DK2939787T3 - A method for processing a glass wafer and glass disc processing device - Google Patents

Description

Method for processing a glass pane and glass plane processing device

The invention relates to a method for processing a glass pane. According to a second aspect, the invention relates to a glass processing device for processing a glass pane with (a) robot and (b) at least one processing device for processing the glass pane.

As a general rule, a series of production steps must be executed during the production of glass panes. First of all, a blank must be broken out of a standard pane. The edges of this blank must also subsequently be finished. The glass pane is then normally grinded and trimmed and possibly polished, along the edge. According to the prior art, glass panes are processed by specialised machines in an assembly line arrangement, with each of these machines conducting one step in the process, thereby enabling a high degree of productivity.

However, it has been proven that it is not easy to achieve extremely high quality surfaces in this way, especially concerning the surface of the glass pane that is looked through.

Methods and devices according to the preamble for the automatic edge grinding of glass panes for the production of solar panels are described in DE 10 2008 027 050 A1 and US 7 056 191 B2, the glass pane being held by means of a robot and guided along a grinding unit. The disadvantage of this is that processing large glass panes or processing the edge with several grinding devices is not very reliable. US 6 099 385 describes a method according to the preamble for cutting off protruding residual plastic on a laminated car window by means of grinding discs. This method is also not particularly suitable for processing large glass panes or processing the edge with several grinding devices.

The invention aims to improve the surface quality and speed of production during the production of glass panes.

The invention solves the problem by means of a method with the features stated in claim 1. According to a second aspect, the invention solves the problem by means of a glass processing device with the features in claim 3.

The advantage of the invention is that several chipping steps can be conducted consecutively without the robot having to release the pane. This means that any glass or diamond particles resulting from the chipping are barely able to get in between two components of the glass processing machine that are moving relative to one another, which prevents scratches from forming. It has been proven that during the reclamping of the glass panes - unavoidable during the production according to the prior art - and during a thorough washing of the glass pane, glass and diamond particles may land between the glass pane and the holding device, causing small scratches. Due to the fact that reclamping can be avoided with the invention, scratches can no longer occur in this way. A further advantage is that a processing that only utilises a few units can be executed more quickly than with an assembly line production.

The invention is also advantageous in that by holding the glass pane upright, any cooling lubricant that has been used can easily run off. This means that an especially small amount of particles that may cause scratches stick to the glass pane. In addition, it causes little or no deflection, which considerably reduces the probability of breakage.

Within the scope of the present description, the term chipping should be understood to mean the process according to DIN 8589, referring preferably to chipping with a geometrically undefined cutting edge, in particular grinding. A robot should be understood particularly to mean a positioning machine with at least five, preferably six, especially preferably seven axes. It is especially beneficial if at least one of these axes is a linear axis, by means of which the robot can be moved in a longitudinal direction. The glass pane can be placed in a predefined position in the room using a robot. The position should be understood to mean the whole composed of the location and the incline, the location being described by three Cartesian coordinates and the incline by one, two or three angles relating to the coordinate system.

The feature that the glass pane is held upright should be understood especially to mean that the glass pane forms a maximum angle of 45°, in particular a maximum of 20°, preferably a maximum of 10° with the vertical. The angle is calculated as the angle between the planes along which the glass pane extends on one side and the vertical on the other. The angle should be as small as possible.

The robot is preferably configured for the friction-locked hold of the glass pane. In other words the glass pane is held, for example, by a suction element that is arranged at a distance from the edge of the glass pane. The glass pane preferably does primarily not lie flat on part of the robot, which should be understood to mean that it is indeed possible for the glass pane to lie flat on part of the robot, but that at least 85% of the weight force of the glass pane is absorbed via a friction-locked connection.

According to a preferred embodiment, a robot is used to move the glass panel along a standing processing device for chipping. This should be understood to mean that the processing device remains in place as a unit, wherein the parts of the processing device can move independently.

The processing device refers, for example, to a grinding device, a polishing device or a water jet cutting device. It is possible but not necessary for the robot to only effect the relative movements between the glass pane and the processing device. It is also possible for the processing device to move, as well as the robot.

