scanning optical disc module 92. Each of the two extended arms 924 of the scanning optical disc module 92 is provided with a corresponding lifting module 94. The top of the lifting module 94 has a seated bearing 941 connected to the extended arm 924. The lifting module 94 includes a lifting motor 942, which drives it to raise or lower the scanning optical disc module 92. The scanning optical disc module 92 is flipped using a flipping module 93. A bellows cover 915 is also provided between the lifting module 94 and the extended arm 924.

[0091] Multiple glass sheets 20 from the loading tray 11 are picked up by the suction cup 101 of the gantry assembly 100 and placed into the trays 9231. Once all four trays 9231 are full, the rotary servo motor 9232, equipped with a precision reducer 9233 and a home point sensor 9234, drives the trays 9231 to rotate according to a pre-set time and speed, and can precisely control the speed and stopping position of the trays 9231. Real-time monitoring of the current load of the rotary servo motor 9232 is used to control the rotation based on algorithm feedback. Figure 11 The lowering depth of the lifting motor 942 in the lifting module 94 ensures uniform and efficient grinding, improving the yield rate. The lifting module 94 and the flipping module 93 raise and flip the entire scanning disc module 92 180°, bringing the four discs 9231 of the first surface 921 into contact with the scanning mat module 91 for rotational grinding and polishing until the glass plate 20 achieves a good effect. After polishing, the lifting module 94 and the flipping module 93 are raised and flipped 180° again, bringing the discs 9231 of the second surface 922 into contact with the scanning mat module 91 for rotational grinding and polishing. This cycle is repeated.

[0092] like Figure 13 As shown, the fully automatic polishing machine also includes a material feeding and arrangement XYZU axis assembly 200, which is disposed on the loading and unloading arrangement table 10 and located near the material feeding tray 12. The material feeding X-axis arrangement module 201 is located on the side of the material feeding tray 12 facing the polishing assembly 90. The XYZU axis unloading and stacking assembly 200 includes an X-axis unloading and stacking module 201, a Y-axis unloading and stacking module 202, a Z-axis unloading and stacking cylinder 203, and a U-axis unloading rotary motor 204. The X-axis unloading and stacking module 201 has a track extending along the X-axis. One end of the Y-axis unloading and stacking module 202 is movably mounted on the track, and the Z-axis unloading and stacking cylinder 203 is movably mounted on the Y-axis unloading and stacking module 202. A third vacuum nozzle 205 is mounted on the Z-axis unloading and stacking cylinder 203, and the third vacuum nozzle 205 moves in the Z-axis direction via the Z-axis unloading and stacking cylinder 203. The U-axis unloading rotary motor 204 is mounted on the Z-axis unloading and stacking cylinder 203 and drives the third vacuum nozzle 205 to translate and rotate along the plane formed by the X-axis and Y-axis. The third vacuum nozzle 205 is equipped with a vacuum detection negative pressure gauge.

[0093] Specifically, the fully automatic polishing machine also includes a feeding and positioning fixture 300. The feeding and positioning fixture 300 is positioned on the loading and unloading tray 10 and between the feeding tray 12 and the feeding tray XYZU axis assembly 200. The feeding and positioning fixture 300 has a positioning area, and a third vacuum nozzle 205 is used to transport the glass sheets 20 in the feeding tray 12 to the positioning area. The third vacuum nozzle 205 sequentially picks up the glass sheets 20 on the feeding tray 12 and positions them on the feeding and positioning fixture 300, so that the insert frame transport module 400 can pick them up and place them into the insert frame turntable module 500. That is, after the picking suction cup 101 unloads the polished glass sheets 20 into the feeding tray 12, the third vacuum nozzle 205 moves above the feeding tray 12, sequentially picks up the glass sheets 20 in the feeding tray 12 and places them on the feeding and positioning fixture 300 for secondary positioning. This cycle continues until the entire feeding tray 12 is removed.

