Toilet bowl cleaning device and toilet bowl

Abstract

The toilet stool cleaning device comprises a movable mechanical arm, the movable mechanical arm comprises a bone chain structure and a cleaning head arranged at the front end of the bone chain structure, the bone chain structure comprises a plurality of bone joint structures which are sequentially connected in the length direction of the bone chain structure and can move relatively, and the cleaning head is used for cleaning the toilet stool; and the at least one traction piece penetrates through the multiple joint structures in the length direction of the bone chain structure and can pull the joint structures to move, so that the bone chain structure is subjected to various deformations to drive the cleaning head to move to the cleaning position. The toilet stool cleaning device can realize automatic cleaning of the toilet stool.

Description

Technical Field

[0001] This article relates to toilet technology, and more particularly to a toilet cleaning device and toilet. Background Technology

[0002] Bathroom toilet ceramics are prone to accumulating dirt and grime, making them difficult to clean and requiring time-consuming and labor-intensive manual cleaning. This increases labor costs, is very time-consuming, and the dirt on the toilet ceramic can produce odors that are harmful to health. Currently, cleaning dirty toilets requires the use of detergents or hiring professional cleaners, which is time-consuming, labor-intensive, and increases labor costs. Furthermore, the dirt on the toilet ceramic can produce odors that are harmful to health. Summary of the Invention

[0003] This application provides a toilet cleaning device and a toilet, which can automatically clean the toilet.

[0004] This application provides a toilet cleaning device, including: A movable robotic arm includes a skeletal chain structure and a cleaning head located at the front end of the skeletal chain structure. The skeletal chain structure comprises multiple segments connected sequentially along its length and capable of relative movement. The cleaning head is used to clean a toilet bowl. At least one traction member passes through several of the joint structures along the length of the bone chain structure and is capable of tractioning the joint structures to move, causing the bone chain structure to undergo various deformations to drive the cleaning head to the cleaning position.

[0005] In an exemplary embodiment, the joint structure includes a cylindrical body, a pair of first contacts and a pair of second contacts respectively disposed at the two ends of the cylindrical body; The pair of first contacts are located on the left and right sides of the cylinder, and the pair of second contacts are located on the upper and lower sides of the cylinder; adjacent bone chain structures are connected through the first and second contacts and have movable gaps between them.

[0006] In one exemplary embodiment, the cleaning head is rotatably disposed at the front end of the bone chain structure; The cleaning head includes a barrel base, a motor installed in the barrel base, a rotating brush head located at the front end of the barrel base and connected to the motor, and a third contact located at the rear end of the barrel base and connected to the bone chain structure.

[0007] In one exemplary embodiment, the traction member is a plurality of traction ropes that pass through the bone chain structure along its length; The toilet cleaning device also includes a drive mechanism for driving the movement of the multiple traction ropes. The drive mechanism is configured to loosen or tighten one or more of the multiple traction ropes to cause various deformations in the skeletal chain structure.

[0008] In one exemplary embodiment, the drive mechanism includes a plurality of reels for winding the plurality of traction ropes, a plurality of drive motors for driving the plurality of reels to rotate, and a main control system for controlling the plurality of drive motors to work together.

[0009] In one exemplary embodiment, the drive mechanism further includes a mounting bracket with multiple mounting slots into which the multiple drive motors are inserted.

[0010] In one exemplary embodiment, the movable robotic arm further includes a cleaning water pipe penetrating the bone chain structure; The cleaning head is provided with a spray channel connected to the cleaning water pipe; the toilet cleaning device also includes a water inlet control valve connected to the input end of the cleaning water pipe.

[0011] In one exemplary embodiment, the toilet cleaning device further includes an outer sleeve fitted over the movable robotic arm and the cleaning head, the outer sleeve being made of a soft material.

[0012] In one exemplary embodiment, the toilet cleaning device further includes a storage box for housing the movable robotic arm, the storage box being configured to be installed on the toilet.

[0013] This application provides a toilet, including: a toilet body and a toilet cleaning device as described in any one of claims 1-9 disposed on the toilet body.

[0014] In one exemplary embodiment, the toilet body includes a rear seat and a basin located in front of the rear seat; The toilet cleaning device is located on one side of the rear seat, and the movable robotic arm can extend into the pelvic cavity of the basin from one side of the rear seat.