The linear conveyor preferably comprises a first circulating conveying element and a second circulating conveying element, with the glass pane being friction-lock fixed, in particular clamped, between the two conveying elements. The friction-lock fixation may comprise a clamping or suctioning.

The feature that the robot and the linear conveyor are synchronised with one another should be understood especially to mean that the robot and the linear conveyor transport the glass pane at the same speed. The same speed should be understood particularly to mean that small differences in speed are possible but these are so small that it does not result in a relative movement between the glass pane and the holding element of the robot and/or the glass pane and the conveying elements in the contact point between the two.

In particular, it is predominantly the robot that holds the pane, meaning that it bears at least 50% of the weight force of the glass pane, with the linear conveyor guiding the glass pane such that it is positioned precisely relative enough to the processing device upon the influence of the process forces that act during chipping. The robot preferably holds at least 80% of the weight force, especially 90%. As a general rule, the robot holds the pane alone, meaning that it bears 100% of the weight force.

The processing is preferably conducted on a lower edge of the glass pane. This has the advantage that cooling lubricant and/or chips drop downwards and cannot really dirty the rest of the glass pane. The lower edge of the glass pane is preferably fixed adjacent to the linear conveyor.

The processing device preferably comprises at least one grinding device for grinding an edge of the glass pane and at least one polishing device for polishing the edge of the glass pane. The at least one grinding device and the at least one polishing device are preferably arranged next to one another for grinding and polishing in one cycle along the linear conveyor. The grinding device preferably comprises a chamfering device for chamfering the glass pane and/or for grinding the edge so that it is straight.

In particular, the processing device comprises several grinding devices and several polishing devices. This has the advantage that a straight edge of the glass pane can be finished by using the robot, preferably by using the robot and the linear conveyor, to move the glass pane along the at least one grinding device and the at least one polishing device. If a linear conveyor is used, any vibrations that occur during the grinding and polishing are absorbed, thereby achieving a high processing quality.

The glass processing device preferably comprises a rail; the robot can be moved on the rail. This renders it possible to equip the robot with a relatively short arm whilst still being able to process long edges of a glass pane. Here, a linear axis of the robot is considered to include a rail.

The glass processing device preferably comprises at least a second robot that can be moved along the same rail as the first robot. This increases the productivity that may be achieved. It is favourable if the rail at least forms one closed track. This renders it possible to operate the robot along the closed track in the same cycle direction at all times. This means it is possible to begin processing a second glass pane while the first glass pane is still being processed without having to transfer the glass pane from one of the robots to another robot or another handling device.

According to a preferred embodiment, the glass processing device comprises a drilling device that comprises a spindle with a coupling-in structure, a set of tool heads and a grab, where each tool head comprises a centring cone and a coupling structure for form-locked co-action with the coupling-in structure and is constructed for magnetic coupling with the spindle, wherein the grab comprises holding rollers that are mounted so as to be rotatable and by means of which a tool head can be held in relation to a movement in the axial direction of the tool head. It is especially preferable if this glass processing device also has the above named properties.

An independent subject of the invention is a glass processing device for processing a glass pane with (a) a robot, (b) at least one processing device for processing the glass pane and (c) a drilling device that comprises a (i) a spindle with a coupling-in structure, (ii) a set of tool heads, each tool head comprising a centring cone and a coupling structure for the form-locked co-action with the coupling-in structure and being constructed for magnetic coupling with the spindle, and (iii) a grab with holding rollers that are mounted so as to be rotatable and by means of which a tool head can be held in relation to a movement in the axial direction of the tool head. The advantageous features included in this description that are identified in relation to other glass processing devices also represent advantages for this invention.

The advantage of the type of drilling device that is meant when referring to a special grinding device is that the tool heads can be changed easily. An additional advantage of the simple structure of the tool heads is that it renders them very robust.

