Angle self-adapting toilet ring angle correction robot

Abstract

The application discloses a kind of angle self-adapting toilet ring repair angle robot, it is related to mechanical arm polishing technical field, including guide rail, support, chamfer robot, clamping part and conveying line body.Clamping part is lifted from conveying line body by vacuum adsorption with toilet ring, chamfer robot includes movement module, rotary table, parallel four-bar linkage assembly and polishing table.Movement module slides along guide rail, rotary table drives polishing table horizontal rotation, and parallel four-bar linkage assembly makes polishing table keep horizontal posture in lifting.Polishing table is installed with a pair of sensor and roller with rocker arm, sensor records deflection angle, and calculates profile curvature in real time.Accordingly, control system dynamically adjusts the position of telescopic platform, so that the polishing wheel always moves with constant grinding depth, and realizes self-adaptive chamfering.The application can adapt to irregular toilet ring profile, correct polishing track, and improve chamfering quality and automation degree.

Description

Technical Field

[0001] This invention relates to the field of robotic arm grinding technology, specifically a robot for adjusting the guide angle of a toilet seat that can adapt to different angles. Background Technology

[0002] Toilet seats are an important component of bathroom products. The edges of toilet seats cut from the mold usually need to be chamfered or beveled to remove burrs, improve the feel, and facilitate subsequent assembly. Traditionally, the chamfering of toilet seat edges is done manually with hand-held grinding tools, which is not only inefficient, but also makes it difficult to ensure the consistency of the chamfer angle, and it is easy to have local over-grinding or under-grinding, affecting the product's appearance and user comfort.

[0003] With the widespread adoption of automated production lines, some mechanical polishing devices using fixed trajectories have emerged. However, toilet seats are elliptical or irregularly curved irregular parts, and there are dimensional deviations and edge curvature variations between different batches and even within the same batch. It is difficult to dynamically adjust the radial feed and contact angle of the polishing wheel according to the actual contour of the toilet seat, resulting in poor wheel fit and unstable chamfering quality. Therefore, there is a need for an automated chamfering robot that can adapt to the irregular contour of the toilet seat edge and whose polishing trajectory can be corrected in real time. Summary of the Invention

[0004] The purpose of this invention is to provide a robot for adjusting the guide angle of a toilet seat that can adapt to different angles, in order to solve the problems mentioned in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robot for adjusting the beveling angle of a toilet seat that can adapt to different angles, comprising a guide rail, a bracket, a beveling robot, a clamping part, and a conveyor line. The bracket is disposed at one end of the guide rail, the clamping part is disposed on the bracket, and the conveyor line is located on both sides of the bracket, and the conveyor line is arranged parallel to the guide rail. The chamfering robot includes a moving module, a rotary table, a parallel four-bar linkage, and a grinding table. The moving module is slidably mounted on a guide rail, and the rotary table is rotatably mounted on the moving module. The parallel four-bar linkage connects the rotary table and the grinding table. A pair of sensors are mounted on the grinding table, each connected to a rocker arm. A return spring is provided at the connection between the rocker arm and the sensor. The two rocker arms are arranged crosswise, and a roller is rotatably mounted on each rocker arm. A telescopic platform is also mounted on the grinding table, and a grinding wheel is mounted on the telescopic platform. Toilet seats to be chamfered are conveyed via a conveyor line, fed in from one side and discharged from the other. A clamping unit lifts the toilet seat from the conveyor line on the feeding side, where the chamfering robot performs the grinding. The chamfering robot is mounted on a moving module that can slide along a guide rail. The moving module performs horizontal reciprocating motion along the guide rail to accommodate toilet seats of different sizes. After grinding, the toilet seat is placed on the conveyor line on the discharge side.

