A laundry robot

Abstract

The present application relates to the technical field of washing machine, disclose a kind of washing robot, including shell assembly, washing barrel assembly, drainage mechanism, water injection mechanism, vacuum mechanism and manipulator assembly, the shell assembly includes shell, the washing barrel assembly includes washing barrel fixedly installed in the upper portion inside shell, the inside bottom of washing barrel is slope design, the inside bottom of washing barrel slope is fixedly installed with several groups of long strip silica gel plate, and the bottom side of washing barrel is provided with drain port.The present application can be freely up and down, left and right and open and close by manipulator assembly, so as to simulate the rubbing work of manual clothes, greatly improve the quality of clothes washing, and single-barrel design can effectively save water and prevent double-barrel interlayer from being easily contaminated, and can use flowing water source for rinsing, reduce residual, when dehydration, can use vacuum pump to dry water, more efficient.

Description

Technical Field

[0001] This invention relates to the field of washing machine technology, specifically to a washing robot. Background Technology

[0002] Currently, washing machines are cleaning appliances that use electrical energy to generate mechanical action to wash clothes. They are divided into two categories according to their rated washing capacity: household and commercial. Household washing machines mainly consist of a cabinet, washing and spin-drying tub, transmission and control system, etc. Some are also equipped with heating devices. Washing machines generally refer to those that use water as the main cleaning liquid, which is different from dry cleaning that uses special cleaning solutions and is usually handled by professionals. Traditional washing machines generally use either pulsator or drum washing machines.

[0003] However, current washing machines still have the following shortcomings:

[0004] Current front-loading or top-loading washing machines all have a twin-tub structure and cannot simulate manual washing. As a result, dirt and grime can accumulate in the space between the inner and outer tubs over time, leading to high water consumption and energy inefficiency. Furthermore, there are issues with detergent residue after washing and clothes getting tangled during the tumbling process.

[0005] Therefore, we propose a laundry robot. Summary of the Invention

[0006] The purpose of this invention is to provide a laundry robot that can move freely up, down, left, right, and open and close via a robotic arm component, thereby simulating manual rubbing of clothes, greatly improving the quality and efficiency of clothes washing. The single-tub design effectively saves water and allows for rinsing with flowing water to reduce residue. During spin-drying, a vacuum pump can be used to remove water, making it more efficient and solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a washing robot, comprising a shell assembly, a washing tub assembly, a drainage mechanism, a water injection mechanism, a vacuum mechanism, and a robotic arm assembly. The shell assembly includes a shell and a top cover fixedly installed on the top via a fixing connector. A push rod guide rail is provided on the bottom inner side of the top cover. The washing tub assembly includes a washing tub fixedly installed inside the upper part of the shell. The bottom inner side of the washing tub is designed with a slope. Several sets of long silicone plates are fixedly installed on the slope of the bottom inner side of the washing tub. A drain outlet is provided on one side of the bottom of the washing tub.

[0008] The robotic arm assembly includes a waterproof electric push rod movably mounted on the bottom of the upper cover via a push rod guide rail. One end of the waterproof electric push rod is fixedly mounted with an overload spring, and the other end of the overload spring is fixedly connected to the inner wall of the upper cover. A robotic arm fixing component is installed in the center of the bottom of the upper cover. A first transmission rod is movably mounted on the front end of the waterproof electric push rod via a rotating shaft. A second transmission rod is movably mounted below the first transmission rod via a rotating shaft. The other side above the first transmission rod is movably connected to the robotic arm fixing component via a rotating shaft. A mounting base is integrally formed at the bottom of the second transmission rod. A bionic hand is movably mounted below the mounting base via a movable arm, and the upper and lower ends of the movable arm are movably connected to the mounting base and the bionic hand respectively via rotating shafts.

[0009] The drainage mechanism includes a drain pipe fixedly installed at the bottom of the drain outlet, a drain solenoid valve is provided below the drain pipe, and a drain hose is installed at the bottom of the drain solenoid valve.

[0010] The vacuum mechanism includes a diaphragm vacuum pump installed at the bottom of the inner side of the housing. The upper air inlet pipe of the diaphragm vacuum pump is connected to the upper part of the drain pipe, and an air valve is provided on the air inlet pipe. The lower air outlet pipe of the diaphragm vacuum pump is connected to the lower part of the drain pipe.

