Automatic cat litter box

Abstract

The present invention discloses an automatic cat litter box, comprising a main frame and a pet bowl placed in the main frame, the pet bowl is used to hold cat litter, a pan head capable of being controlled to move in a horizontal plane is provided on the top of the main frame, a mounting seat is provided on the pan head, a rotating table capable of being controlled to rotate on the mounting seat is provided on the mounting seat, a mechanical arm is provided on the rotating table, a bucket is provided on the mechanical arm, and a plurality of hollow holes are provided at the bottom of the bucket; a camera and an infrared camera are provided on the rotating table, data of the camera and the infrared camera are output to a separately provided processor, and the processor controls the mechanical arm through a separately provided controller. The present invention has the advantage of being able to automatically process pet feces and urine products, without the need for users to frequently clean, thereby reducing the burden of pet raising.

Description

Technical Field

[0001] The invention relates to the technical field of pet appliances, and in particular to an automatic cat litter box. Background Art

[0002] With the development of urbanization, indoor pet breeding has become more and more common. For pets, mainly cats, the main way to solve their defecation and urination is to use a pet litter box, which absorbs the defecation and urination produced by the pet through the cat litter, greatly facilitating indoor pet breeding.

[0003] However, the existing cat litter box only has a simple function of containing cat litter, and the user needs to clean and add cat litter every day. If it is not cleaned overtime, it is very easy to produce odor. Cleaning the cat litter box every day brings a great burden to the user. Summary of the invention

[0004] The invention provides an automatic cat litter box, which has the advantage of being able to automatically process pet excrement and urine products without the need for frequent cleaning by users, thereby reducing the burden of pet raising.

[0005] The above-mentioned object of the present invention is achieved through the following technical scheme: an automatic cat litter box, characterized in that it includes a main frame and a pet bowl placed in the main frame, the pet bowl is used to hold cat litter, a pan head that can be controlled to move in a horizontal plane is provided on the top of the main frame, a mounting seat is provided on the pan head, a rotating table that can be controlled to rotate on the mounting seat is provided on the mounting seat, a mechanical arm is provided on the rotating table, a bucket is provided on the mechanical arm, and a plurality of hollow holes are provided at the bottom of the bucket;

[0006] The rotating platform is provided with a camera and an infrared camera, and the data of the camera and the infrared camera are output to a separately provided processor, and the processor controls the robotic arm through a separately provided controller.

[0007] The present invention is further configured such that the mechanical arm includes a suspension arranged on the rotating platform, a boom is rotatably connected to the suspension, a forearm is rotatably connected to the boom, an end of the forearm is connected to the bucket, and the boom and the forearm are respectively connected to a first motor and a second motor for driving the boom and the forearm to rotate.

[0008] The present invention is further configured such that the second motor is mounted on the upper arm, the output shaft of the second motor is connected to a driving rod, a first connecting rod is connected between the driving rod and the lower arm, and the second motor drives the lower arm to rotate via the driving rod and the first connecting rod.

[0009] The present invention is further configured such that the bucket is rotatably connected to the forearm, a bracket is rotatably connected to the upper arm, one end of the bracket is connected to the rotating table through a second connecting rod, and the other end is connected to the bucket through a third connecting rod.

[0010] The present invention is further configured that the main frame is provided with two X-axis rotating shafts and two Y-axis rotating shafts, the X-axis rotating shaft is sleeved with an X-axis sliding seat, the Y-axis rotating shaft is sleeved with a Y-axis sliding seat, an X-axis sliding rod is connected between the two X-axis sliding seats, a Y-axis sliding rod is connected between the two Y-axis sliding seats, and both the X-axis sliding rod and the Y-axis sliding rod pass through the pan head;

[0011] A Y-direction synchronous belt is provided between the two X-direction rotating shafts, and the Y-direction synchronous belt is connected to the Y-direction slide seat;

[0012] An X-direction synchronous belt is provided between the two Y-direction rotating shafts, and the X-direction synchronous belt is connected to the X-direction slide seat;

[0013] One of the X-axis rotating shafts is connected to an X-axis motor, and one of the Y-axis rotating shafts is connected to a Y-axis motor.