[0006] Furthermore, the clamping part includes a drive unit, a crank, a horseshoe plate, and several vacuum suction components. The drive unit is mounted on a bracket, the crank is connected to the drive unit, and the horseshoe plate is connected to the end of the crank away from the drive unit. The crank and the horseshoe plate are hollow and interconnected internally. Several vacuum suction components are evenly distributed along the bottom of the horseshoe plate. The drive unit integrates rotation drive and lifting drive functions. An air passage is formed inside the crank and the horseshoe plate. The control system drives the drive unit to move the crank, causing the vacuum suction components at the bottom of the horseshoe plate to approach the surface of the toilet seat. Subsequently, the horseshoe plate is lowered, causing the vacuum suction components to fit against the toilet seat. When the drive unit then raises the horseshoe plate, the toilet seat rises simultaneously with the horseshoe plate.

[0007] Furthermore, each of the vacuum suction components includes several compression cylinders. Each compression cylinder is connected to the interior of the horseshoe-shaped plate through a through hole. A piston is slidably installed in each compression cylinder, and a spring is provided between the piston and the compression cylinder. A suction cup is provided at the bottom of each piston, and the suction cup passes through the piston and is connected to the interior of the compression cylinder. When the suction cup of the vacuum suction component contacts the toilet seat, the horseshoe-shaped plate continues to press down for a certain distance. At this time, the piston in each compression cylinder slides upward due to the counter-force of the toilet seat, the spring is compressed, the air pressure in the compression cylinder increases, and the air inside the compression cylinder is squeezed out between the bottom of the suction cup and the toilet seat. The compression cylinder maintains normal pressure. As the horseshoe-shaped plate is lifted, the compression cylinder moves upward. Under the push of the spring, the piston remains stationary, which creates a negative pressure inside the compression cylinder. External air cannot flow back from the edge of the suction cup, and the suction cup grips the toilet seat tightly until the piston moves through the entire stroke of the compression cylinder. The piston is also lifted, causing the toilet seat to rise.

[0008] Furthermore, the clamping part also includes a sleeve, which is mounted on the bracket. A balance air hole is provided on the crank, and the sleeve is fitted onto the outside of the crank. The inner wall of the sleeve seals the balance air hole, and a vertical groove is also provided on the inner wall of the sleeve. The drive unit drives the horseshoe plate and the adsorbed toilet seat to rotate via the crank, transferring them from above the feed side conveyor line to the working area of ​​the chamfering robot. After grinding is completed, the drive unit moves again, rotating the horseshoe plate and the adsorbed toilet seat above the feed side conveyor line via the crank. At this time, the balance air hole on the crank is aligned with the vertical groove on the inner wall of the sleeve, and is connected to the outside atmosphere through the vertical groove. Air quickly enters the internal hollow channel of the crank and horseshoe plate, and then enters each compression cylinder through the through hole, restoring the internal pressure of the compression cylinder to normal. The suction cup loses its adsorption force, and the toilet seat falls smoothly onto the feed side conveyor line under the action of gravity, and is transported to the next process by the conveyor line.

[0009] Furthermore, a pair of guide rods are provided on the telescopic platform, and the pair of guide rods are slidably connected to the polishing table. A second electric actuator is provided on the polishing table and connected to the telescopic platform. A polishing motor is installed on the polishing table, and a polishing wheel is connected to the motor shaft of the polishing motor. The second electric actuator pushes the telescopic platform to move back and forth on the polishing table, and the polishing motor drives the polishing wheel to rotate, so that the polishing wheel can bevel and polish the edge of the toilet seat.

[0010] Furthermore, the parallel four-bar assembly includes a lifting plate and a pair of lifting rods. The two ends of the lifting plate and the pair of lifting rods are rotatably connected to the grinding table and the rotary table, respectively. A groove is provided in the rotary table, and a first electric push rod is rotatably installed in the groove. The other end of the first electric push rod is rotatably connected to the middle of the lifting plate.

[0011] Furthermore, a pair of lifting rods are symmetrically arranged on both sides of the lifting plate, and the transition point length between the pair of lifting rods and the lifting plate is the same. The first electric actuator pushes the lifting plate to rise and fall, and the lifting rods act as limiters. The rotary table, the lifting plate, the pair of lifting rods, and the polishing table form a parallel four-bar linkage, keeping the polishing table in a horizontal position at all times. The polishing table is raised to the same height as the toilet seat.