[0011] The water injection mechanism includes a booster pump fixedly installed on one side of the bottom of the outer casing. A hot water pump is fixedly installed at the water inlet of the booster pump. A water injection pipe is installed at the water inlet of the hot water pump. A solenoid valve is provided on the water injection pipe. A branch pipe is installed at the water outlet of the booster pump, and the branch pipe is installed around the gap between the outer casing and the washing tub.

[0012] In a preferred embodiment of the present invention, a waterproof lead screw motor is movably mounted on the top of the second transmission rod via a rotating shaft, and the top of the waterproof lead screw motor is movably connected to the first transmission rod and the mechanical arm fixing component via the rotating shaft.

[0013] In a preferred embodiment of the present invention, waterproof planetary geared motors are symmetrically mounted on both sides of the top of the mounting base. A first swing arm is driven and mounted at the front end of the waterproof planetary geared motor. A second swing arm is movably mounted below the first swing arm via a rotating shaft. The second swing arm is movably connected to the front end of the bionic hand via a rotating shaft.

[0014] In a preferred embodiment of the present invention, a detergent dispenser is fixedly installed on one side of the upper interior of the washing tub, a radar detector is installed on the other side of the upper interior of the washing tub, and a microcomputer controller is fixedly installed on the upper rear side of the outer wall of the washing tub.

[0015] In a preferred embodiment of the present invention, a water immersion leakage protection device, a power ballast that provides the required DC power to the washing robot, and three sets of drivers for controlling the robotic arm components are fixedly installed on the lower inner side of the housing.

[0016] In a preferred embodiment of the present invention, a sealing door is movably mounted on the front side of the outer shell via a hinge, a silicone sealing strip B is embedded in the side of the washing tub near the sealing door, and tempered glass is embedded inside the sealing door.

[0017] In a preferred embodiment of the present invention, a plurality of reinforcing blocks are fixedly installed between the outer shell and the washing tub, and the two ends of the reinforcing blocks are respectively fixedly welded to the outer shell and the washing tub. A silicone sealing strip A is embedded in the opening between the outer shell and the top cover.

[0018] In a preferred embodiment of the present invention, a support plate is fixedly welded inside the outer shell and below the washing tub, the washing tub is fixedly installed above the support plate, and support columns are fixedly installed at the four corners inside the outer shell and below the support plate.

[0019] In a preferred embodiment of the present invention, the inner wall of the washing tub is equipped with six sets of high-pressure nozzles, and the six sets of high-pressure nozzles are arranged at different heights on the inner wall of the washing tub, and the branch pipe is connected to each set of high-pressure nozzles.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. The washing robot of the present invention solves the problem of dirt and grime accumulating between the inner and outer tubs by using a single tub design, and also reduces the space between the inner and outer tubs. The reduction in space achieves the environmental protection goals of water conservation and energy saving. As a result, the water consumption of the washing robot of the present invention during the soaking and washing stages is much lower than that of washing machines on the market. Similarly, it reduces the need for corresponding detergents. The chemical components contained in detergents will reduce the pollution to the environment and make it more economical.

[0022] 2. The washing robot of the present invention has an electric robotic arm component installed on the top of the washing tub, which can move back and forth and up and down, thereby being able to grab clothes and rub them on a long silicone plate to simulate the action of manual hand washing. The slope at the bottom of the washing tub is conducive to drainage and rubbing during the washing and dehydration stages. As the robotic arm component squeezes the clothes, the excess water will flow out quickly through the gaps between the sloping silicone plates to the water outlet. Compared with pulsator and drum washing machines, the washing robot of the present invention has a better cleaning effect, comparable to manual rubbing, and cleans clothes without tangling.

[0023] 3. The washing robot of the present invention adopts a running water rinsing method. Compared with the existing fixed water volume washing method, running water rinsing is cleaner and washes away residual chemicals from detergents more thoroughly. A booster pump provides a stable and high-speed water flow, and the high-pressure nozzles are positioned at different heights to spray evenly onto the clothes from different positions without leaving any areas. While rinsing, the robotic arm component can rub and squeeze the clothes to discharge the dirty water directly instead of leaving it in the washing tub to be diluted.