[0094] The design of the unloading positioning fixture 300, especially its internal positioning area, enables secondary positioning of the polished glass sheet 20. This process is achieved through high-precision positioning components, ensuring that each glass sheet 20 is precisely aligned before leaving the polishing machine, reducing positional deviations and improving the yield rate of finished products. The third vacuum nozzle 205 is responsible for smoothly transferring the glass sheet 20 from the unloading tray 12 to the positioning area. Utilizing the vacuum adsorption mechanism, even the thinnest or most fragile glass sheet 20 can be handled safely and without damage, avoiding the breakage risks associated with traditional mechanical clamping. As a key component in the unloading process, the unloading positioning fixture 300, in conjunction with the unloading and stacking XYZU axis assembly 200, greatly optimizes the unloading process. The unloading positioning fixture 300 not only increases the positioning speed of the glass sheet 20 but also ensures the smooth execution of subsequent processing steps, such as insertion, stacking, or packaging, significantly improving unloading efficiency. Through automated positioning and material transfer, the unloading positioning fixture 300 reduces the need for manual operation. Operators only need to monitor the equipment's operating status, eliminating the need for frequent intervention in the material feeding process. This reduces labor intensity, minimizes errors caused by human factors, and improves the overall automation level of the production line.

[0095] like Figure 14 and Figure 15 As shown, the fully automatic polishing machine also includes a material unloading and storage platform 600. The material unloading and storage platform 600 is located on the side of the loading and unloading sheet arrangement platform 10 away from the glass loading bin 30 and is connected to it. The platform surface of the material unloading and storage platform 600 is lower than the platform surface of the loading and unloading sheet arrangement platform 10. The fully automatic polishing machine also includes a material unloading insert transport module 400 and an insert turntable module 500. The insert turntable module 500 is rotatably mounted on the material unloading and storage platform 600. The material unloading insert transport module 400 is located between the material unloading tray 12 and the insert turntable module 500. The material unloading insert transport module 400 has a fourth vacuum nozzle 401. The fourth vacuum nozzle 401 is movable along the X-axis, Y-axis and Z-axis and is equipped with a tilting cylinder 402. The fourth vacuum nozzle 401 is used to unload the glass sheet 20 in the material unloading tray 12 into the insert turntable module 500.

[0096] The design of the unloading storage platform 600, with its surface lower than that of the loading and unloading tray 10, naturally creates a height difference for material transport. This simplifies the unloading process of glass sheets 20 from the unloading tray 12 to the unloading storage platform 600, avoids complex lifting mechanisms, saves space and cost, and also facilitates subsequent rack insertion operations. The fourth vacuum nozzle 401 integrated into the unloading rack transport module 400 can move freely along the X, Y, and Z axes. Combined with the function of the flipping cylinder 402, it achieves precise picking and orientation of the glass sheets 20. This series of automated operations ensures that the glass sheets 20 can be accurately inserted into the rack turntable module 500, optimizing the storage process, reducing the need for manual operation, and improving production efficiency. The rack turntable module 500 is rotatable and can be flexibly adjusted in angle to facilitate the rack insertion work of the fourth vacuum nozzle 401. This design not only increases the speed of the rack insertion process but also enhances the adaptability to glass sheets 20 of different sizes and shapes, increasing the flexibility of material management at the storage platform.

[0097] like Figure 14 and Figure 15 As shown, the unloading insert transport module 400 also includes an insert X-axis module 403, an insert Y-axis module 404, and an insert Z-axis module 405. The insert X-axis module 403 has a track extending along the X-axis. The end of the insert Y-axis module 404 is slidably mounted on the track of the insert X-axis module 403. The insert Y-axis module 404 has a track extending along the Y-axis. The insert Z-axis module 405 is slidably mounted on the insert Y-axis module 404. A fourth vacuum nozzle 401 is mounted on the insert Y-axis module 404 and can move along the Z-axis. The unloading insert transport module 400 also includes a CCD positioning camera for positioning the empty material rack 502, facilitating the accurate insertion of the glass sheet 20 into the material rack 502 by the fourth vacuum nozzle 401.