[0012] Since toilet seats are usually oval or irregularly shaped, the contact angle and feed amount between their edges and the polishing wheel are different at different points. The moving module slides along the guide rail, and the rollers on the rocker arms first contact the toilet seat. As the moving module moves further forward, the rollers roll along the contour of the toilet seat, and the two rocker arms are forced to deflect. Each sensor records the deflection angle of the corresponding rocker arm in real time. The control system calculates the contour curvature of the toilet seat based on the deflection difference between the two rocker arms. After obtaining the contour data, the control system starts the polishing program. The second electric push rod pushes the telescopic table forward so that the polishing wheel contacts the edge of the toilet seat.

[0013] Furthermore, a conical toothed groove is formed at the upper outer edge of the rotating platform. A servo motor is mounted on the moving module, and a bevel gear is mounted on the motor shaft of the servo motor. The bevel gear meshes with the conical toothed groove. The servo motor drives the rotating platform to rotate precisely in the horizontal plane through the meshing of the bevel gear and the conical toothed groove. At the same time, the moving module slides along the guide rail. The linkage between the two causes the grinding wheel to move circumferentially along the edge of the toilet seat. The two rollers always roll in close contact with the edge of the toilet seat. The sensor continuously feeds back the deflection angle change of the rocker arm. Based on this real-time data, the control system dynamically adjusts the extension and retraction of the second electric actuator, that is, controls the radial feed of the grinding wheel, to ensure that the grinding wheel always moves in close contact with the edge at a constant grinding depth. Even if there are local concavities or abrupt changes in curvature on the edge of the toilet seat, the grinding trajectory can be adaptively corrected.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention utilizes a pair of cross-arranged rocker arms with rollers. As the wheels roll along the edge of the toilet seat, sensors detect the deflection angle in real time. The control system calculates the contour curvature based on this information and dynamically adjusts the radial feed of the second electric actuator. This, combined with the linkage between the moving module and the rotary table, ensures that the grinding wheel maintains a constant grinding depth along the edge. Even if there are unevenness or abrupt changes in curvature at the edge, the grinding trajectory can be automatically corrected, improving chamfer consistency and surface quality.

[0015] 2. This invention features multiple vacuum adsorption components, each consisting of a compression cylinder, spring, piston, and suction cup, evenly distributed at the bottom of the horseshoe-shaped plate. When pressed down, the air is expelled; when lifted up, the spring keeps the piston stationary while the compression cylinder moves upward to create negative pressure, firmly adsorbing the toilet seat. No external vacuum source is required. After polishing, the balance air hole on the crank aligns with the vertical groove of the sleeve, allowing external air to enter and automatically release the suction cup. The structure is compact, and the control is simple and reliable. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the chamfering robot of the present invention; Figure 4 This is a schematic diagram of the installation structure of the rocker arm of the present invention; Figure 5 This is a schematic diagram of the structure of the horseshoe-shaped plate of the present invention; Figure 6 This is a schematic diagram of the cross-sectional structure of the crank of the present invention; Figure 7 This is a schematic diagram of the compression cylinder part of the present invention.

[0017] In the diagram: 1. Guide rail; 2. Moving module; 3. Rotary table; 4. Servo motor; 5. Bevel gear; 6. Lifting plate; 7. Lifting rod; 8. First electric push rod; 9. Grinding table; 10. Telescopic table; 11. Guide rod; 12. Second electric push rod; 13. Grinding wheel; 14. Sensor; 15. Rocker arm; 16. Roller; 17. Bracket; 18. Drive unit; 19. Sleeve; 20. Crank; 21. Horseshoe plate; 22. Compression cylinder; 23. Spring; 24. Piston; 25. Suction cup. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example: Figures 1-7 As shown, the present invention provides a technical solution: a robot for adjusting the angle of a toilet seat, which can be adaptively angled, including a guide rail 1, a bracket 17, a chamfering robot, a clamping part and a conveyor line. The bracket 17 is set at one end of the guide rail 1, the clamping part is set on the bracket 17, and the conveyor line is located on both sides of the bracket 17. The conveyor line is arranged parallel to the guide rail 1. The chamfering robot includes a mobile module 2, a rotary table 3, a parallel four-bar linkage, and a grinding table 9. The mobile module 2 is slidably mounted on the guide rail 1, and the rotary table 3 is rotatably mounted on the mobile module 2. The parallel four-bar linkage connects the rotary table 3 and the grinding table 9. A pair of sensors 14 are installed on the grinding table 9, and a rocker arm 15 is connected to each sensor 14. A return coil spring is provided at the connection between the rocker arm 15 and the sensor 14. The two rocker arms 15 are arranged crosswise, and a roller 16 is rotatably mounted on each rocker arm 15. A telescopic platform 10 is also installed on the grinding table 9, and a grinding wheel 13 is installed on the telescopic platform 10. The toilet seat to be chamfered and ground is conveyed via a conveyor line, fed in from one side and sent out from the other. The clamping part lifts the toilet seat from the conveyor line on the feeding side, and the chamfering robot grinds it. The chamfering robot is mounted on a movable module 2 that can slide along the guide rail 1. The movable module 2 moves horizontally back and forth along the guide rail 1 to accommodate toilet seats of different sizes. After grinding, it is placed on the conveyor line on the sending side.