[0024] 4. The washing robot of the present invention performs dehydration by using a vacuum pump in conjunction with a robotic arm assembly. During dehydration, the air valve can be opened and the vacuum pump can work at the same time to use the vacuum principle to remove moisture from the clothes. At the same time, the bionic robotic arm continuously squeezes the clothes, which makes it easier to remove moisture from the clothes and greatly improves the dehydration efficiency. Attached Figure Description

[0025] By reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings, in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a front view cross-sectional structural diagram of the washing robot of the present invention;

[0027] Figure 2 This is a side cross-sectional view of the washing robot of the present invention;

[0028] Figure 3 This is a top view of the bottom structure of the washing tub of the washing robot of the present invention;

[0029] Figure 4 This is a schematic diagram of the robotic arm component of the washing robot of the present invention;

[0030] Figure 5 This is a top view of the mounting base for the washing robot of the present invention;

[0031] Figure 6 This is a schematic diagram of the mounting base of the washing robot of the present invention from the right side.

[0032] Figure 7 This is a schematic diagram of the original state of the robotic arm component of the washing robot of the present invention.

[0033] In the diagram: 1. Housing assembly; 101. Housing; 102. Reinforcing block; 103. Detergent dispenser; 104. Power ballast; 105. Water immersion leakage protection device; 106. Sealing door; 107. Driver; 108. Support plate; 109. Silicone sealing strip A; 110. Fixing connector; 111. Top cover; 112. Support column; 113. Mounting base plate; 114. Push rod guide rail; 115. Tempered glass; 2. Robotic arm assembly; 201. Waterproof electric push rod; 202. Overload spring; 203. Robotic arm fixing component; 204. Waterproof lead screw motor; 205. First transmission rod; 206. Second transmission rod; 207. Mounting base; 208. Waterproof planetary geared motor; 2 09. Movable arm; 210. Bionic hand; 211. Second swing arm; 212. First swing arm; 213. Reinforcing component; 3. Washing tub assembly; 301. Washing tub; 302. Long silicone plate; 303. Drain outlet; 304. High-pressure nozzle; 305. Radar detector; 306. Silicone sealing strip B; 307. Microcomputer controller; 4. Drainage mechanism; 401. Drain pipe; 402. Drain hose; 403. Drainage solenoid valve; 5. Vacuum mechanism; 501. Diaphragm vacuum pump; 502. Air outlet pipe; 503. Air inlet pipe; 504. Air valve; 6. Water injection mechanism; 601. Water injection pipe; 602. Solenoid valve; 603. Booster pump; 604. Branch pipe; 605. Hot water pump. Detailed Implementation

[0034] 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.

[0035] Example 1

[0036] Please see Figure 1-7 The present invention provides a technical solution: a washing robot, including a shell assembly 1, a washing tub assembly 3, a drainage mechanism 4, a water injection mechanism 6, a vacuum mechanism 5 and a robotic arm assembly 2. The shell assembly 1 includes a shell 101, and the washing tub assembly 3 includes a washing tub 301 fixedly installed inside the upper part of the shell 101. The bottom of the inner side of the washing tub 301 is designed with a slope, and several sets of long silicone plates 302 are fixedly installed on the slope of the bottom of the inner side of the washing tub 301. A drain outlet 303 is provided on one side of the bottom of the washing tub 301.

[0037] The robotic arm assembly 2 includes a waterproof electric push rod 201 movably mounted on the bottom of the upper cover 111 via a push rod guide rail 114. One end of the waterproof electric push rod 201 is fixedly mounted with an overload spring 202, and the other end of the overload spring 202 is fixedly connected to the inner wall of the upper cover 111. An overload spring 202 is also installed at the rear end of the waterproof electric push rod 201, so that when the pressure reaches the maximum bearing value of the spring, the waterproof electric push rod 201 can move backward, driving the entire robotic arm assembly 2 to lift up, thereby reducing and releasing pressure and avoiding excessive friction that could damage clothing.

[0038] A robotic arm fixing component 203 is installed in the center of the bottom of the top cover 111. A first transmission rod 205 is movably installed at the front end of the waterproof electric push rod 201 via a rotating shaft. A second transmission rod 206 is movably installed below the first transmission rod 205 via a rotating shaft. The other side above the first transmission rod 205 is movably connected to the robotic arm fixing component 203 via a rotating shaft. A mounting base 207 is integrally formed at the bottom of the second transmission rod 206. When the waterproof electric push rod 201 is started, it can drive the first transmission rod 205 to rotate on the robotic arm fixing component 203. At this time, it can drive the second transmission rod 206 to move left and right inside the washing tub 301.