[0098] Specifically, the insert turntable module 500 includes a material rack positioning turntable 501, material racks 502, and a material rack drive unit 503. Multiple material racks 502 are arranged circumferentially around the material rack positioning turntable 501, and each material rack 502 has multiple sets of parallel placement areas. The material rack drive unit 503 is driven by the material rack positioning turntable 501 to drive its rotation. The arrangement of multiple material racks 502 around the material rack positioning turntable 501, with each rack having multiple sets of parallel placement areas, greatly improves the utilization efficiency of storage space, allowing the equipment to store more glass sheets 20 within a limited space, reducing the floor space occupied by the storage area, and optimizing the production line layout. Simultaneously, the parallel placement areas accelerate the insertion speed of the glass sheets 20, improving unloading efficiency. The rack drive unit 503 is connected to the rack positioning turntable 501, enabling precise control of the turntable's rotation to position the rack 502 in an operable position for the fourth vacuum nozzle 401. This automated process eliminates the need for manual rack insertion and material handling, reducing operator workload and avoiding errors and damage that may occur with manual operation, thus improving the accuracy and safety of the rack insertion process. Through the rotation control of the rack positioning turntable 501, operators can flexibly manage material storage and flow. When a set of racks 502 is filled with glass sheets 20, the turntable can easily rotate to the next empty rack 502, ensuring continuous material flow and meeting the high-speed operation requirements of the production line. The design of the rack insertion turntable module 500 allows the fourth vacuum nozzle 401 to quickly switch between multiple racks 502, reducing waiting time, optimizing the unloading and insertion process, and improving production efficiency. Simultaneously, this setup also contributes to production line balance, preventing the unloading stage from becoming a bottleneck in the entire production process.

[0099] In a specific embodiment of this application, four sets of material racks 502 are provided on the material rack positioning turntable 501. Each material rack 502 has four placement areas, which are arranged side by side along a straight line. The material rack positioning turntable 501 is also provided with a material tray sensor 504. The material tray sensor 504 is used to determine whether a material rack 502 has been placed at the work station position. Only when a material rack 502 is present can the fourth vacuum nozzle 401 be controlled to pick up the glass sheet 20 positioned in the unloading positioning fixture 300 and insert it into the material rack 502 in sequence.

[0100] The operation process of the unloading rack transport module 400 and the rack turntable module 500 is as follows: The empty rack 502 is placed manually in the designated position of the rack positioning turntable 501. The rack positioning turntable 501 rotates 90° to the designated position. The fourth vacuum nozzle 401 picks up the glass pieces 20 positioned in the unloading positioning fixture 300 and inserts them into the rack 502 in sequence until it is full. The turntable rotates 90° again to insert the racks, and the cycle is repeated.

[0101] like Figure 16 As shown, the fully automatic polishing machine also includes a vacuum drainage system, which is connected to the polishing assembly 90. The vacuum drainage system includes a vacuum tank 701, which is used to store vacuum and isolate grinding water. The vacuum tank 701 is equipped with a vacuum breaking structure 704. Vacuum valves 702 and drain valves 703 are respectively installed at both ends of the vacuum tank 701. Vacuum valves 702 are used to switch the vacuum on and off on the two surfaces of the polishing assembly 90, and drain valves 703 are used to drain the grinding water that has entered the vacuum tank 701. The vacuum breaking structure 704 is used to release the residual vacuum in the vacuum tank 701.

[0102] In a specific embodiment of this application, there are two sets of vacuum drainage systems, with different vacuum drainage systems configured on both sides of the light-scanning assembly 90.

[0103] It should be noted that one vacuum drainage system is connected to four scanning optical disc structures 923 on one side via a vacuum suction pipe, and another vacuum drainage system is connected to four scanning optical disc structures 923 on the other side via another vacuum suction pipe. The vacuum drainage system is used to adsorb and fix the glass slides. The vacuum drainage system can discharge water and grinding fluid brought in by suction. Vacuum valve 702 is connected to the main vacuum pipeline in the workshop, and drain valve 703 is used to knock out the precipitated water and grinding fluid.