[0015] This application provides a cleaning method for a toilet cleaning device as described in any of the above embodiments, the method comprising: In response to a cleaning command, the length of the traction member relative to the movable robotic arm is controlled to adjust the degree of bending of the movable robotic arm within the pelvic cavity and the cleaning position of the cleaning head.

[0016] In one exemplary embodiment, the toilet cleaning device includes at least two traction members, and the step of controlling the length of the traction members relative to the movable robotic arm includes: The traction member on the side closer to the center of the pelvis is shortened, and the traction member on the side farther from the center of the pelvis is extended, so that the movable robotic arm bends around the center of the pelvis.

[0017] The movable robotic arm of the toilet cleaning device in this embodiment has a skeletal chain structure. The traction component can cause various deformations in the skeletal chain structure, making the movable robotic arm flexible and driving the cleaning head to clean different parts of the toilet. This toilet cleaning device can automatically clean the toilet without manual operation.

[0018] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the embodiments described in the description and the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0020] Figure 1 This is a perspective view of the toilet as described in an embodiment of this application; Figure 2 for Figure 1 A view taken from above; Figure 3 This is an overall perspective view of the toilet cleaning device according to an embodiment of this application; Figure 4 for Figure 3 A 3D exploded view of the active robotic arm; Figure 5 This is a three-dimensional assembly view of the three-section structure of the toilet cleaning device according to an embodiment of this application; Figure 6 This is a perspective view of the overall cleaning head of the toilet cleaning device according to an embodiment of this application; Figure 7 for Figure 6 A three-dimensional disassembled diagram; Figure 8 This is a view of the cleaning water supply path of the toilet cleaning device according to an embodiment of this application; Figure 9 This is a perspective view of the assembly of the mounting frame and the roller motor of the drive mechanism of the toilet cleaning device according to an embodiment of this application.

[0021] Figure 10 for Figure 9 A three-dimensional disassembled diagram; Figure 11 This is a schematic diagram of different cleaning positions of the toilet cleaning device according to an embodiment of this application.

[0022] Reference numerals: Toilet - 100; Toilet body - 1; Toilet cleaning device - 2; Rear seat - 101; Basin - 102; Movable robotic arm - 20; Drive mechanism - D; Bone chain structure - 201; Bone joint structure - G; Cylinder - 2010; First contact - 2011; Second contact - 2012; Cleaning head - 202; Cylinder seat - 2020; Motor - 2021; Rotating brush head - 2022; Isolator - 2023; Spray channel - S; Pipe connector - 2024; Third contact - 2025; Fixing bracket - 210; Mounting slot - 2101; Roller - 212; Roller arrangement cavity - 2102; Through hole - 2013; Perforation - 2014; Drive motor - 213; Main control system - 22; Traction component - 23; Cleaning water pipe - 24; Control valve - 25; Outer sleeve - 26. Detailed Implementation

[0023] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0024] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0025] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0026] like Figures 1-11 As shown, this application embodiment provides a toilet 100 and a toilet cleaning device 2 for automatically cleaning the toilet 100. The toilet 100 has a toilet body 1, and the toilet cleaning device 2 is installed on the toilet body 1. The toilet 100 can be a squat toilet or a seated toilet. This application embodiment takes a seated toilet as an example for detailed description.

[0027] like Figure 1 , Figure 2 As shown, the toilet body 1 of this application embodiment includes a rear seat 101 and a basin 102 located in front of the rear seat 101. The toilet cleaning device 2 is installed on the rear seat 101 and can extend into the basin 102 to clean the ceramic pot surface of the basin 102.

[0028] like Figure 1 , Figure 3 , Figure 4 As shown, the toilet cleaning device 2 includes a movable robotic arm 20 and at least one traction member 23 for driving the movable robotic arm 20. The movable robotic arm 20 includes a skeletal chain structure 201 and a cleaning head 202 disposed at the front end of the skeletal chain structure 201. The cleaning head 202 is used for cleaning and other treatments on the surface of the toilet 100. The skeletal chain structure 201 includes multiple skeletal structures G connected sequentially along its own length. At least one traction member 23 passes through the multiple skeletal structures G along the length of the skeletal chain structure 201 and is capable of pulling the multiple skeletal structures G to move, causing the skeletal chain structure 201 to undergo various deformations to drive the cleaning head 202 to the cleaning position. Among these deformations, the various deformations may include lengthening, shortening, bending, etc.; the traction member 23 may pass through all skeletal structures G or through part of the skeletal structures G.