[0014] The present invention is further configured such that a first shaft hole having a diameter greater than that of the X-axis rotating shaft is provided on the X-axis sliding seat, and the X-axis rotating shaft passes through the first shaft hole;

[0015] The Y-axis sliding seat is provided with a second shaft hole with a diameter larger than the diameter of the Y-axis rotating shaft, and the Y-axis rotating shaft passes through the second shaft hole.

[0016] The present invention is further configured such that the mounting base includes a first plate, a second plate and a third plate, the first plate is fixed at the bottom of the gimbal, the first plate and the second plate are spaced apart and connected by a number of pillars, the third plate is arranged below the second plate and connected by a nut, a plurality of balls are arranged between the rotating table and the third plate, a servo is arranged on the second plate, and an output shaft of the servo is connected to the rotating table for driving the rotating table to rotate.

[0017] The present invention is further configured such that three sides of the main frame are provided with wall panels, and a window for the bucket to pass through is provided on one of the wall panels, and a garbage can or cat litter treatment cylinder is provided outside the window;

[0018] The cat litter treatment cylinder comprises a first cylinder body, a second cylinder body with an opening at the top is arranged on the top of the first cylinder body, a water inlet is arranged on the first cylinder body and a water outlet is arranged on the top, and mounting plates are arranged on both sides of the first cylinder body.

[0019] The present invention is further configured to include a cat litter adding device for being arranged on the inner side of the main frame, the cat litter adding device includes a cat litter box, the top of the cat litter box is open or has a box door that can be opened and closed, a litter adding door is provided at the bottom of the side of the cat litter box, and the door shaft of the litter adding door is connected to a door opening motor, and the door opening motor is controlled by a controller.

[0020] The present invention is further configured such that a bag opening is provided on a side of the cat litter box, and the bag opening is used to insert a blade when opening the cat litter packaging bag.

[0021] In summary, the beneficial effects of the present invention are:

[0022] 1. The present invention uses a camera to identify the cat litter that has absorbed pet excrement and urine and then scoops it up and removes it, thus achieving automatic cleaning of the cat litter;

[0023] 2. The present invention sets a cat litter treatment cylinder to be placed beside the main frame. The cat litter treatment cylinder is connected to tap water. The cat litter produced by the bucket is placed in the cat litter treatment cylinder and flushed into the sewer with water, which reduces the user's garbage disposal and reduces the odor generated by excrement in the room;

[0024] 3. The present invention uses a cat litter adding device to add cat litter to the cat litter box, further reducing the labor input of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 The enlarged view of point A in the middle;

[0027] Figure 3 The overall structure of the robot arm in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 4 The overall structure of the robot arm in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 5 is a schematic diagram of a cat litter processing cylinder according to an embodiment of the present invention;

[0030] Figure 6 Schematic diagram of a cat litter adding device in an embodiment of the present invention Figure 1 ;

[0031] Figure 7 Schematic diagram of a cat litter adding device in an embodiment of the present invention Figure 2 .

[0032] In the figure, 1, main frame; 2, pet basin; 3, pan head; 4, mounting base; 5, rotating table; 6, mechanical arm; 7, bucket; 8, hollow hole; 9, suspension; 10, upper arm; 11, lower arm; 12, first motor; 13, second motor; 14, driving rod; 15, first connecting rod; 16, bracket; 17, second connecting rod; 18, third connecting rod; 19, X-axis; 20, Y-axis; 21, X-slide; 22, Y-slide; 23, X 1. Axle; 2. Y-axis slide bar; 24. Y-axis slide bar; 25. X-axis synchronous belt; 26. Y-axis synchronous belt; 27. First plate; 28. Second plate; 29. ​​Third plate; 30. Ball bearing; 31. Wall panel; 32. Window; 33. Cat litter processing cylinder; 34. First cylinder; 35. Second cylinder; 36. Water inlet; 37. Water outlet; 38. Mounting plate; 39. Cat litter adding device; 40. Cat litter box; 41. Litter adding door; 42. Bag opening; 43. Pillar. Implementation

[0033] The specific implementation of the present invention will be described in detail below with reference to the accompanying drawings.

[0034] Example: Reference Figure 1-7 , an automatic cat litter box, comprising a main frame 1 and a pet bowl 2 placed in the main frame 1, the pet bowl 2 is used to hold cat litter. The pet bowl 2 is an open cat litter box commonly seen on the market, or a rectangular pet bowl 2 designed in another shape to match the main frame 1. After a pet (such as a pet cat) urinates or defecates in the pet bowl 2, the cat litter will absorb the pet's excrement and form a ball, which is easy to clean.