[0104] like Figure 17 As shown, the fully automatic polishing machine also includes a circulating grinding water tank 800, which is connected to the vacuum drainage system. The circulating grinding water tank 800 has a filter screen 801 and a cooling water pipe 802. A water pump mounting position 803 is provided on the circulating grinding water tank 800. The water pump is used to pump the grinding water to the polishing assembly 90 to polish the glass plate 20. The circulating grinding water tank 800 is used to store the grinding water. The filter screen 801 is used to filter out residues in the grinding process to prevent scratching the glass plate 20. The cooling water pipe 802 is used to cool the grinding water to prevent it from condensing due to excessive temperature.

[0105] It should be noted that the polishing mat module 91 is connected to the circulating grinding water tank 800 through a pipeline. The grinding fluid output by the polishing mat module 91 is transported through the pipeline, filtered by the filter screen 801, and then enters the circulating grinding water tank 800. The grinding fluid in the circulating grinding water tank 800 is then pumped back to the polishing disc module 92 by the stirring shaft water pump for continued use, thereby realizing the recycling of the grinding fluid.

[0106] The fully automatic polishing machine integrates a circulating grinding water tank 800, which is tightly connected to the vacuum drainage system, forming a closed loop. The circulating grinding water tank 800 not only stores grinding water but also includes a filter screen 801, cooling water pipes 802, and a pre-set water pump mounting position 803. The water pump draws grinding water from the circulating grinding water tank 800 and delivers it to the polishing assembly 90 for cooling the glass plate 20 and supplying the grinding fluid during the polishing process. The presence of the filter screen 801 is crucial for preventing residues in the grinding fluid from entering the polishing assembly 90. It effectively intercepts and removes solid particles in the grinding water, preventing these particles from contacting the glass plate 20 during polishing, thus preventing scratches on the glass surface and ensuring the surface quality and optical performance of the glass plate 20. The cooling water pipe 802 is built into the circulating grinding water tank 800. Through the circulating cooling medium, it can continuously reduce the temperature of the grinding water, avoiding vaporization or chemical changes in the grinding water caused by high temperature, and reducing unnecessary heat accumulation during the grinding process. This feature not only improves grinding efficiency but also ensures the stability of the grinding water, extends its service life, and reduces production costs.

[0107] The temperature of the grinding water is controlled within an optimal range through the temperature regulation of the cooling water pipe 802, ensuring the viscosity and dispersibility of the grinding compound and improving grinding efficiency and quality. A suitable temperature also helps reduce equipment wear and extend the service life of the polishing assembly 90. The circulating grinding water, combined with an efficient filtration and cooling mechanism, significantly reduces water consumption and the amount of grinding compound used. This not only has a positive impact on environmental protection but also reduces production costs and improves economic efficiency by reducing material consumption. The circulating grinding water tank 800, in conjunction with the vacuum drainage system, forms a stable and safe circulation system. It can promptly remove impurities and heat generated during the grinding process, avoiding blockages and overheating within the system, ensuring the continuous and stable operation of the fully automatic polishing machine, and reducing downtime and production losses caused by system failures.

[0108] In addition, such as Figure 1 As shown, the frame 900 of the fully automatic polishing machine is also equipped with a control panel 903, which allows for flexible control and monitoring of the machine's operating status. The control panel 903 includes buttons for start, pause, power on, power off, lighting, and emergency stop.

[0109] In summary, the workflow of the fully automatic polishing machine is as follows: A manual operator loads glass sheet 20 into the glass loading bin 30. The lifting assembly 40 lifts the glass sheet 20 to a set position. The glass slitting and loading robot 50 picks up the lifted glass sheet 20 and places it into the glass buffer belt 60. The glass buffer belt 60 then transports the glass sheet 20 to a designated position where it undergoes secondary positioning by the glass positioning assembly 80. The loading and unloading XYZU axis assembly 70 picks up the glass sheet 20 from the positioning point, rotates it to the corresponding direction, and places it into the designated position on the loading tray 11. The gantry assembly 100's suction cup 101 picks up the glass sheet 20 from the loading tray 11 and places it into the tray 9231 of the polishing assembly 90. The polishing disc module 92 rises, rotates 180°, and descends to meet the polishing blanket module 91 for rotary grinding and polishing. The polished glass sheet 20 is then picked up by the suction cup 101 and placed into the unloading tray 12. The XYZU axis assembly 200 for feeding and arranging glass sheets sequentially picks up the glass sheets 20 on the feeding tray 12 and places them on the feeding positioning fixture 300 for secondary positioning. The positioned glass sheets 20 are then sequentially inserted into the empty material rack 502 by the feeding insert transport module 400. The full material rack 502 is then manually removed, thus completing the entire polishing process.

