KR101598797B1 - Grinding Device and Controlling Method for the Same - Google Patents

Abstract

According to an embodiment of the present invention, there is provided a polishing apparatus and a control method thereof capable of preliminary simulation of a polishing path, wherein a longitudinal direction of a girder arranged on an upper side of the main frame, And at least one jig plate provided on the main body frame and on which a glass is mounted, wherein the spindle unit includes a spindle unit provided horizontally and vertically movably with respect to a longitudinal direction of the girder, A horizontal camera which is horizontally moved in the same direction as the spindle unit, a vision camera for photographing the base side, and an input unit for receiving shape information of the object to be polished, An arithmetic unit for calculating a path of motion of the spindle unit and the base, The polishing apparatus comprising a control unit including a drive unit for controlling the movement of the spindle unit and the base is provided as a standing the calculated moving path.

Description

Technical Field [0001] The present invention relates to a grinding device and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an alignment module of a polishing apparatus, and more particularly, to a polishing apparatus capable of pre-simulation of a polishing path and a control method thereof.

The touch screen panel is an input device that allows a user to input a command by selecting an instruction displayed on a screen of a video display device or the like as a human hand or an object.

To this end, the touch screen panel is provided on the front surface of the image display, and converts a touch position directly touching a human hand or an object into an electrical signal. Accordingly, the instruction content selected at the contact position is accepted as the input signal.

Since the touch screen panel can replace a separate input device connected to the image display device such as a keyboard and a mouse, the use range of a mobile phone or a tablet is widely spread.

Such a touch screen panel is a method of cutting a single piece of original glass, then grinding the cut side of each cut glass 10 as shown in FIG. 1, reinforcing the cut side, and forming a sensing pattern .

On the other hand, when grinding the glass 10, the side surface of the glass is polished by using a grinding apparatus as shown in Fig.

This polishing apparatus polishes the side surface of the glass 10 using the rotating polishing tool 20. The polishing tool 20 has grooves formed in a shape corresponding to the side surface of the glass 10 around the peripheral surface, The side surface of the glass 10 is polished.

In recent years, there has been a tendency that the polishing apparatus is also automated, and a product having a function of automatically extracting a G code for controlling the movement path of the polishing tool 20 when the shape information of the product to be processed is input is introduced .

However, when an error occurs in generating the G code and the polishing tool 20 moves to a path other than the shape of the product to be processed, damage occurs to the product, and the polishing tool 20 collides with another product Thereby causing damage to the equipment.

In addition, the polishing tool 20 is moved in the X and Y directions on the plane, and the polishing tool is replaced at any time. Errors can be accumulated due to backlash and impact between the gears, It is inconvenient to adjust the initial position (zero point) every time.

3, the grinding apparatus is provided with a jig plate 30 on which the glass 10 is mounted. The jig plate 30 is also replaced by the size of the glass 10 on which the glass 10 is seated, In this process, a coupling error may occur, and accurate center and parallelism may not be maintained.

The glass plate 10 and the jig plate 30 are manufactured such that the jig plate 30 is smaller than the glass plate 10 by several millimeters and the center points 32 and 12 of the glass plate 10 and the glass plate 10 When the parallelism is deviated, the jig plate 30 is placed outside the rim of the glass 10, so that not only the glass 10 is not accurately polished but also the polishing tool 20 is damaged.

Korean Patent No. 10-1279896

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to provide a polishing apparatus and a control method thereof that can verify the movement path calculated by the polishing apparatus.

The present application also provides a polishing apparatus capable of automatically adjusting the zero point of a polishing tool and a control method thereof.

In addition, the present application relates to a polishing apparatus and a control method therefor, which can measure a center point and a parallel degree of a jig plate and seize the glass so as to conform to the measured center point and parallelism of the jig plate, Is a problem.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a girder which is horizontally and vertically movable in a lengthwise direction of a girder arranged on an upper side of a main frame, A base mounted on the main frame and having at least one jig plate on which a glass is mounted and horizontally movable in a direction perpendicular to the longitudinal direction of the girder; An input unit that is moved horizontally as the spindle unit and that receives the shape information of the vision camera and the object to be polished for photographing the base side, and calculates a motion path of the spindle unit and the base as shape information of the object to be polished inputted through the input unit And a control unit for controlling the spindle unit and the base The polishing apparatus comprising a control unit including a driving part for controlling the motion is provided.