It is especially preferable if the coupling-in structure and the coupling structure are set up such that, during a movement of the tool head and spindle towards each other in the axial direction in relation to a rotational axis of the spindle, either the tool head and the spindle couple with one another in a form-locked manner without rotating about the rotational axis, or a torque is generated that leads to the tool head rotating about the rotational axis and then coupling with the spindle. This is achieved, for example, by the coupling structure and/or the coupling-in structure comprising a chamfer and having such a large radius of curvature perpendicular to the rotational axis on one plane that, other than in theoretical limiting cases, the respective object always strikes on one edge so that a torque is generated in relation to a rotation about the rotational axis.

According to a preferred embodiment the coupling-in structure and/or the coupling structure have a quasi rotational symmetry. This should be understood to mean that the coupling-in structure and/or the coupling structure have a form that is only approximately rotationally symmetrical. For example, only the coupling-in structure or the coupling structure has a quasi rotational symmetry and the other structure a strong rotational symmetry. This means that when the coupling-in structure and the coupling structure first come into contact with one another, one edge of the coupling-in structure or the coupling structure is almost always struck, thereby generating a torque. If the coupling structure and the coupling-in structure come into contact in such a way that they do not interlock immediately and no torque is generated, a breakdown torque occurs about the rotational axis, which leads to the coupling structure and the coupling-in structure coming into contact with one another at a second point. Due to the deviation from the ideal rotational symmetry, this means that two surfaces that are inclined towards one another come into contact at the second point, thereby generating the torque.

According to a preferred embodiment the robot comprises a holding device, the holding device having a first holding element that is fixed to the robot by means of a connection, has at least a first suction element, which can be pressurised with a fluid pressure via the connection to hold the glass pane, and that has a first coupling element; and a second holding element for fixing onto the first holding element, where the second holding element has at least a second suction element, by means of which the glass pane is held, and a second coupling element, and that is automatically connected so rigidly with the first coupling element by means of the second coupling element that the second suction element can be operated using the fluid. This results in a grab whose dimensions can be altered.

An independent subject of the invention is a glass processing device for processing a glass pane with (a) a robot and (b) at least one processing device for processing the glass pane, the robot comprising a holding device, the holding device having a first holding element that is fixed to the robot by means of a connection, has at least a first suction element, which can be pressurised with a fluid pressure via the connection to hold the glass pane, and that has a first coupling element; and a second holding element for fixing onto the first holding element, where the second holding element has at least a second suction element, by means of which the glass pane is held, and a second coupling element, and that is automatically connected so rigidly with the first coupling element by means of the second coupling element that the second suction element can be operated using the fluid. This results in a grab whose dimensions can be altered. The advantageous features included in this description that are identified in relation to other glass processing devices also represent advantages for this invention.

The holder is advantageous because the glass processing device according to the invention is preferably used for the production of glass panes in very small batch sizes, in particular batch size 1. On the one hand, in order to do this it is necessary to hold each glass pane securely in place. On the other hand, the grab should only touch points that are situated at a distance from the edge of the glass pane so as to enable a processing of all edges without reclamping. The holding device described renders it possible for the robot to modify the grab prior to the processing of each glass pane in such a way that it fulfils the requirements in the optimum manner.

If both coupling elements are connected to one another, the holding elements are connected so rigidly with one another that the load of the glass pane, which is absorbed by the second holding element, can be introduced via the first holding element into the arm of the robot that holds the first holding element.

The feature that the suction element can be pressurised with a fluid pressure should be understood especially to mean that an excess pressure or a negative pressure can be generated. The suction element may refer to a vacuum cup that sucks the glass pane by means of the at least one suction element and thereby holds it. This negative pressure can be generated by creating a negative pressure via the connection. However it is also possible for an excess pressure to be generated via the connection, for example with pressurised air, and for the negative pressure to be generated by means of a venturi nozzle.

The feature that the second suction element can be operated by means of the fluid pressure should be understood especially to mean that the first holding element and the second holding element can be connected via the coupling elements in such a way that the vacuum for the operation of the suction element can be transferred from the first holding element to the second holding element. This means that at least the first coupling element is preferably designed to open a vacuum line when the second coupling element is connected, and to close this vacuum line when the second coupling element is not connected. It is then sufficient to supply the robot with a vacuum via the connection by means of which both the first suction element and the second suction element can be operated.