[0110] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0111] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0112] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0113] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A fully automatic polishing machine, characterized in that, include: A loading and unloading tray (10) is provided with a loading tray (11) and a unloading tray (12). A glass feeding assembly includes a glass feeding bin (30) and a feeding transport component. The glass feeding bin (30) is located on the periphery of the loading and unloading sheet stacking table (10) and is positioned close to the loading tray (11) relative to the unloading tray (12). The glass feeding bin (30) is used to provide glass sheets (20), and the feeding transport component is used to transport the glass sheets (20) in the glass feeding bin (30) to the loading tray (11). A polishing assembly (90) is located on the side of the loading and unloading sheet tray (10) where the glass loading bin (30) is not provided. The polishing assembly (90) is used to polish the glass sheet (20). The gantry assembly (100) includes a material-picking suction cup (101), which is movably disposed above the polishing assembly (90) and the loading and unloading plate-laying stage (10) along the X-axis, Y-axis and Z-axis. The material-picking suction cup (101) is used to load the glass sheet (20) in the loading tray (11) into the polishing assembly (90) and to unload the glass sheet (20) polished by the polishing assembly (90) into the unloading tray (12).

2. The fully automatic polishing machine according to claim 1, characterized in that, The glass feeding assembly also includes a lifting assembly (40). A plurality of glass sheets (20) are stacked in the glass feeding bin (30). At least a portion of the lifting assembly (40) passes through the bottom of the glass feeding bin (30) and is movably arranged along the Z-axis to lift the plurality of glass sheets (20) in the glass feeding bin (30) upward.

3. The fully automatic polishing machine according to claim 2, characterized in that, The lifting assembly (40) includes: A lifting rod (41) has a support block (42) at its top end. A cleanroom module (43) has a slide extending along the Y-axis, and the bottom end of the lifting rod (41) is slidably connected to the slide. A servo motor (44) is mounted on the cleanroom module (43) to drive the lifting rod (41) to move.

4. The fully automatic polishing machine according to claim 1, characterized in that, The glass feeding hopper (30) includes: Base plate (31); Side plate (32), the bottom of which is connected to the bottom plate (31) to form a space between them for accommodating the glass sheet (20); both the side plate (32) and the bottom plate (31) are provided with position-adjustable limiting plates, and the size of the space in the glass loading bin (30) for accommodating the glass sheet (20) can be adjusted by adjusting the position of the limiting plates.

5. The fully automatic polishing machine according to claim 4, characterized in that, The limiting plate provided on the base plate (31) is configured to be flipped outwards, so that the limiting plate can be flipped between defining the position of the glass sheet (20) and allowing the glass sheet (20) to move in and out; and / or, The glass loading hopper (30) also includes an air blowing component (35) and a glass positioning sensor (36), both of which are located on the top of the side plate (32).

6. The fully automatic polishing machine according to claim 1, characterized in that, The loading and transport components include a glass slicing and loading robot (50), a glass buffer belt (60), and a loading and unloading XYZU axis assembly (70). The glass sheet loading robot (50) has a first vacuum nozzle (51), which is movably disposed above the glass loading bin (30) and the glass buffer belt (60) along the X-axis and the Z-axis, for picking up the glass sheet (20) in the glass loading bin (30) and placing it on the glass buffer belt (60); The glass buffer belt (60) is disposed on the loading and unloading sheet stacking table (10) and located between the glass loading bin (30) and the loading tray (11); The feeding and sheet arrangement XYZU axis assembly (70) has a second vacuum nozzle (71), which is movably arranged along the X-axis, the Y-axis and the Z-axis, and can translate and rotate along the plane direction formed by the X-axis and the Y-axis. The second vacuum nozzle (71) is used to transport the glass sheet (20) on the glass buffer belt (60) to the feeding tray (11).

