An automatic polishing robot for shutter glass

Abstract

The present application relates to the field of glass automatic polishing, in particular to a louver glass automatic polishing robot, comprising a mechanical arm, an electric actuator and a multi-groove grinding wheel fixedly installed on the output shaft of the electric actuator, the execution end of the mechanical arm is fixedly installed with a bearing frame, the bearing frame is provided with a constant pressure mechanism for enabling the multi-groove grinding wheel to contact the uneven glass edge with constant pressure, the bearing frame is also provided with a protection mechanism for protecting the glass when polishing the uneven glass edge, the present application adopts a slidable moving plate to drive the electric actuator and the multi-groove grinding wheel to move slightly, thereby adapting to the uneven condition of the glass edge, and the total weight of a plurality of counterweights is applied to the moving plate through a transmission assembly, so that the multi-groove grinding wheel abuts against the glass edge with constant pressure, through the combined mechanism of active adaptation, constant pressure grinding and timely protection, the situation of glass edge collapse or fragmentation is reduced, and the product yield and processing safety are improved.

Description

Technical Field

[0001] This invention relates to the field of automatic glass polishing, specifically to an automatic glass polishing robot for louvered windows. Background Technology

[0002] During the production process of venetian blinds, sharp cut surfaces or uneven areas often exist on the edges. These defects not only affect the appearance quality of the product, but may also cause safety hazards during use. Therefore, polishing the edges of venetian blinds to form a smooth arc transition is an important step in improving product quality and safety.

[0003] Currently, common glass edge grinding devices for blinds typically include a robotic arm, an electric actuator, and a multi-groove grinding wheel mounted on the output shaft of the actuator. The robotic arm drives the actuator and grinding wheel to move along the edge of the glass, and the electric actuator drives the multi-groove grinding wheel to rotate at high speed. The grinding wheel uses the pre-set groove structure to grind the edge of the glass, ultimately forming the desired curved edge.

[0004] However, since the edges of louvered glass are often uneven or have varying curvature, existing equipment cannot adaptively adjust the contact pressure between the grinding wheel and the glass, resulting in large pressure fluctuations during the grinding process. This unstable pressure can easily cause a sudden increase in grinding force, which can lead to edge chipping or even complete shattering of the glass, seriously affecting product yield and processing safety.

[0005] Therefore, there is an urgent need for an automated grinding equipment that can maintain constant grinding pressure and has protective functions. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an automatic glass polishing robot for blinds, including a robotic arm, an electric actuator and a multi-groove grinding wheel fixedly installed on the output shaft of the electric actuator. A support frame is fixedly installed at the execution end of the robotic arm. The support frame is provided with a constant pressure mechanism for making the multi-groove grinding wheel contact the uneven glass edge with constant pressure. The support frame is also provided with a protective mechanism for protecting the glass when polishing the uneven glass edge.

[0007] The constant pressure mechanism includes several counterweights that are slidably mounted on a support frame via a transmission assembly. A movable plate that is slidably mounted on the support frame and connected to the electric actuator is slidably mounted on the support frame. The transmission assembly is used to apply the total weight of the counterweights to the movable plate to push the multi-groove grinding wheel against the edge of the glass.

[0008] The protective mechanism includes two clamping blocks arranged symmetrically on the left side of the support frame via a synchronous component, and a pulling block is slidably mounted on the clamping blocks via a guide component.

[0009] When polishing uneven glass edges, the clamping blocks drive the pulling blocks to abut on the upper and lower sides of the glass through the guide assembly, and pull the glass in the opposite direction of the tangent line of the multi-groove grinding wheel, preventing the multi-groove grinding wheel from causing the glass to break due to excessive grinding force.

[0010] Preferably, the transmission assembly comprises a rack I slidingly arranged on the bearing frame, a gear I rotatingly arranged on the bearing frame and engaged with the rack I, a gear II coaxially fixedly arranged at the rear of the gear I, the diameter of the gear II being smaller than that of the gear I, and a rack II fixedly arranged on the moving plate and engaged with the gear II.