[0020] The clamping part includes a drive unit 18, a crank 20, a horseshoe plate 21, and several vacuum suction components. The drive unit 18 is mounted on a bracket 17. The crank 20 is connected to the drive unit 18. The horseshoe plate 21 is connected to the end of the crank 20 away from the drive unit 18. The crank 20 and the horseshoe plate 21 are hollow and interconnected. Several vacuum suction components are evenly distributed along the bottom of the horseshoe plate 21. Each vacuum suction component includes several compression cylinders 22. Each compression cylinder 22 is connected to the inside of the horseshoe plate 21 through a through hole. A piston 24 is slidably installed in each compression cylinder 22. A spring 23 is provided between the piston 24 and the compression cylinder 22. A suction cup 25 is provided at the bottom of each piston 24. The suction cup 25 passes through the piston 24 and is connected to the inside of the compression cylinder 22.

[0021] The drive unit 18 integrates rotary and lifting drive functions. An air passage is formed between the crank 20 and the horseshoe plate 21. The control system drives the drive unit 18 to move the crank 20, causing the vacuum suction component at the bottom of the horseshoe plate 21 to approach the toilet seat surface. Subsequently, the horseshoe plate 21 descends, allowing the vacuum suction component to adhere to the toilet seat. When the drive unit 18 then raises the horseshoe plate 21, the toilet seat rises simultaneously. When the suction cup 25 of the vacuum suction component contacts the toilet seat, the horseshoe plate 21 continues to press down for a short distance. At this time, the pistons in each compression cylinder 22... Piston 24 slides upward due to the counterforce from the toilet seat, compressing spring 23 and increasing the air pressure inside compression cylinder 22. The air inside compression cylinder 22 is squeezed out between the bottom of suction cup 25 and the toilet seat, maintaining normal pressure inside compression cylinder 22. As the horseshoe plate 21 is lifted, compression cylinder 22 moves upward. Under the push of spring 23, piston 24 remains stationary, creating negative pressure inside compression cylinder 22. External air cannot flow back from the edge of suction cup 25, and suction cup 25 grips the toilet seat tightly until piston 24 has moved through the entire stroke of compression cylinder 22. Piston 24 is also lifted, causing the toilet seat to rise.

[0022] The clamping part also includes a sleeve 19, which is mounted on the bracket 17. A balance air hole is provided on the crank 20. The sleeve 19 is sleeved on the outside of the crank 20. The inner wall of the sleeve 19 blocks the balance air hole. A vertical groove is also provided on the inner wall of the sleeve 19. The drive unit 18 drives the horseshoe plate 21 and the adsorbed toilet seat to rotate via the crank 20, transferring them from above the feed side conveyor line to the working area of ​​the chamfering robot. After grinding, the drive unit 18 moves again, rotating the horseshoe plate 21 and the adsorbed toilet seat above the feed side conveyor line via the crank 20. At this time, the balance air hole on the crank 20 is aligned with the vertical groove on the inner wall of the sleeve 19, and is connected to the outside atmosphere through the vertical groove. Air quickly enters the hollow channel inside the crank 20 and horseshoe plate 21, and then enters each compression cylinder 22 through the through hole, so that the inside of the compression cylinder 22 returns to normal pressure. The suction cup 25 loses its adsorption force, and the toilet seat falls smoothly onto the feed side conveyor line under the action of gravity, and is transported to the next process by the conveyor line.