Each of the suction elements may be constructed of several partial suction elements so as to increase the suction power and the grip of the holding device.

It is particularly preferable if the holding device comprises at least a third holding element, which has at least a third suction element with which the glass pane can be held and that has a third coupling element, where the third coupling element can be automatically connected to the first coupling element and/or the second coupling element so rigidly that the third suction element can be operated by means of the fluid.

The glass processing device preferably has at least a fourth holding element, which comprises at least a fourth suction element with which the glass pane can be held and that has a fourth coupling element, where the fourth coupling element can be automatically connected to the first coupling element and/or the second coupling element and/or the third coupling element so rigidly that the third suction element can be operated by means of the fluid.

It is especially favourable if the first holding element has at least another coupling element and in particular comprises two, three, four or more coupling elements. This means that the second holding element and - if available - further holding elements can be coupled to several positions, which increases the configurability of the holding device.

In the following, the invention will be explained in more detail in the attached drawings. They show

Figure 1 a perspective partial view of a glass processing device according to the invention,

Figure 2 a perspective partial view of a glass processing device according to the invention according to a second embodiment,

Figure 3 a linear conveyor of the glass processing device according to the invention in a frontal view,

Figure 4 the processing device of the glass processing device in figure 2 in a side view,

Figure 5 an alternative embodiment of a glass processing device according to the invention,

Figure 6 in the partial images 4a, 4b and 4c, views of tool heads of a glass processing device according to the invention and in partial image 4d, a grab for changing tool heads,

Figure 7 a grab of a glass processing device according to the invention,

Figure 8 a holding device of a glass processing device according to the invention and

Figure 9 the holding device according to figure 8 with an additional holding element.

Figure 1 depicts a glass processing device 10 according to the invention that comprises a robot 12 and a first processing device 14. The robot 12 has a base 15, a main body 16 fixed to the base 15, a first arm 18 that is fixed to the main body 16 such that it can be swivelled, a second arm 20 that is fixed to the first arm 18 and a head 22 that is arranged on the second arm 20. The robot 12 comprises a holding device 24 in the form of a suction pad for the force-locked holding of a glass pane 26.

Figure 1 shows that the first processing device 14 comprises a drilling device 13, which has two tool heads 44.1, 44.2 in the form of drill heads that engage from opposite sides. Each tool head 44 (any reference without a numerical suffix refers to all relevant objects) is operated with a rotary drive by means of a spindle 46.1 or 46.2 and is positioned such that the resulting force on the glass pane 26 is minimized.

Figure 2 depicts a perspective partial view of a glass processing device 10 according to the invention according to a second embodiment. The processing device 14 comprises a first grinding device 48, in the present case in the form of a belt grinder, and a second grinding device 50 that are arranged to process a lower edge 52 of the glass panel 26. The processing device 14 also comprises further grinding devices, which are not fully visible in the view according to figure 2.

The glass processing device 10 comprises a linear conveyor 28 that has a first circulating conveying element 30 in the form of a push chain. A second conveying element 32 is arranged opposite the first conveying element 30. The glass pane 26 can be held by clamps and/or fixed in relation to a horizontal plane FI using the two conveying elements 30, 32. It should be noted that the first processing device 14 is arranged below the conveying elements 30, 32.

The glass processing device 10 comprises a rail 34 along which the robot 12 can be moved. In the present case, the base 15 is also guided on the rail 34. The robot 12 refers to a seven axes robot, whose seventh axis is the rail 34. In the present case the rail 34 runs parallel to a longitudinal direction L of the linear conveyor 28, which represents a preferred embodiment. This longitudinal direction L is the direction in which the glass pane 26 is conveyed by the linear conveyor 28.

The robot 12 and the linear conveyor 28 are synchronised with one another. In the present case, this occurs as a result of the robot 12 and the linear conveyor 28 being connected to the control unit 36 by a cable or by wireless connection. To thread the glass pane 26 between the two conveying elements 30, 32 the robot 12 holds the glass pane 26 upright and moves it at a predetermined plate speed V12 between the two conveying elements 30, 32, which are moved at a conveyor speed V28. The conveyor speed V28 is pre-set such that it corresponds to the plate speed V12.