[0011] Preferably, the upper side of the rack I is connected with a plurality of counterweight blocks in a plug-in manner, the abutting force of the multi-groove grinding wheel on the glass is increased by increasing the number of the counterweight blocks, and a damping rod is arranged between the rack I and the bearing frame.

[0012] Preferably, a sensor for monitoring the displacement of the rack I is fixedly arranged on the bearing frame, a cylinder is arranged between the two clamping blocks, and the extension section of the cylinder moves according to the data of the sensor.

[0013] Preferably, a hydraulic cylinder is fixedly arranged on the lower side of the electric actuator, the extension section of the hydraulic cylinder is fixedly connected with the moving plate, a plug column is fixedly arranged on the upper side of the electric actuator through a support plate, and positioning holes for the plug column to simultaneously pass through are arranged on the bearing frame and the moving plate.

[0014] Preferably, the synchronization assembly comprises a synchronization plate rotatingly arranged on the front side of the bearing frame, and the synchronization plate is hingedly connected with the clamping blocks at both ends through connecting plates.

[0015] Preferably, the guide assembly comprises a swing frame rotatingly arranged in the clamping block, and the pulling blocks are slidingly connected with the swing frame along the length direction of the swing frame.

[0016] Preferably, linkage rods are fixedly arranged on the sides away from each other of the two swing frames, a locking plate is slidingly arranged on the clamping block, a spiral spring is arranged between the locking plate and the clamping block, and a plurality of semicircular groove structures for limiting the linkage rods are arranged on the side of the locking plate.

[0017] Preferably, fixed rods are fixedly arranged on the sides away from each other of the two pulling blocks, slot plates are slidingly arranged on the clamping block and matched with the slots of the fixed rods, an L-shaped square rod is fixedly arranged on the front side of the upper slot plate, and a linkage square rod is fixedly arranged on the front side of the lower slot plate.

[0018] Preferably, the L-shaped square rod and the linkage square rod are slidingly connected, the front ends of the two clamping blocks are hingedly connected with pushing plates for pushing the linkage square rod, and the two pushing plates are hingedly connected.

[0019] The beneficial effects of the present application are: firstly, the present application uses a slidable moving plate to drive the electric actuator and the multi-groove grinding wheel to move for fine adjustment, so as to adapt to the uneven condition of the glass edge, and at the same time, the total weight of a plurality of counterweights is applied to the moving plate through the transmission assembly, so that the multi-groove grinding wheel abuts against the glass edge with constant pressure, effectively preventing the sudden increase of grinding force caused by pressure fluctuation, and combining the sensor to further control the clamping block and the pulling block to abut against the upper and lower sides of the glass through the cylinder, so as to reduce the glass edge collapse or fragmentation, improve the product yield and processing safety through the combination mechanism of active adaptation, constant pressure grinding and timely protection.

[0020] Secondly, the present application uses the pulling block slidingly arranged on the clamping block to contact the upper and lower sides of the glass before the clamping block in the polishing process, and applies a pulling force to the glass along the tangent line opposite to the rotation of the multi-groove grinding wheel, effectively offsetting the sudden grinding force caused by the change of grinding wheel speed or the unevenness of the glass edge, preventing the glass from being excessively pulled and causing fragmentation, and further improving the protection effect on the glass.

[0021] Thirdly, the present application adjusts the abutting force of the multi-groove grinding wheel on the glass by increasing or decreasing the number of counterweights, adapts to the polishing requirements of glass of different thicknesses or strengths, and adjusts the pulling direction of the pulling block through the rotatable swing frame, so that it can flexibly adjust the force angle according to different polishing conditions and protection requirements, further enhancing the adaptability and operation flexibility to various polishing scenes. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described below in conjunction with the drawings and examples.

[0023] Figure 1 is a schematic diagram of the overall structure of the present application.

[0024] Figure 2 is a schematic diagram of the structure of the electric actuator, multi-groove grinding wheel, bearing frame and clamping block in the present application.