[0023] The parallel four-bar assembly includes a lifting plate 6 and a pair of lifting rods 7. The two ends of the lifting plate 6 and the pair of lifting rods 7 are rotatably connected to a grinding table 9 and a rotary table 3, respectively. A groove is provided in the rotary table 3, and a first electric push rod 8 is rotatably installed in the groove. The other end of the first electric push rod 8 is rotatably connected to the middle of the lifting plate 6. The pair of lifting rods 7 are symmetrically arranged on both sides of the lifting plate 6, and the connection points of the pair of lifting rods 7 and the lifting plate 6 are of the same length. A pair of guide rods 11 are provided on the telescopic table 10, and the pair of guide rods 11 are slidably connected to the grinding table 9. A second electric push rod 12 is provided on the grinding table 9 and is connected to the telescopic table 10. A grinding motor is installed on the grinding table 9, and a grinding wheel 13 is connected to the motor shaft of the grinding motor. A conical toothed groove is provided on the upper outer edge of the rotary table 3. A servo motor 4 is installed on the moving module 2, and a bevel gear 5 is installed on the motor shaft of the servo motor 4, meshing with the conical toothed groove.

[0024] The first electric actuator 8 pushes the lifting plate 6 to rise and fall, and the lifting rod 7 acts as a limit. The rotating table 3, the lifting plate 6, the pair of lifting rods 7 and the polishing table 9 form a parallel four-bar linkage, keeping the polishing table 9 in a horizontal position at all times. The polishing table 9 is raised to the same height as the toilet seat.

[0025] Since toilet seats are usually oval or irregularly shaped, the contact angle and feed amount between their edges and the polishing wheel 13 are different. The moving module 2 slides along the guide rail 1, and the roller 16 on the rocker arm 15 first contacts the toilet seat. As the moving module 2 moves further forward, the roller 16 rolls along the contour of the toilet seat, and the two rocker arms 15 are forced to deflect. Each sensor 14 records the deflection angle of the corresponding rocker arm 15 in real time. The control system calculates the contour curvature of the toilet seat based on the deflection difference between the two rocker arms 15. After obtaining the contour data, the control system starts the polishing program. The second electric push rod 12 pushes the telescopic table 10 forward, so that the polishing wheel 13 contacts the edge of the toilet seat.

[0026] The second electric actuator 12 pushes the telescopic table 10 to move back and forth on the grinding table 9. The grinding motor drives the grinding wheel 13 to rotate, and the grinding wheel 13 chamfers and grinds the edge of the toilet seat. The servo motor 4 meshes with the conical tooth groove through the bevel gear 5, thereby driving the rotary table 3 to rotate precisely in the horizontal plane. At the same time, the moving module 2 slides along the guide rail 1. The two work together to make the grinding wheel 13 move circumferentially along the edge of the toilet seat. The two rollers 16 always roll in close contact with the edge of the toilet seat. The sensor 14 continuously feeds back the deflection angle of the rocker arm 15. Based on these real-time data, the control system dynamically adjusts the extension and retraction of the second electric actuator 12, that is, controls the radial feed of the grinding wheel 13, to ensure that the grinding wheel 13 always moves in close contact with the edge at a constant grinding depth. Even if there are local concavities or abrupt changes in curvature on the edge of the toilet seat, the grinding trajectory can be adaptively corrected.

[0027] The working principle of this invention is as follows: The toilet seat to be chamfered and ground is conveyed by the conveyor line. It is fed in from one side of the conveyor line and sent out from the other side of the conveyor line. The clamping part lifts the toilet seat from the conveyor line on the feeding side and the chamfering robot grinds it. The chamfering robot is mounted on a movable module 2 that can slide along the guide rail 1. The movable module 2 moves horizontally back and forth along the guide rail 1 to adapt to toilet seats of different sizes. After grinding, it is placed on the conveyor line on the sending side.