If the two speeds V12 and V28 are not equal, a force occurs that acts between the robot 12 and the linear conveyor 28. This is measured using a force measurement device. For example, the force measurement device can measure the torque with which at least one of the conveying elements 30, 32 is driven. If this torque deviates from a predetermined nominal value by more than a predetermined tolerance value, this is an indication that a force is acting between the robot 12 and the linear conveyor 28. The difference in speed Δν ~~ v*2 _Vl8 can be inferred from the size and sign of this force, and either the linear conveyor 28 or the robot 12 can be operated such that this difference in speed Δν is reduced.

The glass pane 26 has a weight force G, which is borne 100% by the robot in the present case. The linear conveyor 28 may well bear part of the weight force, but it is particularly favourable if the linear conveyor 28 only serves as a lateral stabiliser, i.e. as a stabiliser in the x-y plane in the present case.

Figure 3 depicts a frontal view of the linear conveyor 28. A first engine 38 in the form of a drive engine for driving the first conveying element 30 and a second engine 40 for driving a second conveying elements 32 should be recognised. Both engines 38, 40 are connected to the control unit 36 (see figure 1) and have variable speeds so that the conveyor speed V28 is adjustable. The first conveying element 30 comprises a pre-loading unit 42 by means of which a clamping force, which the conveying elements exert on the glass pane, can be set. This enables glass panes of varying thickness to be processed.

Figure 4 depicts an extended processing device 14 that also comprises a first polishing device 54, a second polishing device 56, as well as a fine polishing device 58 and an ultra-fine polishing device 60. If the glass pane 26 is guided along the processing device 14 at the plate speed V12, the lower edge 52 is finished. Figure 4 also depicts an positioning device 62 with which a gap between the two conveying elements 30, 32 (see figure 3) can be adjusted. The lower edge 52 is processed using the devices 54, 56, 58, 60, 62.

The first grinding device 48 and the second grinding device 50 belong to an edge processing device by means of which the glass pane is chamfered. Two other grinding devices - not fully visible in figure 4 - belong to the edge processing device.

Figure 5 shows a glass processing device 10 that comprises two robots 12.1,12.2, which run together on the rail 34. The processing device 14 comprises a first unit 65.1, whose structure is shown in figure 2, and a second unit 65.2, which may have a structure as depicted in figure 1. In the present case, a transfer station 63 is located between the two units 65.1,65.2 onto which one or several glass panes 26 can be set down. This means it is possible and intended within the scope of a preferred embodiment of a method according to the invention that a first robot 12.1 removes a glass pane 26, for example from a storage facility 61, aligns it using an alignment unit 67 and then feeds it into the first unit 65.1 of the processing device 14. Here, at least one and in particular all edges of the glass pane are processed. The first robot 12.1 then sets the glass pane down on the transfer station 63. The second robot 12.2 grips the glass pane 26 and feeds it into the second unit 65.2 of the processing device 14.

However, it is also possible for the first robot 12.1 to initially feed the glass pane into the first unit 65.1 and then the second unit 65.2.

By derogation from the embodiment depicted in figure 5, it is possible that the rail 24 forms a closed loop so that the two robots 12.1,12.2 are able to feed each glass pane into both the first unit 65.1 and the second unit 65.2, and then to follow the loop to the end in order to collect a glass pane from the storage facility 61, for example. Figure 5 also shows that the drilling device 13 has two drilling units 13.1, 13.2.

In its partial figure 6a, figure 6 depicts a spindle head 64 of the spindle 46.1 (see figure 1). The spindle head 46 has a coupling-in structure 66 that has a six-fold rotational symmetry in the present case. A front surface 68 of the coupling structure comprises a chamfer 70. The chamfer 70 runs at an incline to a plane E, which runs perpendicular to a rotational axis of the spindle 46.1, along a curve whose radius of curvature is greater then 1 mm. This allows for an easy coupling-in.

The figures 4b and 4c show a tool head 44 that has a centring cone 72 and a coupling structure 74 which positively interacts with the coupling-in structure 66 (figure 6a). On a side not facing the coupling structure 74 the tool head 44 comprises a processing segment 76 for processing the glass pane.