[0025] Figure 3 is a partial sectional view of the bearing frame, multi-groove grinding wheel, sensor and plug-in column in the present application.

[0026] Figure 4 is a partial sectional view of the bearing frame, multi-groove grinding wheel, electric actuator and moving plate in the present application.

[0027] Figure 5 is a schematic diagram of the structure of the bearing frame, clamping block, synchronization plate and connecting plate in the present application.

[0028] Figure 6 is a schematic diagram of the structure of the clamping block, locking plate, pulling block and linkage square bar in the present application.

[0029] Figure 7It is a partial sectional view of the clamp block, locking plate, notched plate and pulling block in the present application.

[0030] In the figure: 1, mechanical arm; 2, electric actuator; 3, multi-groove grinding wheel; 4, bearing frame; 5, constant pressure mechanism; 6, protection mechanism; 21, hydraulic cylinder; 22, insertion column; 51, transmission assembly; 52, counterweight block; 53, moving plate; 61, synchronization assembly; 62, clamp block; 63, guide assembly; 64, pulling block; 65, sensor; 511, rack one; 512, gear one; 513, gear two; 514, rack two; 515, damping rod; 611, synchronization plate; 612, connecting plate; 631, swing frame; 632, linkage rod; 633, locking plate; 641, fixed rod; 642, notched plate; 643, L-shaped square rod; 644, linkage square rod; 645, push plate; 651, air cylinder. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below. The embodiments described below are exemplary only, and are not intended to be limiting of the present application. Unless otherwise indicated, technical or scientific terms used in the embodiments have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains.

[0032] Referring to Figure 1 and Figure 2 , a glass shutter automatic polishing robot includes a mechanical arm 1, an electric actuator 2 and a multi-groove grinding wheel 3 fixedly installed on the output shaft of the electric actuator 2, the execution end of the mechanical arm 1 is fixedly installed with a bearing frame 4, the bearing frame 4 is provided with a constant pressure mechanism 5 for enabling the multi-groove grinding wheel 3 to contact the uneven glass edge with constant pressure, and the bearing frame 4 is further provided with a protection mechanism 6 for protecting the glass when polishing the uneven glass edge.

[0033] Referring to Figure 1 , Figure 2 , Figure 3 , the constant pressure mechanism 5 includes a plurality of counterweight blocks 52 arranged on the bearing frame 4 through a transmission assembly 51 sliding up and down, the bearing frame 4 is provided with a moving plate 53 sliding left and right and connected with the electric actuator 2 sliding up and down, and the transmission assembly 51 is used to apply the total weight of the counterweight blocks 52 to the moving plate 53 to push the multi-groove grinding wheel 3 against the glass edge.

[0034] Referring to Figure 1 , Figure 2 , Figure 5 and Figure 6 , the protection mechanism 6 includes two upper and lower symmetrical clamp blocks 62 arranged on the left side of the bearing frame 4 through a synchronization assembly 61 sliding up and down, and the clamp blocks 62 are provided with a pulling block 64 sliding through a guide assembly 63.

[0035] When the glass needs to be polished, the mechanical arm 1 drives the electric actuator 2 to move through the bearing frame 4 and the moving plate 53, so that the lower notch of the multi-groove grinding wheel 3 is in contact with the glass edge on the work station, and the multi-groove grinding wheel 3 is driven to rotate by the electric actuator 2, so that the lower notch of the multi-groove grinding wheel 3 coarsely grinds the glass edge, and at the same time, the multi-groove grinding wheel 3 is driven to move along the trajectory of the glass edge by the mechanical arm 1, so that the glass is polished comprehensively.