The polishing apparatus may further include a pointer detachably mounted on the polishing tool, a reference plate provided on one side of the base and having a reference marking position designated to be marked by the pointer, To detect the difference between the reference marking position on the reference plate and the position marked by the actual pointer, and to align the spindle unit by the difference.

The spindle unit and the vision camera may be provided on the same axis line in a direction parallel to the movement direction of the base.

 The spindle unit includes a first slider that slides along a longitudinal direction of the girder, a first frame that moves up and down with respect to the first slider, a first elevation driving unit that elevates the first frame with respect to the first slider, A spindle motor provided in one frame and generating a rotating force, and a collet which is rotated by the spindle motor and which fixes a polishing tool that polishes an object to be polished or a pointer that can be marked at the reference full rate.

The reference plate may be provided on one side of the base, and a plurality of holes may be formed in which a reference marking position and a plurality of polishing tools are inserted to be marked by the pointer.

The base is provided with a plurality of jig plates on which a glass is mounted. The jig plate is provided with alignment holes at at least three corners, one for each corner, and the control unit is formed on the jig plate through the vision camera. And may be provided to recognize the alignment holes and measure the center point and parallelism of the jig plate.

According to another aspect of the present invention, there is provided a control method for a polishing apparatus, the method comprising: inputting a shape information of a glass to be processed by a spindle unit, which is seated on a jig plate through an input unit of a control unit, A path calculating step of calculating a movement path when the spindle unit processes the glass through the shape information of the glass inputted to the arithmetic unit of the control unit in the workpiece information input step and the driving unit of the control unit, And a simulation step of controlling to move along the movement path calculated in the path calculation step.

A first moving step in which the spindle unit and the base are moved so that the spindle unit is positioned at a currently set reference marking position; a stamping step in which the pointer marks the reference plate; A first photographing step of photographing a reference marking position of the reference plate and a point actually marked by the pointer with the vision camera, and a difference between a reference marking position and an actual marking position photographed by the vision camera, And an alignment step of moving the spindle unit and the base by a difference.

A second moving step of moving the spindle unit and the base so that the vision camera is positioned above the jig plate; a second photographing step of photographing the jig plate through the vision camera; And calculating a center point and a parallelism of the jig plate by recognizing the alignment holes.

According to the polishing apparatus and control method of the present application, the following effects can be obtained.

First, it is possible to previously simulate whether or not the G code generated in the polishing apparatus is correctly extracted, so that the glass can be processed more accurately and breakage of the polishing apparatus can be prevented.

Second, since the zero point of the polishing tool is automatically adjusted, the labor of the operator is reduced, and it is possible to prevent the operator from mistakenly adjusting the zero point due to the mistake.

Third, since the actual center point and parallelism of the jig plate can be measured, the glass can be seated according to the actual center point and parallelism of the installed jig plate, so that the glass can be processed more accurately and breakage of the polishing apparatus can be prevented.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

The foregoing summary, as well as the detailed description of the preferred embodiments of the present application set forth below, may be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the invention, there are shown preferred embodiments in the figures. It should be understood, however, that this application is not limited to the precise arrangements and instrumentalities shown.
1 is a perspective view showing a cut glass as an object to be polished;
2 is a cross-sectional view showing a state where a conventional general polishing apparatus polishes a glass;
3 is a plan view showing a state where a glass is placed on a jig plate in a dislocated state;
4 is a perspective view showing one embodiment of an alignment module of the polishing apparatus of the present application;
Figure 5 is a perspective view of the polishing module of Figure 4;
FIG. 6 is a view schematically showing a configuration of the control unit of FIG. 4;
FIG. 7 is a perspective view showing the reference plate of FIG. 4; FIG.
FIG. 8 is a plan view showing the jig plate of FIG. 4; FIG.
9 is a flowchart showing a simulation method according to an embodiment of the control method of the polishing apparatus of the present application;
FIG. 10 is a plan view showing a state in which the polishing apparatus moves by the simulation method of FIG. 9; FIG. And,
Fig. 11 is a plan view showing a path through which the camera moves according to the simulation method of Fig. 9. Fig.
12 is a flowchart showing a method of controlling the zero point according to an embodiment of the control method of the polishing apparatus of the present application;
13 is a plan view showing a state in which the polishing apparatus is moved to stamp the reference plate according to the zero point adjustment method of FIG. 12;
FIG. 14 is a plan view showing a state in which the polishing apparatus is moved to confirm a state where the reference plate of FIG. 12 is stamped; FIG.
FIG. 15 is a view showing a state in which the reference plate is stamped in FIG. 14 with a vision camera; FIG.
FIG. 16 is a flowchart showing a jig plate center point checking method according to an embodiment of a method of controlling an alignment module of the polishing apparatus of the present application; FIG.
17 is a plan view showing a state in which the polishing apparatus moves in order to confirm the alignment holes formed in the jig plate according to the method of determining the center point of the jig plate in Fig.
FIG. 18 is a view showing a state in which a center point and a parallelism are measured through a position of an alignment hole determined by a vision camera in FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

Before describing the alignment module of the polishing apparatus according to the present embodiment, a description will be given of a polishing apparatus in which the alignment module of the polishing apparatus of this embodiment is installed.