[0029] like Figure 1 , Figure 2As shown, in this embodiment of the toilet cleaning device 2, the traction member 23 is located on one side of the rear seat 101, and the movable robotic arm 20 extends from one side of the rear seat 101. The cleaning device 2 can be assembled onto the toilet 100 during use. Of course, the toilet cleaning device 2 can also be located in other positions, for example, it can be completely hidden inside the rear seat 101, and when cleaning is needed, the movable robotic arm 20 extends into the pelvic cavity of the basin 102 from one side of the rear seat 101 via a mechanism.

[0030] The movable robotic arm 20 of the toilet cleaning device 2 in this embodiment has a skeletal chain structure 201. The traction member 23 can guide the skeletal chain structure 201 to undergo various deformations, allowing the movable robotic arm 20 to more flexibly change its cleaning position and drive the cleaning head 202 to clean different positions of the toilet 100. Taking cleaning the toilet bowl as an example, when the bending angle of the movable robotic arm 20 is small (small deformation), the cleaning head 202 can clean the edge of the toilet bowl; when the bending angle of the movable robotic arm 20 increases, the position of the cleaning head 202 changes from cleaning the edge to cleaning the center of the toilet bowl cavity. The toilet cleaning device 2 of this application can automatically clean the toilet 100 without manual operation.

[0031] like Figure 5 As shown, the joint structure G includes a cylindrical body 2010, a pair of first contact points 2011 and a pair of second contact points 2012 respectively located at the two ends of the cylindrical body 2010. The inner cavity of the cylindrical body 2010 is provided with a partition plate P. The surface of the partition plate P is provided with a through hole 2013 located in the middle and a plurality of perforations 2014 on the outer periphery of the through hole. The plurality of perforations 2014 are arranged at intervals in the circumferential direction of the partition plate P.

[0032] A pair of first contacts 2011 are located on the left and right sides of the cylinder 2010, and a pair of second contacts 2012 are located on the upper and lower sides of the cylinder 2010. Adjacent joint structures G are connected through the first contacts 2011 and the second contacts 2012, and have movable gaps between them, allowing multiple joint structures G to be interconnected and enabling individual joint structures G to rotate up and down and left and right. In this embodiment, the first contacts 2011 and the second contacts 2012 of adjacent joint structures G are connected by rivets T2.

[0033] like Figure 4 As shown, the toilet cleaning device 2 also includes an outer sleeve 26 that is fitted over the movable robotic arm 20. The outer sleeve 26 is made of a soft material and is used to protect and shield the movable robotic arm 20.

[0034] like Figure 6 , Figure 7As shown, the cleaning head 202 includes a base 2020, a motor 2021 installed inside the base 2020, a rotating brush head 2022 located at the front end of the base 2020 and connected to the motor 2021, and a pair of third contacts 2025 located at the rear end of the base 2020 and connected to the bone chain structure 201. The third contacts 2025 are connected to the bone chain structure 201 by rivets. The rotating brush head 2022 can rotate under the drive of the motor 2021. The rotating brush head 2022 is provided with a mounting hole that is detachable from the shaft of the motor 2021 for easy replacement of the rotating brush head 2022.

[0035] like Figure 7 As shown, the cleaning head 202 also includes a spacer 2023 that separates the rotating brush head 2022 and the motor 2021. The spacer 2023 is fixedly installed on the front end of the motor 2021 by screws T1. The spacer 2023 has a certain degree of wear resistance to prevent the rotating brush head 2022 from causing wear to the motor 2021.

[0036] like Figure 6 As shown, in this embodiment, at least one traction member 23 employs multiple traction ropes (L1, L2, L3, L4), which pass through multiple perforations 2014 of the multi-segment bone structure G and through the bone chain structure 201. The toilet cleaning device 1 also includes a drive mechanism D for driving the movement of the multiple traction ropes. The drive mechanism D is configured to loosen or tighten one or more of the multiple traction ropes to cause various deformations in the bone chain structure 201.