[0036] When polishing, the total weight of the counterweight 52 and the partial weight of the transmission assembly 51 constantly push the moving plate 53, so that the moving plate 53 drives the multi-groove grinding wheel 3 to grind the glass with constant abutting force all the time, and when the multi-groove grinding wheel 3 moves to the uneven position of the glass edge, the multi-groove grinding wheel 3 can move along the trajectory of the glass edge autonomously, and since the total weight of the counterweight 52 and the partial weight of the transmission assembly 51 are constant all the time, the multi-groove grinding wheel 3 always moves along the glass edge with constant grinding force, preventing the sudden increase of the grinding force.

[0037] When the multi-groove grinding wheel 3 is pushed outward by the glass, the control mechanical arm 1 stops moving, and the two clamping blocks 62 are moved close to each other, and the clamping block 62 drives the pulling block 64 to first contact the upper and lower sides of the glass and apply a pulling force to the glass in the opposite direction along the tangent line of the rotation of the multi-groove grinding wheel 3, effectively offsetting the sudden grinding force caused by the change of the grinding wheel speed or the unevenness of the glass edge, preventing the glass from being excessively pulled and causing breakage.

[0038] Subsequently, the clamping block 62 is moved to abut against the upper and lower sides of the glass to form a protection, thereby reducing the glass edge collapse or breakage and improving the product yield and processing safety through the combination of active adaptation, constant pressure grinding and timely protection.

[0039] It should be noted that the pulling block 64 is composed of a block structure and a rubber pad, wherein the block structure of the pulling block 64 is completely retracted inside the corresponding clamping block 62, and the rubber pad of the pulling block 64 protrudes outside the clamping block 62, and when protecting the glass, the rubber pad of the pulling block 64 first contacts the glass, and then the clamping block 62 continues to approach the glass, so that the rubber pad deforms and collapses, until the clamping block 62 abuts against the glass, and the rubber pad in this embodiment can realize the abutment of the pulling block 64 and the clamping block 62 on the glass in sequence through the selection of the thickness and the collapse degree.

[0040] In order to realize the application of constant abutting force to the glass, so that the grinding force of the multi-groove grinding wheel 3 on the glass edge remains stable, the present application designs the following structure: referring to Figure 1 、 Figure 2 and Figure 3The transmission assembly 51 comprises a rack 511 slidingly arranged on the bearing frame 4, a gear 512 rotatably arranged on the bearing frame 4 and engaged with the rack 511, a gear 513 coaxially fixedly arranged at the rear of the gear 512, the diameter of the gear 513 being smaller than that of the gear 512, and a rack 514 fixedly arranged on the moving plate 53 and engaged with the gear 513.

[0041] When the multi-groove grinding wheel 3 abuts against the glass edge, the reaction force of the glass edge on the multi-groove grinding wheel 3 drives the multi-groove grinding wheel 3 to move, so that the moving plate 53 drives the gear 513 to rotate through the rack 514, the gear 512 is driven to rotate by the same angle through the gear 513, and the counterweight 52 is driven to move upward through the rack 511, so that the total weight of the counterweight 52 and the weight of the rack 511 are combined to act on the multi-groove grinding wheel 3, that is, the total weight of the counterweight 52 and the weight of the rack 511 drive the multi-groove grinding wheel 3 to move away from the bearing frame 4, so that the multi-groove grinding wheel 3 abuts against the glass edge, and since the total weight of the counterweight 52 and the weight of the rack 511 are constant, the multi-groove grinding wheel 3 applies a constant grinding force to the glass.

[0042] In order to control the clamping blocks 62 to protect the glass through the movement of the multi-groove grinding wheel 3, the present application designs the following structure: referring to Figure 2 、 Figure 3 and Figure 6 The bearing frame 4 is fixedly provided with a sensor 65 for monitoring the displacement of the rack 511, and the two clamping blocks 62 are jointly provided with a pneumatic cylinder 651, the extension segment of the pneumatic cylinder 651 being moved according to the data of the sensor 65.