[0035] The main frame 1 is configured as a rectangular frame, and the space below the main frame 1 ensures that pets can enter and exit normally.

[0036] A pan head 3 which can be controlled to move in a horizontal plane is provided on the top of the main frame 1 . Specifically, the main frame 1 is provided with two X-axis rotating shafts 19 and two Y-axis rotating shafts 20, the X-axis rotating shaft 19 is sleeved with an X-axis slide 21, the Y-axis rotating shaft 20 is sleeved with a Y-axis slide 22, an X-axis slide bar 23 is connected between the two X-axis slides 21, a Y-axis slide bar 24 is connected between the two Y-axis slides 22, and both the X-axis slide bar 23 and the Y-axis slide bar 24 pass through the pan / tilt 3; a Y-axis synchronous belt 26 is provided between the two X-axis rotating shafts 19, and the Y-axis synchronous belt 26 is connected to the Y-axis slide 22; an X-axis synchronous belt 25 is provided between the two Y-axis rotating shafts 20, and the X-axis synchronous belt 25 is connected to the X-axis slide 21; one of the X-axis rotating shafts 19 is connected to an X-axis motor, and one of the Y-axis rotating shafts 20 is connected to a Y-axis motor (the X-axis motor and the Y-axis motor are shown in the attached figure), and the X-axis motor and the Y-axis motor are servo stepper motors and are directly connected to the X-axis rotating shaft 19 and the Y-axis rotating shaft 20 respectively.

[0037] The X-axis slide 21 is provided with a first shaft hole whose diameter is larger than that of the X-axis rotating shaft 19, and the X-axis rotating shaft 19 passes through the first shaft hole; the Y-axis slide 22 is provided with a second shaft hole whose diameter is larger than that of the Y-axis rotating shaft 20, and the Y-axis rotating shaft 20 passes through the second shaft hole. Therefore, the X-axis rotating shaft 19 and the Y-axis rotating shaft 20 can play a transmission role and also play a role in positioning the X-axis slide 21 or the Y-axis slide 22, and the X-axis slide 21 and the Y-axis slide 22 do not affect the rotation of the X-axis rotating shaft 19 or the Y-axis rotating shaft 20.

[0038] The pan-tilt platform 3 is provided with a mounting seat 4, and the mounting seat 4 is provided with a rotating platform 5 capable of controlled rotation on the mounting seat 4. Specifically, the mounting seat 4 includes a first plate 27, a second plate 28 and a third plate 29, the first plate 27 is fixed to the bottom of the pan-tilt platform 3, the first plate 27 and the second plate 28 are arranged at intervals and connected by a plurality of pillars 43, the third plate 29 is arranged below the second plate 28 and connected by nuts, and a plurality of balls 30 are arranged between the rotating platform 5 and the third plate 29. The rotating platform 5 is supported on the third plate 29 by the balls 30, and the rotating platform 5 can rotate around its center line. The balls 30 are arranged to reduce the friction of the rotating platform 5 when rotating. A steering gear is provided on the second plate 28, and the output shaft of the steering gear is connected to the rotating platform 5 for driving the rotating platform 5 to rotate. The pillars 43 separate the first plate 27 and the second plate 28 so that there is a space for installing the steering gear between the first plate 27 and the second plate 28. There is a hole in the middle position of the second plate 28 and the third plate 29, and the hole on the second plate 28 is used to connect the steering gear and the rotating platform 5. The rotating platform 5 is provided with a mechanical arm 6 , and the holes on the third platform are used to connect the rotating platform 5 with the mechanical arm 6 .

[0039] A bucket 7 is provided on the mechanical arm 6, and the mechanical arm 6 includes a suspension 9 arranged on the rotating platform 5, a large arm 10 is rotatably connected to the suspension 9, a small arm 11 is rotatably connected to the large arm 10, and the end of the small arm 11 is connected to the bucket 7, and the large arm 10 and the small arm 11 are respectively connected to a first motor 12 and a second motor 13 for driving the large arm 10 and the small arm 11 to rotate.

[0040] The second motor 13 is mounted on the boom 10, the output shaft of the second motor 13 is connected to a driving rod 14, a first connecting rod 15 is connected between the driving rod 14 and the small arm 11, and the second motor 13 drives the small arm 11 to rotate through the driving rod 14 and the first connecting rod 15. The driving rod 14, the first connecting rod 15, the boom 10 and the small arm 11 form a four-bar mechanism.