[0028] The drive unit 18 integrates rotary and lifting drive functions. An air passage is formed between the crank 20 and the horseshoe plate 21. The control system drives the drive unit 18 to move the crank 20, causing the vacuum suction component at the bottom of the horseshoe plate 21 to approach the toilet seat surface. Subsequently, the horseshoe plate 21 descends, allowing the vacuum suction component to adhere to the toilet seat. When the drive unit 18 then raises the horseshoe plate 21, the toilet seat rises simultaneously. When the suction cup 25 of the vacuum suction component contacts the toilet seat, the horseshoe plate 21 continues to press down for a short distance. At this time, the pistons in each compression cylinder 22... Piston 24 slides upward due to the counterforce from the toilet seat, compressing spring 23 and increasing the air pressure inside compression cylinder 22. The air inside compression cylinder 22 is squeezed out between the bottom of suction cup 25 and the toilet seat, maintaining normal pressure inside compression cylinder 22. As the horseshoe plate 21 is lifted, compression cylinder 22 moves upward. Under the push of spring 23, piston 24 remains stationary, creating negative pressure inside compression cylinder 22. External air cannot flow back from the edge of suction cup 25, and suction cup 25 grips the toilet seat tightly until piston 24 has moved through the entire stroke of compression cylinder 22. Piston 24 is also lifted, causing the toilet seat to rise.

[0029] The drive unit 18 drives the horseshoe plate 21 and the adsorbed toilet seat to rotate via the crank 20, transferring them from above the feed side conveyor line to the working area of ​​the chamfering robot. After grinding, the drive unit 18 moves again, rotating the horseshoe plate 21 and the adsorbed toilet seat above the feed side conveyor line via the crank 20. At this time, the balance air hole on the crank 20 is aligned with the vertical groove on the inner wall of the sleeve 19, and is connected to the outside atmosphere through the vertical groove. Air quickly enters the hollow channel inside the crank 20 and horseshoe plate 21, and then enters each compression cylinder 22 through the through hole, so that the inside of the compression cylinder 22 returns to normal pressure. The suction cup 25 loses its adsorption force, and the toilet seat falls smoothly onto the feed side conveyor line under the action of gravity, and is transported to the next process by the conveyor line.

[0030] The first electric actuator 8 pushes the lifting plate 6 to rise and fall, and the lifting rod 7 acts as a limit. The rotating table 3, the lifting plate 6, the pair of lifting rods 7 and the polishing table 9 form a parallel four-bar linkage, keeping the polishing table 9 in a horizontal position at all times. The polishing table 9 is raised to the same height as the toilet seat.

[0031] Since toilet seats are usually oval or irregularly shaped, the contact angle and feed amount between their edges and the polishing wheel 13 are different. The moving module 2 slides along the guide rail 1, and the roller 16 on the rocker arm 15 first contacts the toilet seat. As the moving module 2 moves further forward, the roller 16 rolls along the contour of the toilet seat, and the two rocker arms 15 are forced to deflect. Each sensor 14 records the deflection angle of the corresponding rocker arm 15 in real time. The control system calculates the contour curvature of the toilet seat based on the deflection difference between the two rocker arms 15. After obtaining the contour data, the control system starts the polishing program. The second electric push rod 12 pushes the telescopic table 10 forward, so that the polishing wheel 13 contacts the edge of the toilet seat.