Figure 6c shows a cross-section through the spindle head 64 and the tool head 44. It should be noted that the spindle head 46 is fixed onto a spindle shaft 78 of the spindle; this is done by means of a countersunk screw 80 in the present case.

Figure 7 depicts a grab 100 that is part of a tool changer 102 (see figure 5). In the present case, the tool changer 102 is designed as a robot and for its part is part of the drilling device 13, which for its part is a component of the processing device 14. The grab 100 comprises three holding rollers 104 per grab unit 102, of which the holding rollers 104.1 and 104.2 can be seen in figure 7. The three holding rollers 104 are arranged, for example, at equidistant angular steps about a grab longitudinal axis L100 so that the third holding roller cannot be seen in the sectional view according to figure 7.

The holding rollers 104 can be rotated about respective rotational axes D and each have a groove 106. For the purposes of easy rotation, the holding rollers 104 run on ball bearings. The groove 106 is designed such that a coupling projection 108 of the tool head 44 can be grabbed in a form-locked manner. In other words, it results in a form fit between the coupling projection 108 and the groove 106. In the coupled state the tool head 44 may be removed from the spindle 46 - schematically depicted by a dotted line - via a movement along the grab longitudinal axis L100.

The holding rollers 104 are each fixed to a grab arm 110. At least one of the grab arms, but preferably two or three of the grab arms, can be moved radially outwards by an engine. In the present case the grab arms are moved outwards pneumatically. A radial movement outwards results in the coupling projection 108 becoming unlocked from the grooves 106, thereby enabling the tool head 44 to be removed.

Due to the fact that the groove 106 is arranged on the holding roller 104, the tool head 104 can rotate freely. This is an advantage if the coupling structure 74 (see fig. 4b) is arranged at an angular displacement to the coupling-in structure 66 (figure 6a) and if the tool head 44 is inserted into the spindle head 64 using the grab 100. The tool head then rotates of its own accord into the correct angular position.

The grab arms 110 are mounted on a first grab unit 112.1. The grab 100 has two, three or more grab units 112, where three grab units are especially preferable. It is then possible to first of all release a tool head from the spindle 46 using the empty grab unit 112.1 and, by rotating the grab 100 about a rotational axis D100, to position a second grab unit 112 that is loaded with another tool head 44 in front of the spindle and then to insert the new tool head into the spindle. A further drilling device, for example the drilling device 13.2 (see fig. 3c), can then be started up and the tool head can also be changed at that location.

Figure 8 depicts the holding device 24 that comprises a first holding element 82 which is fixed to the head 22 of the robot by means of a connection 84. The first holding element 82 comprises several first suction elements 86.1,86.2,..., that can be pressurised with a vacuum via the connection 84, the vacuum being supplied via a vacuum line 88 of the robot 12. The first holding element 82 also has a first coupling element 90.

Figure 9 shows a second holding element 92 that comprises second suction elements 94.1,94.2, 94.3 and a second coupling element 96. The second coupling element 96 is rigidly connected to the first coupling element 90 for the transfer of the vacuum.

Within in the scope of the method according to the invention, the robot 12.1 (see figure 5) first receives the dimensions of a glass pane 26 that is to be processed from the control unit 36. Depending on the size of the glass pane 26, the robot 12 drives the first holding element 82 to the second holding element 92 or to a third, fourth or fifth holding element and couples one, two or more holding elements such that the holding device 24 is large enough to securely hold the glass pane 26 and small enough to enable the complete processing without reclamping.

Following the selection of the holder, the robot 12 grips the glass pane 26 and guides it into the linear conveyor as described above. The control unit 36 transmits the trajectory to the robot along which the glass pane 26 is to be moved. The control unit 36 also sends the processing parameters to the processing device 14 for the processing of the glass pane. Following the end of the processing, the robot 12 sets the glass pane down on a transport device.