The polishing apparatus in which the alignment module of the polishing apparatus of the present embodiment is installed may include a body frame 110 and a jig plate 126, a girder 130, and a polishing module 200, as shown in FIG.

The jig plate 126 is a component in which an object to be polished is seated and fixed, and a plurality of jig plates 126 may be provided on the base 124. A base 124 is provided on the rail so that the base 124 can be moved forward and backward. The base 124 is supported on the rail 124 And a base driving part 128 including a motor for generating a rotational force and a screw rotated by the motor and engaged with the base.

That is, the plurality of jig plates 126 are provided so as to move forward and backward by one unit.

Here, the object to be polished 10 may be a single piece of glass cut from a disc glass.

The girder 130 may be provided on the jig plate 126 so as to cross the width direction of the main body frame 110.

The polishing module 200 is a component that polishes the side surface of the object to be polished 10 that is seated on the jig plate 126. The polishing module 200 may be provided on the girder 130 so as to be moved along the longitudinal direction of the girder 130.

That is, the polishing module 200 moves in the width direction of the main body frame 110, and the jig plate 126 moves in the front-rear direction of the main body frame 110 to polish the periphery of the object to be polished 10 .

The polishing module 200 may include a spindle unit 210 and a polishing oil supply unit 240 as shown in FIG.

The spindle unit 210 is mounted with a polishing tool 220 for polishing the side surface of the object to be polished 10 and moves the polishing tool 220 along the girder 130 while rotating the mounted polishing tool 220 up and down Lt; / RTI >

The polishing oil supply unit 240 supplies polishing oil to a point where the polishing tool 220 polishes the polishing oil and supplies a point for spraying the polishing oil to the polishing tool 220 of the spindle unit 210 .

The polishing apparatus 100 according to the present embodiment may include a spindle unit 210 and a reference plate 140, a vision camera 290, and a control unit 230, as shown in Figs. 4 and 5 .

The spindle unit 210 may include a first slider 212, a first frame 214, a first lifting unit 216, a spindle motor 218, and a collet 219.

The first slider 212 is a component included in the girder 130 so that the first slider 212 can be transported in the width direction of the main frame 110 along the longitudinal direction of the girder 130. Although not shown in the drawings, the girder 130 or the spindle unit 210 may be provided with a separate driving unit for moving the first slider 212.

The first frame 214 is coupled to the first slider 212 and moves along the longitudinal direction of the girder 130 along with the movement of the first slider 212, As shown in FIG.

The first lifting and lowering driving unit 216 is a component for lifting and lowering the first frame 214 with respect to the first slider 212. Although not shown in the drawing, the first slider 212 is provided with a rail (not shown) in a vertical direction, and the first frame 214 can be slidably mounted on the rail (not shown). Although not shown in the figure, the first lifting and lowering drive unit 216 includes a motor (not shown) that provides a rotational force and a motor (not shown) that is rotated by the motor And may include a screw (not shown) having a screw thread to lift and lower the first frame 214.

The spindle motor 218 is provided on the first frame 214 and may be configured to generate rotational force. The collet 219 is a component for detachably fixing the polishing tool 220 for polishing the side surface of the glass as an object to be polished, and may be provided to rotate according to the rotation of the spindle motor 218.

The vision camera 290 is installed on the girder 130 and photographs the base 124 side of the lower side while horizontally moving so that the alignment state of the jig plate 126 or the glass 10 and the processing of the glass 10 You can check the status.

The vision camera 290 may be provided as a body with the spindle unit 210 so as to be moved together with the spindle unit 210. In this embodiment, the vision camera 290 includes the pointer 222 And a collet 219 on which the polishing tool 220 is mounted and on the same axis parallel to the moving direction of the base 124.

The vision camera 290 moves in the width direction of the main frame 110 according to the movement of the polishing module 200 and the base 124 moves in the front and rear direction of the main frame 110, And any portion of the jig plate 126 can be photographed.