[0032] The second electric actuator 12 pushes the telescopic table 10 to move back and forth on the grinding table 9. The grinding motor drives the grinding wheel 13 to rotate, and the grinding wheel 13 chamfers and grinds the edge of the toilet seat. The servo motor 4 meshes with the conical tooth groove through the bevel gear 5, thereby driving the rotary table 3 to rotate precisely in the horizontal plane. At the same time, the moving module 2 slides along the guide rail 1. The two work together to make the grinding wheel 13 move circumferentially along the edge of the toilet seat. The two rollers 16 always roll in close contact with the edge of the toilet seat. The sensor 14 continuously feeds back the deflection angle of the rocker arm 15. Based on these real-time data, the control system dynamically adjusts the extension and retraction of the second electric actuator 12, that is, controls the radial feed of the grinding wheel 13, to ensure that the grinding wheel 13 always moves in close contact with the edge at a constant grinding depth. Even if there are local concavities or abrupt changes in curvature on the edge of the toilet seat, the grinding trajectory can be adaptively corrected.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robot for adjusting the guide angle of a toilet seat with adaptive angle capability, characterized in that: It includes a guide rail (1), a bracket (17), a chamfering robot, a clamping part and a conveyor line. The bracket (17) is set at one end of the guide rail (1), the clamping part is set on the bracket (17), and the conveyor line is located on both sides of the bracket (17). The conveyor line is arranged parallel to the guide rail (1). The chamfering robot includes a mobile module (2), a rotary table (3), a parallel four-bar linkage and a grinding table (9). The mobile module (2) is slidably mounted on a guide rail (1). The rotary table (3) is rotatably mounted on the mobile module (2). The parallel four-bar linkage is connected between the rotary table (3) and the grinding table (9). A pair of sensors (14) are installed on the grinding table (9). Each sensor (14) is connected to a rocker arm (15). The two rocker arms (15) are arranged crosswise. A reset coil spring is provided at the connection between the rocker arm (15) and the sensor (14). A roller (16) is rotatably mounted on each rocker arm (15). A telescopic table (10) is also installed on the grinding table (9). A grinding wheel (13) is installed on the telescopic table (10).

2. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 1, characterized in that: The clamping part includes a drive unit (18), a crank (20), a horseshoe plate (21), and several vacuum adsorption components. The drive unit (18) is mounted on a bracket (17). The crank (20) is connected to the drive unit (18). The horseshoe plate (21) is connected to the end of the crank (20) away from the drive unit (18). The crank (20) and the horseshoe plate (21) are hollow and connected inside. Several vacuum adsorption components are evenly distributed along the bottom of the horseshoe plate (21).

3. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 2, characterized in that: Each of the vacuum adsorption components includes several compression cylinders (22), each compression cylinder (22) is connected to the inside of the horseshoe plate (21) through a through hole, a piston (24) is slidably installed in each compression cylinder (22), a spring (23) is provided between the piston (24) and the compression cylinder (22), and a suction cup (25) is provided at the bottom of each piston (24), the suction cup (25) penetrates the piston (24) and is connected to the inside of the compression cylinder (22).

4. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 2, characterized in that: The clamping part also includes a sleeve (19), which is mounted on the bracket (17). A balance air hole is provided on the crank (20). The sleeve (19) is sleeved on the outside of the crank (20). The inner wall of the sleeve (19) blocks the balance air hole. A vertical groove is also provided on the inner wall of the sleeve (19).

5. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 1, characterized in that: A pair of guide rods (11) are provided on the telescopic platform (10), and the pair of guide rods (11) are slidably connected to the grinding table (9). A second electric push rod (12) is provided on the grinding table (9), and the second electric push rod (12) is connected to the telescopic platform (10). A grinding motor is installed on the grinding table (9), and a grinding wheel (13) is connected to the motor shaft of the grinding motor.

6. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 1, characterized in that: The parallel four-bar assembly includes a lifting plate (6) and a pair of lifting rods (7). The two ends of the lifting plate (6) and the pair of lifting rods (7) are rotatably connected to the grinding table (9) and the rotating table (3), respectively. The rotating table (3) has a groove, and a first electric push rod (8) is rotatably installed in the groove. The other end of the first electric push rod (8) is rotatably connected to the middle of the lifting plate (6).

7. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 6, characterized in that: A pair of lifting rods (7) are symmetrically arranged on both sides of the lifting plate (6), and the length of the transition point of the pair of lifting rods (7) and the lifting plate (6) is the same.

8. The robot for adjusting the guide angle of a toilet seat with adaptive angle as described in claim 1, characterized in that: The upper outer edge of the rotary table (3) is provided with a conical tooth groove. The moving module (2) is equipped with a servo motor (4). A bevel gear (5) is installed on the motor shaft of the servo motor (4). The bevel gear (5) meshes with the conical tooth groove.

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