Reference list 10 glass processing device 64 spindle head 12 robot 65 unit 13 drilling device 66 coupling-in structure 14 processing device 67 alignment unit 15 base 68 front surface 16 main body 70 chamfer 18 first arm 72 centring cone 20 second arm 74 coupling structure 22 head 76 processing segment 24 holding device 78 spindle shaft 26 glass pane 80 countersunk screw 28 linear conveyor 82 first holding element 30 first conveying element 84 connection 32 second conveying element 86 first suction element 34 rail 88 vacuum line 36 evaluation unit 90 first coupling element 38 first engine 92 second holding element 40 second engine 94 second suction element 42 pre-loading unit 96 second coupling element 44 tool head 100 grab 46 spindle 102 tool head changer 48 first grinding device 104 holding roller 50 second grinding device 106 groove 52 lower edge 108 coupling projection 54 first polishing device 110 grab arm 56 second polishing device 112 grab unit 58 fine polishing device L longitudinal direction 60 ultra-fine polishing device V12 plate speed 61 storage facility v2s conveyor speed 62 positioning unit K curve 63 transfer station L100 longitudinal axis

Claims (8)

A method of machining a glass disk (26), wherein the glass disk (26) is held upright at least by means of a robot (12) during chip machining, characterized in that the method exhibits the following steps: (a) friction-closing attachment of the glass disk (26) for a linear conveyor (28) and (b) movement of the glass disk (26) by the robot (12) and the linear conveyor (28), wherein the robot (12) and the linear conveyor (28) are synchronized together. Method for machining a glass disk (26) according to claim 1, characterized in that the glass disk (26) for cutting machining is moved along a working device (14) by means of the robot (12). A glass processing device for machining a glass disk (26), with (a) a robot (12) and (b) at least one processing device (14) for processing the glass disk (26), (c) wherein the robot (12) is adapted to during processing, holding the glass disc (26) upright by the processing device (14), characterized by (d) a linear conveyor (28) which exhibits a first rotating conveyor element (30) and a second rotating conveyor element (32) formed for fastening, in particular friction-closing fastening, of the glass disk (26), (e) wherein the robot (12) and the linear conveyor (28) are adapted for automatic, synchronized, upright movement of the glass disk (26). Glass processing device according to claim 3, characterized in that the processing device (14) comprises at least one abrasive device (48) for grinding one edge of the glass disc (26) and at least one polishing device (54) for polishing the edge of the glass disc (26), at least one grinding device (48) and at least one polishing device (54) are arranged side by side for grinding and polishing in a passage along the linear conveyor (28). Glass processing device according to one of claims 3 to 4, characterized by a rail (34), wherein the robot (12) is guided movably on the rail (34). Glassworking device according to one of claims 3 to 5, characterized by a drill grinding device (13), which (a) has a spindle (46) having an engagement structure (66), (b) a set of tool heads, each tool head (44). ) has a centering cone (72) and a coupling structure (74) for molding interaction with the coupling structure (66) and is designed for magnetic coupling with the spindle (46), and (c) exhibits a gripper (100) having retaining rollers (104). , which are rotatably mounted and by means of which a tool head (44) can be held relative to a movement of the tool head in the axial direction. Glassworking device according to claim 6, characterized in that the coupling structure (66) and the coupling structure (74) are designed in such a way that, by a movement of the tool head (44) and spindle (46) in the axial direction relative to a axis of rotation for the spindle (46) mutually (a) either rotates the tool head (44) and the spindle (46) without rotation about the axis of rotation, or (b) generates a torque such that the tool head (44) rotates about the axis of rotation, and the tool head (44) then connects to the spindle (46). Glass processing device according to one of the preceding claims, characterized in that the robot (12) has a holding device (24) having (a) a first holding element (82) which is fixed to the robot (12) by means of a connection (84), exhibit at least one first suction element (86) which can be actuated via the connection (84) with a fluid pressure to hold the glass disk (26), and has a first coupling element (90), and (b) exhibit a second holding element ( 92) for attachment to the first holding member (82), the second holding member (92) having at least one second suction member (94) by which the glass disk (26) can be held, and having a second coupling member (96) and by means of of the second coupling element (96) can be connected automatically to the first coupling element (90) in such a way that the second suction element (94) can be operated by the fluid pressure.