Further, a control unit 230 for controlling the polishing module 200, the base driving unit 128, and the vision camera 290 may be further provided.

The control unit 230 is a component for controlling the operation of the polishing apparatus 100. The control unit 230 may be separately provided in the form of a PC connected to the polishing apparatus 100, (Not shown).

The control unit 230 receives the shape information of the object to be polished 10 and receives the shape information of the object to be polished 10 to grind the object 10, And automatically moves the polishing module 200 or the vision camera 290 as the extracted G code.

Therefore, the control unit 230 operates the polishing apparatus 100 based on the automatically extracted G code to polish the glass 10, which is an object to be polished. The control unit 230 controls the actual glass 10, Or to simulate whether the G code automatically extracted before polishing is normally extracted or whether the extracted G code forms an ideal ideal movement path Pg.

The control unit 230 may include an input unit 232, an operation unit 234, and a driver unit 236, as shown in FIG.

The input unit 232 may be provided to receive information regarding the shape, numerical value, material, and the like of the object 10 to be polished. In general, in recent years, there are computerized files regarding the shape and material of the object to be polished 10, so that such files can be input to receive them.

The operation unit 234 calculates the movement path Pg of the polishing module 200, the base 124 and the vision camera 290 as the shape information of the abrasive article 10 input through the input unit 232 Lt; / RTI >

The movement path Pg (see FIG. 11) may be a path that the spindle unit 210 moves while processing the abrasive article 10 by a G code.

The driving unit 236 may control the motion of the spindle unit 210, the base 124, or the vision camera 290 as the G code calculated by the computing unit 234.

Accordingly, the control unit 230 controls the vision camera 290 to move along the automatically extracted G code to determine whether the movement path Pg of the vision camera 290 forms an ideal ideal movement path You can simulate if there is an error.

Meanwhile, as shown in FIG. 5, a pointer 222 may be mounted on the collet 219. The pointer 222 is for marking a reference plate 140 to be described later and may be provided so as to be painted or stamped so that the reference plate 140 can be marked. This pointer 222 may be mounted on the collet 219 instead of the polishing tool 220.

7, the reference plate 140 may be provided at one side of the base 124, and a reference marking position 142 designated to be marked by the pointer 222 is formed .

Also, a plurality of grooves 144 may be formed in the reference plate 140 to provide an extra polishing tool 220.

In addition, the vision camera 290 may include a reference marking position 142 of the reference plate 140 up to its neighboring region.

Meanwhile, as shown in FIG. 8, alignment holes 127 may be formed in at least three corners, one for each corner of the jig plate 126.

At this time, the remaining two line segments, except for the longest line segment among the imaginary triangles formed by imaginary line segments passing through the alignment holes 127, are aligned with the side surfaces of the jig plate 126, 127 may be formed.

The polishing camera 200 and the base 124 may be moved to photograph the alignment holes 127 of the respective jig plates 126.

The control unit 230 grasps the geometrical relationship between the alignment holes 127 of the jig plate 126 captured by the vision camera 290 and calculates the center point 126c of the jig plate 126 and the parallelism Can be measured.

Hereinafter, a simulation method according to an embodiment of the control method of the polishing apparatus of the present application will be described.

The control method of the alignment module of the polishing apparatus according to the present embodiment may include a workpiece information input step (S110), a path calculating step (S120) and a simulation step (S130), as shown in FIG.

The input unit 232 of the control unit 230 is placed on the jig plate 126 to input the shape information of the glass 10 to be processed by the spindle unit 210 Receiving step.

That is, it receives the shape of the glass 10 to be polished, numerical information or information about the material. In general, in recent years, there are computerized files regarding the shape and material of the object to be polished 10, so that such files can be input to receive them.

The path calculating step S120 is a step in which the calculating unit 234 of the control unit 230 calculates the path of the spindle unit 210 through the shape information of the glass 10 input in the workpiece information input step S110 Is a step of automatically calculating a G code which is a movement path at the time of processing the glass (10).

10 to 11, the driving unit 236 of the control unit 230 automatically extracts the vision camera 290 from the path calculation step S120 And it is a step of simulating whether the movement path Pg of the vision camera 290 forms an ideal ideal movement path or an error.

11 is a diagram showing an example of a movement path Pg when the G code is extracted without error and in which the movement path of the vision camera 290 is formed without error or is incompatible with the shape information of the glass 10 Whether or not an error such as drawing a path or forming a path colliding with another object occurs beforehand in advance.