7. The fully automatic polishing machine according to claim 6, characterized in that, The glass buffer belt (60) includes a conveyor belt (61), the transport direction of the conveyor belt (61) is parallel to the X-axis, and a glass presence / absence detection sensor (62) is provided on the glass buffer belt (60) to detect whether the glass sheet (20) is on the conveyor belt (61); and / or, the glass buffer belt (60) is provided in one or more sets, and when the glass buffer belt (60) is in multiple sets, the multiple sets of glass buffer belts (60) are arranged sequentially along the Y-axis direction.

8. The fully automatic polishing machine according to claim 6, characterized in that, The loading and transporting component also includes a glass positioning assembly (80), which is located on the side of the glass buffer belt (60) facing the loading tray (11). The glass positioning assembly (80) includes: A back plate (81) having a slide extending along the Y-axis direction; Two positioning arms (82) are movably mounted on the slide rail, and a space is formed between the two positioning arms (82) for clamping and aligning the glass sheet (20); A drive motor (83) is connected to the positioning arm (82) to drive the positioning arm (82) to move on the slide.

9. The fully automatic polishing machine according to claim 7, characterized in that, The glass buffer belt (60) also includes a single / double sheet detection ultrasonic sensor (63), which is located at the end of the glass buffer belt (60) near the loading tray (11). The single / double sheet detection ultrasonic sensor (63) is used to detect whether the glass sheet (20) to be transferred to the loading tray (11) is a single sheet.

10. The fully automatic polishing machine according to claim 6, characterized in that, The XYZU axis assembly for feeding and stacking also includes: A feeding X-axis sheet arrangement module (72) has a track extending along the X-axis; A Y-axis feeding module (73) is movably mounted on the track, and the Y-axis feeding module (73) has a track extending along the Y-axis. The loading Z-axis upper and lower cylinder (74) is movably mounted on the loading Y-axis sheet stacking module (73), and the second vacuum nozzle (71) is mounted on the loading Z-axis upper and lower cylinder (74). The loading Z-axis upper and lower cylinder (74) enables movement in the Z-axis direction. The feeding U-axis rotary motor (75) is mounted on the feeding Z-axis upper and lower cylinders (74) and drives the second vacuum nozzle (71) to translate and rotate along the plane formed by the X-axis and the Y-axis.

11. The fully automatic polishing machine according to claim 1, characterized in that, The fully automatic polishing machine also includes a first frame (901) and a second frame (902), the first frame (901) and the second frame (902) being located on opposite sides of the polishing assembly (90) and on different sides from the loading and unloading tray (10). The gantry assembly (100) also includes: The gantry Y-axis module includes a first Y-axis track (102) and a second Y-axis track (103). The first Y-axis track (102) and the second Y-axis track (103) are arranged in parallel and are respectively mounted on the first frame (901) and the second frame (902). A gantry X-axis module, wherein the two ends of the gantry X-axis module are slidably connected to the first Y-axis track (102) and the second Y-axis track (103) respectively, and the gantry X-axis module includes a first X-axis track (104) and a second X-axis track (105) arranged in parallel. A gantry Z-axis module (106) is located between the first X-axis track (104) and the second X-axis track (105) and is slidably connected to them. A material-picking suction cup (101) is movably disposed on the gantry Z-axis module (106) along the direction of the Z-axis. The material-picking suction cup (101) has multiple vacuum suction cups and is used to realize the loading and unloading of the light-scanning assembly (90).

12. The fully automatic polishing machine according to claim 1, characterized in that, The light-scanning assembly (90) includes: Light-sweeping blanket module (91); A scanning disc module (92) is disposed on the scanning blanket module (91), and multiple scanning disc structures (923) are disposed on the first surface (921) and the second surface (922) of the scanning disc module (92). The flip module (93) has extension arms (924) on both sides of the scanning optical disc module (92). The flip module (93) is connected to the extension arm (924) on one side, and the flip module (93) is used to flip the scanning optical disc module (92). The lifting module (94) is connected to the extension arm (924) and the lifting module (94) is used to lift the scanning optical disc module (92).