[0043] When the glass drives the multi-groove grinding wheel 3 to move quickly, the moving distance of the rack 511 is greater than that of the rack 514, so that the amplification effect of the slight movement of the multi-groove grinding wheel 3 is realized, the sensor 65 is more likely to monitor the slight movement of the multi-groove grinding wheel 3, and the extension segment of the pneumatic cylinder 651 is controlled to retract, so that the pneumatic cylinder 651 drives the two clamping blocks 62 to move close to each other and abut against the upper and lower sides of the glass to protect the glass.

[0044] It should be noted that the sensor 65 detects the displacement signal of the rack 511 and controls the extension segment of the pneumatic cylinder 651 to extend or retract, and the electrical and pneumatic control technologies commonly used in the prior art are adopted, which will not be described herein.

[0045] In order to prevent the weight of the counterweight 52 from being instantaneously applied to the glass edge through the multi-groove grinding wheel 3 when the multi-groove grinding wheel 3 grinds the continuous uneven positions of the glass edge, and in order to facilitate the adjustment of the abutting force of the multi-groove grinding wheel 3 according to different thicknesses of the glass, the present application designs the following structure: referring to Figure 3The upper side of the rack 511 is connected with a plurality of counterweights 52 through insertion, and the number of the counterweights 52 is increased to increase the abutting force of the multi-groove grinding wheel 3 on the glass, and the damping rod 515 is arranged between the rack 511 and the bearing frame 4.

[0046] When the rack 511 moves downward, the extension and retraction sections of the damping rod 515 are synchronously retracted, so that the slow retraction characteristic of the extension and retraction sections of the damping rod 515 prevents the gravity of the counterweights 52 from being instantaneously applied to the glass edge through the multi-groove grinding wheel 3.

[0047] It should be noted that the damping rod 515 in the application adopts the prior art with one-way damping characteristics, so that when the glass pushes the multi-groove grinding wheel 3 to move outward, the rack 511 can instantaneously respond and move upward, thereby preventing the abutting force from suddenly increasing due to the impact of the multi-groove grinding wheel 3 on the protruding part of the glass edge.

[0048] In order to enable the two clamping blocks 62 to synchronously move into contact with the upper and lower sides of the glass, the application designs the following structure: referring to Figure 5 The synchronous assembly 61 comprises a synchronous plate 611 rotatably arranged on the front side of the bearing frame 4, and the two ends of the synchronous plate 611 are hingedly connected with the clamping blocks 62 at the corresponding positions through the connecting plates 612.

[0049] When the two clamping blocks 62 move close to each other, the clamping blocks 62 push the synchronous plate 611 to rotate through the connecting plates 612, so that the synchronous plate 611 can synchronously drive the two clamping blocks 62 through the two connecting plates 612, thereby enabling the two clamping blocks 62 to synchronously move reversely to abut on the sides of the glass.

[0050] In order to enable the pulling blocks 64 to reversely apply pulling force to the glass along the tangent line of the rotation of the multi-groove grinding wheel 3, effectively offset the sudden grinding force caused by the change of the grinding wheel speed or the unevenness of the glass edge, and prevent the glass from being excessively pulled to cause breakage, the application designs the following structure: referring to Figure 2 and Figure 6 The mutually faraway sides of the two pulling blocks 64 are fixedly installed with fixed rods 641, the clamping blocks 62 are slidably provided with slot plates 642 matched with the slot of the fixed rods 641, the front side of the upper slot plate 642 is fixedly installed with an L-shaped square rod 643, and the front side of the lower slot plate 642 is fixedly installed with a linkage square rod 644.

[0051] Continuously referring to Figure 2 and Figure 6 The L-shaped square rod 643 and the linkage square rod 644 are slidably connected, the front ends of the two clamping blocks 62 are hingedly connected with pushing plates 645 for pushing the linkage square rod 644, and the two pushing plates 645 are hingedly connected with each other.