Hereinafter, a method of automatically controlling the zero point according to an embodiment of the control method of the polishing apparatus according to the present application will be described.

The control method of the polishing apparatus according to the present embodiment may include a pointer mounting step S210, a first moving step S220, a stamping step S230, a first photographing step S240, (S250).

The pointer mounting step S210 is a step of mounting the pointer 222 on the collet 219 of the spindle unit 210 of FIG.

The first movement step S220 is a step in which the spindle unit 210 and the base 124 are moved such that the spindle unit 210 on which the pointer 222 is mounted is positioned at the currently set reference marking position 142 .

The reference marking position 142 is a position formed on the reference plate 140 so as to be marked by the pointer 222 as shown in FIG. 7, and the reference marking position 142 is a position The reference position of the zero point of the polishing module 200 and the base 124. [

The coordinates of the reference marking position 142 may be stored in the control unit 230. The operation of the polishing apparatus 100 may cause the spindle unit 210 and / An error can be accumulated in the position of the base 124.

Therefore, the point at which the spindle unit 210 and the base 124 move in the first movement step S220 is to move to a predetermined (previously set) reference marking position, as shown in FIG. 13, The moved point may be different from the position actually marked by the pointer 222. [

In the stamping operation S230, the first elevation driving unit 236 operates to lower the first frame 214 to mark the pointer 222 on the reference plate 140. [

As described above, the reference position of the reference plate 140 may be indicated by the presence of paint or ink on the point of contact with the pointer 222.

The first photographing step S240 is a step of photographing the reference marking position 142 of the reference plate 302 and the point actually marked by the pointer 222 with the vision camera 290. [

In order to photograph the reference plate 140 with the vision camera 290, the base 124 may move to a corresponding position, as shown in FIG.

15 is a view showing a reference marking position 142 of the reference plate 140 photographed by the vision camera 290 and a point 145 actually photographed by the pointer 222. FIG.

The aligning step S250 senses a difference (d _x , d _y ) between the reference marking position 142 and the actually marked position 145 photographed by the vision camera 290 and outputs the difference d _x , d _y to the spindle unit 210 And the base 124 are moved.

15, when the zero point of the polishing apparatus 100 is shifted, the reference marking position 142 and the actually marked point 145 are different from each other. As a result, the zero point of the polishing apparatus 100 It is possible to know how much it deviates in which direction.

Accordingly, the control unit 230 analyzes the image photographed by the vision camera 290 and detects the difference between the reference marking position 142 and the actually marked position 145 to determine how much the image is shifted in which direction The spindle unit 210 and the base 124 can be moved by the difference to rearrange the zeroes.

Hereinafter, a method of measuring the center point and the parallelism of the jig plate according to one embodiment of the control method of the polishing apparatus according to the present application will be described.

The control method of the polishing apparatus according to this embodiment may include a second moving step (S310), a second photographing step (S320) and a center point calculating step (S330) as shown in FIG.

17, the spindle unit 210 and the base 124 are moved such that the vision camera 290 is positioned above the jig plate 126 for calculating the center point, .

The second photographing step S320 is a step of photographing the jig plate 126 for calculating the center point through the vision camera 290 and recognizing the alignment holes 127 formed at the respective corners of the jig plate 126 to be.

If the shooting area of the vision camera 290 can capture the entire area of the jig plate 126 at a time, the spindle unit 210 and the base 124 need to move in the second shooting step S320 If the shooting area of the vision camera 290 is narrow and the entire area of the jig plate 126 can not be photographed at one time, the spindle unit 210 and the base 124 of the jig plate 126 are moved, the respective alignment holes 127 of the jig plate 126 can be photographed.

The center point calculating step S330 analyzes the geometric relationship between the alignment holes 127 captured in the second photographing step S320 by the control unit 230 to calculate the center point and the parallelism of the jig plate 126 Lt; / RTI >

18 is a view showing a moving direction of the jig plate 126 and the vision camera 290 taken in the second photographing step S320.

18, the moving path of the vision camera 290, that is, the direction in which the point taken by the vision camera 290 moves as the spindle unit 210 and the base 124 move, (X) and a back-and-forth direction (y) of the main body frame 110.

After forming virtual triangles in the three alignment holes 127 photographed by the vision camera 290 and then forming virtual triangles, the remaining two line segments except for the longest line segment of the virtual triangle, The degree of parallelism of the jig plate 126 can be measured by comparing the angles of the unit 210 and the movement direction (x, y) of the base 124. [

In addition, the center point of the longest line segment of the virtual triangle may be the center point 126c of the jig plate 126.