[0041] The bucket 7 is rotatably connected to the small arm 11, and the bracket 16 is rotatably connected to the large arm 10. One end of the bracket 16 is connected to the rotating platform 5 through the second connecting rod 17, and the other end is connected to the bucket 7 through the third connecting rod 18. The second connecting rod 17, the bracket 16 and the third connecting rod 18 are used to constrain the bucket 7. The bucket 7, the small arm 11, the bracket 16 and the third connecting rod 18 form a four-bar mechanism, and the suspension 9, the large arm 10, the bracket 16 and the second connecting rod 17 form a four-bar mechanism. Therefore, there is no need for a separate motor to control the bucket 7, and the movement of the bucket 7 can be controlled by controlling the rotation of the large arm 10 and the small arm 11.

[0042] The bottom of the bucket 7 is provided with a plurality of hollow holes 8 to facilitate the leakage of the unclumped cat litter.

[0043] The rotating table 5 is provided with a camera and an infrared camera, and the data of the camera and the infrared camera are output to a separate processor, and the processor controls the robot arm 6 through a separate controller. The camera identifies the agglomerated cat litter through machine vision, and controls the robot arm 6 to move through the controller, and uses the bucket 7 to scoop up the cat litter and put it into the trash can or toilet. The infrared camera is used to detect whether there is a pet in the pet basin 2. If there is, the robot arm 6 will not start, and the robot arm 6 will be started after the pet excrement cools naturally and agglomerates.

[0044] In some other embodiments, the main frame 1 is provided with wall panels 31 on three sides, and a window 32 for the bucket 7 to pass through is provided on one of the wall panels 31, and a trash can or cat litter processing cylinder 33 is provided outside the window 32; the cat litter processing cylinder 33 includes a first cylinder 34, a second cylinder 35 with an open top is provided on the top of the first cylinder 34, a water inlet 36 is provided on the first cylinder 34 and a water outlet 37 is provided on the top, and mounting plates 38 are provided on both sides of the first cylinder 34. The mounting plate 38 can be connected to the main frame 1, the water inlet 36 is connected to tap water, and the water outlet 37 is connected to the sewer. After the clumped cat litter is put into the cat litter processing cylinder 33, it is flushed into the sewer and washed with tap water to reduce the generation of odor.

[0045] In some other embodiments, a cat litter adding device 39 is further included for being arranged inside the main frame 1, and the cat litter adding device 39 includes a cat litter box 40, the cat litter box 40 is open at the top or has a box door that can be opened and closed, and a litter adding door 41 is provided at the bottom of the side of the cat litter box 40, and the door shaft of the litter adding door 41 is connected to a door opening motor, and the door opening motor is controlled by a controller. By regularly controlling the switch of the litter adding door 41, new cat litter can be regularly added to the pet basin 2. The newly added cat litter can be flattened by the bucket 7.