[0052] When the two clamping blocks 62 are close to each other, the two clamping blocks 62 jointly push the two pushing plates 645 hinged together, so that the end of the two pushing plates 645 hinged to each other moves forward, so that the pushing plate 645 pushes the linkage square rod 644 forward, the linkage square rod 644 drives the L-shaped square rod 643 to move forward synchronously, and then the linkage square rod 644 and the L-shaped square rod 643 drive the notch plate 642 on them to move forward, the notch plate 642 drives the pulling block 64 to move through the fixed rod 641 at the corresponding position, and then the pulling block 64 applies a pulling force to the glass, preventing the glass from being pulled too much and causing it to break.

[0053] In order to be able to flexibly adjust the force angle according to different polishing conditions and protection requirements, further enhance the adaptability and operation flexibility to various polishing scenes, the pulling direction of the pulling block 64 needs to be adjusted, therefore the present application designs the following structure: refer to Figure 2 、 Figure 6 and Figure 7 , the guide assembly 63 comprises a swing frame 631 rotatably arranged in the clamping block 62, and the pulling block 64 is slidably connected with the swing frame 631 along the length direction of the swing frame 631.

[0054] refer to Figure 6 and Figure 7 , the two swing frames 631 are fixedly installed with linkage rods 632 on the sides away from each other, and the clamping block 62 is provided with arc-shaped grooves on the upper and lower sides for sliding of the linkage rods 632, and the clamping block 62 is slidably provided with a locking plate 633, and a spiral spring is arranged between the locking plate 633 and the clamping block 62, and the side surface of the locking plate 633 is provided with a plurality of semicircular groove structures for limiting the linkage rod 632.

[0055] The operator manually moves the linkage rod 632 to pre-rotate the inclination angle of the swing frame 631, so that the swing frame 631 drives the pulling block 64 to move synchronously, thereby adjusting the moving pulling direction of the pulling block 64, and then the semicircular groove structure of the locking plate 633 is pushed by the elastic force of the spiral spring to be clamped on the outside of the linkage rod 632, and the inclination angle of the swing frame 631 is locked and limited.

[0056] In order to automatically fine-tune according to the unevenness of the glass edge during rough grinding, and to stably polish the glass edge during fine grinding, the multi-groove grinding wheel 3 needs to be in a movable state during rough grinding, and the position of the multi-groove grinding wheel 3 needs to be locked during fine grinding, therefore the present application designs the following structure: refer to Figure 2 、 Figure 3 and Figure 4 , the lower side of the electric actuator 2 is fixedly installed with a hydraulic cylinder 21, the extension section of the hydraulic cylinder 21 is fixedly connected with the moving plate 53, the electric actuator 2 is fixedly installed with a plug column 22 through a support plate, and the moving plate 53 and the bearing frame 4 are jointly provided with positioning holes for simultaneous penetration of the plug column 22.

[0057] When rough grinding, the telescopic section of the hydraulic cylinder 21 is in the contracted state, at this time, the lower grinding grooves of the multi-groove grinding wheel 3 are in contact with the glass edge, so as to carry out rough grinding, when fine grinding is needed, the telescopic section of the hydraulic cylinder 21 drives the electric actuator 2 to move downward, so that the electric actuator 2 drives the upper grinding grooves of the multi-groove grinding wheel 3 to correspond to the glass edge, at the same time, the upper supporting plate of the electric actuator 2 drives the plug-in column 22 to be inserted into the positioning holes commonly arranged on the bearing frame 4 and the moving plate 53, so as to lock the bearing frame 4 and the moving plate 53 together, preventing the multi-groove grinding wheel 3 from moving during fine grinding.

[0058] It should be noted that the plug-in column 22 is composed of a plate structure and two front and rear symmetrically arranged rod structures at the lower side of the plate structure, during fine grinding, the rod structure of the plug-in column 22 is inserted into the positioning hole, so as to lock the movement of the multi-groove grinding wheel 3.