[0037] like Figure 9 , Figure 10 As shown, the drive mechanism D includes multiple reels 212 for winding multiple traction ropes (L1, L2, L3, L4), multiple drive motors 213 for driving the multiple reels 212 to rotate, and a main control system 22 for controlling the multiple drive motors 213. During operation, the main control system 22 controls the operation of the multiple drive motors 213, driving the corresponding reels 212 to change the tightening or loosening state of the corresponding traction ropes (L1, L2, L3, L4) to control the movement of the movable robotic arm 20.

[0038] The drive mechanism D also includes a fixing frame 210, which has multiple mounting slots 2101. Multiple drive motors 213 are inserted into the corresponding mounting slots 2101 and fixed with fixing screws T3. The multiple mounting slots 2101 include multiple rows arranged vertically. The mounting slots 2101 in the same row are arranged horizontally aligned, and the mounting slots 2101 in the upper and lower rows are arranged staggered front and back. A pair of roller arrangement cavities 2102 are provided between two mounting slots 2101 in the same row.

[0039] like Figure 3 , Figure 6 , Figure 7 As shown, the movable robotic arm 20 also includes a cleaning water pipe 24 that runs through the bone chain structure 201 along its length. The cleaning head 202 is provided with a spray channel S connected to the cleaning water pipe 24, and the spray channel S is connected to the cleaning water pipe 24 through a pipe connector 2024. The toilet cleaning device 2 also includes a water inlet control valve 25 connected to the input end of the cleaning water pipe 24, and the water inlet control valve 25 is connected to the main control system 22. The cleaning water pipe 24 passes through the through hole 2013 of the multi-segment bone structure G to achieve penetration through the bone chain structure 201, and the cleaning water pipe 24 is made of a soft material.

[0040] The traction ropes shown in the accompanying drawings of this application embodiment include four ropes (L1, L2, L3, L4), and there are correspondingly four reels 212 and four drive motors 213. The main control system 22 controls the drive motors 213 to rotate, thereby causing the corresponding reels 212 to rotate and tighten or loosen the corresponding traction ropes (L1, L2, L3, L4), and controls the movable robotic arm 20 to achieve changes in different positions and angles (see figure). Figure 11 The four different locations A0, A1, A2, and A3 in the image are cleaned.

[0041] For example, the drive mechanism D tightens L1 and L2 and releases L3 and L4 to move the movable robotic arm 20 upward and bend it upward; the drive mechanism D tightens L3 and L4 and releases L1 and L2 to move the movable robotic arm 20 downward and bend it downward; the drive mechanism D tightens L1 and L4 and releases L2 and L3 to move the movable robotic arm 20 to the left and bend it to the left; the drive mechanism D tightens L2 and L4 and releases L1 and L3 to move the movable robotic arm 20 to the right and bend it to the left. The drive mechanism D can change the length of the movable robotic arm 20 by tightening and releasing the traction ropes (L1, L2, L3, L4).

[0042] During cleaning, the motor 2021 of the cleaning head 202 drives the brush head 2022 to achieve cleaning and polishing functions. The main control system 22 controls the opening and closing of the water inlet control valve 25 to control the water supply valve 24, realizing the simultaneous polishing and water spraying to remove dirt.

[0043] The toilet cleaning device 2 of this application embodiment can intelligently clean the ceramic surface of the toilet 100, cleaning it thoroughly without any blind spots. It can automatically polish and clean the surface of the toilet 100, and is equipped with an automatic water supply system that sprays water for cleaning while polishing. The toilet cleaning device 2 can be installed on different toilets, and by embedding it into the system, it can achieve intelligent cleaning of the toilet.

[0044] This application embodiment also provides a cleaning method for the toilet cleaning device 1 as described in any of the above embodiments, including the following operations: S1. In response to a cleaning command, the length of the traction member 23 relative to the movable robotic arm 20 is controlled to adjust the degree of bending of the movable robotic arm 20 within the pelvic cavity and the cleaning position of the cleaning head 202. The cleaning command can be triggered by the user pressing a cleaning button.

[0045] The movable robotic arm 20 can enter the pelvic cavity of the toilet 100 completely or partially. By controlling the extent to which the movable robotic arm 20 enters the pelvic cavity of the toilet 100, the pelvic wall can be cleaned more flexibly.