[0046] Cat litter on the market is usually packed in bags. Pouring cat litter into the cat litter box 40 easily generates a lot of dust. Therefore, a bag opening 42 is provided on the side of the cat litter box 40. The bag opening 42 is used to insert a blade when opening the cat litter bag. The width of the bag opening 42 does not exceed 2 mm, so that the blade can be inserted without the cat litter flowing out. When adding cat litter, the whole bag of unopened cat litter can be directly placed into the cat litter box 40, and then the cat litter bag can be cut with a blade so that the cat litter can flow out smoothly, reducing dust.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An automatic cat litter box cleaning device, characterized in that: The pet bowl (2) comprises a main frame (1) and a pet basin (2) placed in the main frame (1), wherein the pet basin (2) is used to hold cat litter, and a platform (3) capable of being controlled to move in a horizontal plane is provided on the top of the main frame (1), a mounting seat (4) is provided on the platform (3), a rotating platform (5) capable of being controlled to rotate on the mounting seat (4) is provided on the mounting seat (4), a mechanical arm (6) is provided on the rotating platform (5), a bucket (7) is provided on the mechanical arm (6), and a plurality of hollow holes (8) are provided at the bottom of the bucket (7); The rotating platform (5) is provided with a camera and an infrared camera, and data from the camera and the infrared camera are output to a separately provided processor, and the processor controls the mechanical arm (6) through a separately provided controller; The mechanical arm (6) comprises a suspension (9) arranged on the rotating platform (5), a large arm (10) is rotatably connected to the suspension (9), a small arm (11) is rotatably connected to the large arm (10), a distal end of the small arm (11) is connected to the bucket (7), and the large arm (10) and the small arm (11) are respectively connected to a first motor (12) and a second motor (13) for driving the large arm (10) and the small arm (11) to rotate; The second motor (13) is mounted on the upper arm (10); the output shaft of the second motor (13) is connected to a driving rod (14); a first connecting rod (15) is connected between the driving rod (14) and the lower arm (11); the second motor (13) drives the lower arm (11) to rotate via the driving rod (14) and the first connecting rod (15); The bucket (7) is rotatably connected to the small arm (11), and a bracket (16) is rotatably connected to the large arm (10), one end of the bracket (16) is connected to the rotating platform (5) through a second connecting rod (17), and the other end is connected to the bucket (7) through a third connecting rod (18); The main frame (1) is provided with two X-axis rotating shafts (19) and two Y-axis rotating shafts (20); an X-axis sliding seat (21) is sleeved on the X-axis rotating shaft (19); a Y-axis sliding seat (22) is sleeved on the Y-axis rotating shaft (20); an X-axis sliding rod (23) is connected between the two X-axis sliding seats (21); a Y-axis sliding rod (24) is connected between the two Y-axis sliding seats (22); and both the X-axis sliding rod (23) and the Y-axis sliding rod (24) pass through the pan / tilt platform (3); A Y-direction synchronous belt (26) is provided between the two X-direction rotating shafts (19), and the Y-direction synchronous belt (26) is connected to the Y-direction sliding seat (22); An X-direction synchronous belt (25) is provided between the two Y-direction rotating shafts (20), and the X-direction synchronous belt (25) is connected to the X-direction sliding seat (21); One of the X-axis rotating shafts (19) is connected to an X-axis motor, and one of the Y-axis rotating shafts (20) is connected to a Y-axis motor; The X-direction sliding seat (21) is provided with a first shaft hole having a diameter greater than the diameter of the X-direction rotating shaft (19), and the X-direction rotating shaft (19) passes through the first shaft hole; A second shaft hole having a diameter greater than that of the Y-axis rotating shaft (20) is provided on the Y-axis sliding seat (22), and the Y-axis rotating shaft (20) passes through the second shaft hole; The mounting seat (4) comprises a first plate (27), a second plate (28) and a third plate (29); the first plate (27) is fixed to the bottom of the pan / tilt platform (3); the first plate (27) and the second plate (28) are arranged at intervals and connected by a plurality of pillars (43); the third plate (29) is arranged below the second plate (28) and connected by a nut; a plurality of balls (30) are arranged between the rotating platform (5) and the third plate (29); a steering gear is arranged on the second plate (28); an output shaft of the steering gear is connected to the rotating platform (5) for driving the rotating platform (5) to rotate.

2. The automatic cleaning cat litter box according to claim 1, characterized in that: The main frame (1) is provided with wall panels (31) on three sides, and a window (32) for the bucket (7) to pass through is provided on one of the wall panels (31), and a garbage can or cat litter processing cylinder (33) is provided outside the window (32); The cat litter processing cylinder (33) comprises a first cylinder (34), a second cylinder (35) with an open top end is provided on the top of the first cylinder (34), a water inlet (36) is provided on the first cylinder (34) and a water outlet (37) is provided on the top, and mounting plates (38) are provided on both sides of the first cylinder (34).

3. The automatic cat litter box according to claim 1, characterized in that: The invention also comprises a cat litter adding device (39) for being arranged on the inner side of the main frame (1), wherein the cat litter adding device (39) comprises a cat litter box (40), wherein the cat litter box (40) has an opening at the top or has a box door that can be opened and closed, and a litter adding door (41) is provided at the bottom of the side of the cat litter box (40), and the door shaft of the litter adding door (41) is connected to a door opening motor, and the door opening motor is controlled by a controller.

4. The automatic cleaning cat litter box according to claim 3, characterized in that: A bag opening (42) is provided on the side of the cat litter box (40), and the bag opening (42) is used to insert a blade when opening the cat litter packaging bag.

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