Therefore, the control unit 230 can calculate the parallelism and the center of gravity of the jig plate 126 and the center point 126c of the glass 10 mounted on the jig plate 126, as shown in FIG. The glass 10 can be seated on the jig plate 126 in a state in which the center point is aligned with the center point 126c of the jig plate 126 and the parallelism of the glass 10 and the jig plate is aligned.

The control unit 230 can set a path for polishing the glass 10 by the polishing tool 220 based on the parallelism of the jig plate 126 and the center point 126c.

It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. It is obvious to them. Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and the present invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

10: Object to be polished 100: Polishing apparatus
110: main frame frame 124: base
126: jig plate 126c: center point of the jig plate
127: Alignment hole 128: Jig plate driving part
130: girder 140: reference plate
142: reference marking position 144: groove
200: polishing module 210: spindle unit
212: first slider 214: first frame
216: first elevation driving portion 218: spindle motor
219: Collet 220: Abrasive tool
222: Pointer calculation step S110: Workpiece information input step
S120: Path calculation step S130: Simulation step
S210: Pointer mounting step S220: First moving step
S230: Stamping step S240: First shooting step
S250: alignment step S310: second shift step
S320: Second photographing step S330:

Claims (9)

A spindle unit provided horizontally and vertically movably in the longitudinal direction of the girder arranged on the upper side of the main frame so as to be transverse to the width direction of the main frame, and having a polishing tool detachably mounted thereon;
A base provided on the body frame and having at least one jig plate on which a glass is mounted and horizontally movable in a direction perpendicular to the longitudinal direction of the girder;
A vision camera horizontally moved like the spindle unit and photographing the base side;
An operation unit for calculating a movement path of the spindle unit, the base, and the vision camera as shape information of an object to be polished inputted through the input unit, the movement unit including an input unit for inputting shape information of an object to be polished, And a control unit including a driving unit for controlling movement of the base,
Wherein the spindle unit and the vision camera are provided on the same axis line in a direction parallel to the movement direction of the base. The method according to claim 1,
A pointer detachably mounted on the polishing tool;
And a reference plate provided on one side of the base and having a reference marking position designated to be marked by the pointer,
Wherein the control unit detects the difference between the reference marking position on the reference plate and the marked position by the actual pointer through the vision camera and aligns the spindle unit by the difference. delete 3. The method of claim 2,
The spindle unit
A first slider that slides along a longitudinal direction of the girder;
A first frame that moves up and down with respect to the first slider;
A first lift driving unit for moving the first frame up and down with respect to the first slider;
A spindle motor provided in the first frame and generating a rotational force;
A collet which is rotated by the spindle motor and fixes a polishing tool for polishing an object to be polished or a pointer capable of being marked at the reference full rate;
A polishing apparatus 3. The method of claim 2,
The reference plate includes:
A base provided on one side of the base,
Wherein a reference marking position and a plurality of holes into which a plurality of polishing tools are inserted are formed by the pointer. The method according to claim 1,
The base includes a plurality of jig plates on which a glass is mounted,
In the jig plate, alignment holes are formed in at least three corners, one for each corner,
Wherein the control unit recognizes the alignment holes formed in the jig plate through the vision camera and measures a center point and a parallelism of the jig plate. A workpiece information input step of receiving the shape information of the glass to be processed by the spindle unit, which is placed on the jig plate through the input unit of the control unit;
A path calculating step of calculating a movement path when the spindle unit processes the glass through the shape information of the glass inputted to the operation unit of the control unit in the workpiece information input step;
A driving step of the control unit controlling the vision camera to move along a movement path calculated in the path calculating step;
A pointer mounting step of moving the pointer to the spindle unit;
A first moving step in which the spindle unit and the base move so that the spindle unit is positioned at a currently set reference marking position;
A stamping step in which the pointer marks the reference plate;
A first photographing step of photographing a reference marking position of the reference plate and a point actually marked by the pointer with the vision camera;
An alignment step of sensing a difference between a reference marking position and an actual marking position photographed by the vision camera and moving the spindle unit and the base by the difference;
And a control device for controlling the polishing device. delete 8. The method of claim 7,
A second moving step of moving the spindle unit and the base so that the vision camera is positioned above the jig plate;
A second photographing step of photographing the jig plate through the vision camera;
Calculating a center point and a parallelism of the jig plate by recognizing each alignment hole photographed by the vision camera;
Further comprising the steps of:

Images