13. The fully automatic polishing machine according to claim 12, characterized in that, The light-scanning blanket module (91) includes: Light-sweeping blanket structure (911); A rotating platform (912), on which the light-scanning blanket structure (911) is disposed; A drive unit (913) is driven to connect with the rotating platform (912) to drive the rotating platform (912) to rotate.

14. The fully automatic polishing machine according to claim 12, characterized in that, The optical disc structure (923) includes: The disk body (9231) has a plurality of vacuum adsorption holes for adsorbing a plurality of glass sheets (20). A rotary servo motor (9232) is driven to connect to the disk (9231) to drive the disk (9231) to rotate; A precision reducer (9233) and an origin sensor (9234) are mounted on the rotary servo motor (9232).

15. The fully automatic polishing machine according to claim 1, characterized in that, The fully automatic polishing machine also includes a feeding and sorting XYZU axis assembly (200), which is disposed on the feeding and sorting table (10). The feeding and sorting XYZU axis assembly (200) includes: A blanking X-axis sheet arrangement module (201) has a track extending along the X-axis; A Y-axis unloading module (202) is movably mounted on the track, and the Y-axis unloading module (202) has a track extending along the Y-axis. The Z-axis unloading cylinder (203) is movably mounted on the Y-axis unloading module (202). A third vacuum nozzle (205) is mounted on the Z-axis unloading cylinder (203). The third vacuum nozzle (205) moves in the Z-axis direction through the Z-axis unloading cylinder (203). The unloading U-axis rotary motor (204) is mounted on the unloading Z-axis upper and lower cylinders (203) and drives the third vacuum nozzle (205) to translate and rotate along the plane formed by the X-axis and the Y-axis.

16. The fully automatic polishing machine according to claim 15, characterized in that, The fully automatic polishing machine also includes a feeding and positioning fixture (300), which is disposed on the loading and unloading sheet arrangement table (10) and located between the feeding tray (12) and the feeding and arranging XYZU axis assembly (200). The feeding and positioning fixture (300) has a positioning area, and the third vacuum nozzle (205) is used to transport the glass sheet (20) in the feeding tray (12) to the positioning area.

17. The fully automatic polishing machine according to claim 1, characterized in that, The fully automatic polishing machine also includes a material storage platform (600), which is located on the side of the loading and unloading sheet arrangement platform (10) away from the glass loading bin (30), and the platform surface of the material storage platform (600) is lower than the platform surface of the loading and unloading sheet arrangement platform (10).

18. The fully automatic polishing machine according to claim 17, characterized in that, The fully automatic polishing machine also includes a material unloading tray transport module (400) and a tray turntable module (500). The tray turntable module (500) is rotatably mounted on the material unloading storage platform (600). The material unloading tray transport module (400) is located between the material unloading tray (12) and the tray turntable module (500). The material unloading tray transport module (400) has a fourth vacuum nozzle (401). The fourth vacuum nozzle (401) is movable along the X-axis, the Y-axis and the Z-axis and is equipped with a tilting cylinder (402). The fourth vacuum nozzle (401) is used to unload the glass sheet (20) in the material unloading tray (12) into the tray turntable module (500).

19. The fully automatic polishing machine according to claim 18, characterized in that, The insert turntable module (500) includes: Material rack positioning turntable (501); The material rack (502) is a plurality of material racks (502), which are arranged around the circumference of the material rack positioning turntable (501), and each material rack (502) is provided with multiple sets of parallel placement areas; The material rack drive unit (503) is connected to the material rack positioning turntable (501) to drive the material rack positioning turntable (501) to rotate.

20. The fully automatic polishing machine according to any one of claims 1 to 19, characterized in that, The fully automatic polishing machine also includes a vacuum drainage system, which is connected to the polishing assembly (90). The vacuum drainage system includes a vacuum tank (701), which is used to store vacuum and isolate grinding water. Vacuum valves (702) and drain valves (703) are respectively provided at both ends of the vacuum tank (701).

21. The fully automatic polishing machine according to claim 20, characterized in that, The fully automatic polishing machine also includes a circulating grinding water tank (800), which is connected to the vacuum drainage system. The circulating grinding water tank (800) has a filter screen (801) and a cooling water pipe (802).

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