[0046] The toilet cleaning device 1 includes at least two traction members 23, and the step of "controlling the length of the traction member 23 relative to the movable robotic arm" in step S1 includes: S2. Control the shortening of the traction member 23 on the side closer to the center of the pelvis, and control the extension of the traction member 23 on the side farther from the center of the pelvis so that the movable robotic arm 20 bends around the center of the pelvis. Here, the center of the pelvis generally refers to the location of the drain outlet of the pelvis.

[0047] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0048] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of those features.

[0049] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A toilet cleaning device, characterized in that, include: A mobile robotic arm includes a skeletal chain structure and a cleaning head located at the front end of the skeletal chain structure. The skeletal chain structure includes multiple skeletal segments that are sequentially connected along its own length and can move relative to each other. The cleaning head is used to clean a toilet. as well as At least one traction member passes through several of the joint structures along the length of the bone chain structure and is capable of tractioning the joint structures to cause various deformations in the bone chain structure to drive the cleaning head to the cleaning position.

2. The toilet cleaning device according to claim 1, characterized in that, The joint structure includes a cylindrical body, a pair of first joints and a pair of second joints respectively located at the two ends of the cylindrical body; The pair of first contacts are located on the left and right sides of the cylinder, and the pair of second contacts are located on the upper and lower sides of the cylinder; adjacent bone chain structures are connected through the first and second contacts and have movable gaps between them.

3. The toilet cleaning device according to claim 1, characterized in that, The cleaning head is rotatably located at the front end of the bone chain structure; The cleaning head includes a base, a motor installed in the base, a rotating brush head located at the front end of the base and connected to the motor, and a third contact located at the rear end of the base and connected to the bone chain structure.

4. The toilet cleaning device according to claim 1, characterized in that, The traction component consists of multiple traction ropes that run through the bone chain structure along its length. The toilet cleaning device also includes a drive mechanism for driving the movement of the multiple traction ropes. The drive mechanism is configured to loosen or tighten one or more of the multiple traction ropes to cause various deformations in the bone chain structure.

5. The toilet cleaning device according to claim 4, characterized in that, The drive mechanism includes multiple reels for winding the multiple traction ropes, multiple drive motors for driving the multiple reels to rotate, and a main control system for controlling the multiple drive motors to work together.

6. The toilet cleaning device according to claim 5, characterized in that, The drive mechanism also includes a mounting bracket, which has multiple mounting slots into which the multiple drive motors are inserted.

7. The toilet cleaning device according to any one of claims 1-6, characterized in that, The movable robotic arm also includes a cleaning water pipe that runs through the bone chain structure; The cleaning head is provided with a spray channel connected to the cleaning water pipe; the toilet cleaning device also includes a water inlet control valve connected to the input end of the cleaning water pipe.

8. The toilet cleaning device according to any one of claims 1-6, characterized in that, It also includes an outer sleeve fitted over the movable robotic arm and the cleaning head, the outer sleeve being made of a soft material.

9. The toilet cleaning device according to any one of claims 1-6, characterized in that, It also includes a storage box for housing the movable robotic arm, the storage box being configured to be installed in the toilet.

10. A toilet, characterized in that, include: The toilet body and the toilet cleaning device as described in any one of claims 1-9 disposed on the toilet body.

11. The toilet according to claim 10, characterized in that, The toilet body includes a rear seat and a basin located in front of the rear seat; The toilet cleaning device is located on one side of the rear seat, and the movable robotic arm can extend into the pelvic cavity of the basin from one side of the rear seat.

12. A cleaning method for a toilet cleaning device as described in any one of claims 1-9, characterized in that, The method includes: In response to a cleaning command, the length of the traction member relative to the movable robotic arm is controlled to adjust the degree of bending of the movable robotic arm within the pelvic cavity and the cleaning position of the cleaning head.

13. The cleaning method according to claim 12, characterized in that, The toilet cleaning device includes at least two traction members, and the step of controlling the length of the traction members relative to the movable robotic arm includes: The traction member on the side closer to the center of the pelvis is shortened, and the traction member on the side farther from the center of the pelvis is extended, so that the movable robotic arm bends around the center of the pelvis.

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