[0059] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential” and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0060] In addition, the terms “first”, “second”, “one”, “two” are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as “first”, “second”, “one”, “two” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “a plurality of” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0061] In the present application, unless otherwise specifically defined and limited, the terms “mounting”, “connection”, “connection”, “fixing” and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] The embodiments of the present application are preferred embodiments of the present application, and do not limit the protection scope of the present application, and thus, equivalent changes made on the basis of the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An automatic glass polishing robot for venetian blinds, comprising a robotic arm, an electric actuator, and a multi-groove polishing wheel fixedly mounted on the output shaft of the electric actuator, characterized in that, The robotic arm's execution end is fixedly mounted with a support frame. The support frame is equipped with a constant pressure mechanism for making the multi-groove grinding wheel contact the uneven glass edge with constant pressure. The support frame is also equipped with a protective mechanism for protecting the glass when grinding the uneven glass edge. The constant pressure mechanism includes several counterweights that are slidably mounted on a support frame via a transmission assembly. A movable plate that is slidably mounted on the support frame and connected to the electric actuator is slidably mounted on the support frame. The transmission assembly is used to apply the total weight of the counterweights to the movable plate to push the multi-groove grinding wheel against the edge of the glass. The protective mechanism includes two clamping blocks arranged symmetrically on the left side of the support frame via a synchronous component, and a pulling block is slidably mounted on the clamping blocks via a guide component. When grinding uneven glass edges, the clamping block first drives the pulling block to abut against the upper and lower sides of the glass through the guide assembly, and pulls the glass in the opposite direction to the tangent of the multi-groove grinding wheel rotation to prevent the increased grinding force of the multi-groove grinding wheel from pulling the glass and causing it to break. The transmission assembly includes a rack 1 that is slidably mounted on a support frame, a gear 1 that meshes with the rack 1 that is rotatably mounted on the support frame, a gear 2 that is fixedly mounted coaxially at the rear of the gear 1, the diameter of the gear 2 being smaller than that of the gear 1, and a rack 2 that meshes with the gear 2 that is fixedly mounted on a movable plate. The upper side of the rack is connected to several counterweights by an insertion method. The number of counterweights is increased to increase the resistance of the multi-groove grinding wheel to the glass. A damping rod is provided between the rack and the support frame. A hydraulic cylinder is fixedly installed on the lower side of the electric actuator. The telescopic section of the hydraulic cylinder is fixedly connected to the moving plate. A column is fixedly installed on the electric actuator through a support plate. The support frame and the moving plate are both provided with positioning holes for the column to be inserted at the same time.

2. The automatic glass polishing robot for louvers according to claim 1, characterized in that, A sensor for monitoring the displacement of the rack is fixedly installed on the support frame. A cylinder is provided between the two clamping blocks, and the extension section of the cylinder moves according to the data from the sensor.

3. The automatic glass polishing robot for louvers according to claim 1, characterized in that, The synchronization component includes a synchronization plate rotatably mounted on the front side of the support frame, with both ends of the synchronization plate hinged to clamping blocks at corresponding positions via connecting plates.

4. The automatic glass polishing robot for venetian blinds according to claim 1, characterized in that, The guide assembly includes a swing frame rotatably disposed inside the clamping block, and a pulling block slidably connected to the swing frame along the length direction of the swing frame.

5. The automatic glass polishing robot for louvers according to claim 4, characterized in that, A linkage rod is fixedly installed on one side of each of the two swing frames that are far apart from each other. A locking plate is slidably arranged on the clamping block. A helical spring is arranged between the locking plate and the clamping block. Several semi-circular groove structures for limiting the linkage rod are provided on the side of the locking plate.

6. The automatic glass polishing robot for louvers according to claim 1, characterized in that, A fixing rod is fixedly installed on one side of the two pulling blocks that are far apart from each other. A slotted plate that mates with the slot of the fixing rod is slidably provided on the clamping block. An L-shaped square rod is fixedly installed on the front side of the upper slotted plate, and a linkage square rod is fixedly installed on the front side of the lower slotted plate.

7. The automatic glass polishing robot for louvers according to claim 6, characterized in that, The L-shaped square rod and the linkage square rod are slidably connected up and down. The two clamping blocks are hinged to each other on the side of their front ends that are close to each other, and the two push plates are hinged to each other.

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