[0039] A bionic hand 210 is movably mounted below the mounting base 207 via a movable arm 209. The upper and lower ends of the movable arm 209 are movably connected to the mounting base 207 and the bionic hand 210 respectively via rotating shafts. A waterproof lead screw motor 204 is movably mounted at the top of the second transmission rod 206 via a rotating shaft. The top of the waterproof lead screw motor 204 is movably connected to the first transmission rod 205 and the mechanical arm fixing component 203 via a rotating shaft. When the waterproof lead screw motor 204 is started, it can drive the second transmission rod 206 to rotate around the bottom of the first transmission rod 205. At this time, it can drive the mounting base 207 and the bionic hand 210 to move up and down inside the washing tub 301.

[0040] Waterproof planetary geared motors 208 are symmetrically mounted on both sides of the top of the mounting base 207. A first swing arm 212 is driven to the front end of the waterproof planetary geared motor 208. A second swing arm 211 is movably mounted below the first swing arm 212 via a rotating shaft. The second swing arm 211 is movably connected to the front end of the bionic hand 210 via a rotating shaft. When the waterproof planetary geared motor 208 is started, it can drive the first swing arm 212 to rotate. At this time, the first swing arm 212 can drive the second swing arm 211 to move up and down, so that the front end of the bionic hand 210 is located on the movable arm 209 for opening and closing. The bionic hand 210 can be wrapped with silicone.

[0041] In this embodiment, the robotic arm component 2 can drive the bionic hand 210 to move up and down and back and forth. The bionic hand 210 can also open and close freely. Therefore, it can grab clothes and repeatedly rub them on the long silicone plate 302. It can also use the bionic hand 210 to press the clothes up and down to squeeze out the water and achieve dehydration.

[0042] Example 2

[0043] Please see Figure 1 The drainage mechanism 4 includes a drain pipe 401 fixedly installed at the bottom of the drain outlet 303, a drain solenoid valve 403 is provided below the drain pipe 401, and a drain hose 402 is installed at the bottom of the drain solenoid valve 403.

[0044] The vacuum mechanism 5 includes a diaphragm vacuum pump 501 installed at the bottom inside the housing 101. The upper air inlet pipe 503 of the diaphragm vacuum pump 501 is connected to the upper part of the drain pipe 401, and an air valve 504 is provided on the air inlet pipe 503. The lower air outlet pipe 502 of the diaphragm vacuum pump 501 is connected to the lower part of the drain pipe 401.

[0045] In this embodiment, the microcomputer controller 307 controls the start of the diaphragm vacuum pump 501, while simultaneously closing the drain solenoid valve 403 and opening the air valve 504. At this time, the extraction of the diaphragm vacuum pump 501 creates a negative pressure in the air inside the washing tub 301, which also forces out the sewage from the wet clothes. The extraction of the diaphragm vacuum pump 501, combined with the squeezing of the robotic arm component 2, can not only accelerate the drying speed of the clothes, but also shorten the drying time, while also saving energy and consumption.

[0046] Example 3

[0047] Please see Figure 1 The water injection mechanism 6 includes a booster pump 603 fixedly installed on one side of the bottom of the outer casing 101. A hot water pump 605 is fixedly installed at the water inlet end of the booster pump 603. A water injection pipe 601 is installed at the water inlet end of the hot water pump 605. A solenoid valve 602 is provided on the water injection pipe 601. A branch pipe 604 is installed at the water outlet end of the booster pump 603, and the branch pipe 604 is installed around the gap between the outer casing 101 and the washing tub 301.

[0048] The inner wall of the washing tub 301 is equipped with six sets of high-pressure nozzles 304, and the six sets of high-pressure nozzles 304 are arranged at different heights on the inner wall of the washing tub 301. The branch pipe 604 is connected to each set of high-pressure nozzles 304.

[0049] In this embodiment, a hot water pump 605 and a booster pump 603 are installed at the rear end of the water inlet pipe 601 at the bottom of the washing tub 301. The tap water can be heated to 40 degrees Celsius and then sprayed onto the clothes inside the washing tub 301 through the high-pressure nozzle 304. Soaking in hot water can dissolve stains more effectively and make the clothes cleaner.

[0050] In an optional embodiment, a detergent dispenser 103 is fixedly installed on one side of the upper interior of the washing tub 301, a radar detector 305 is installed on the other side of the upper interior of the washing tub 301, and a microcomputer controller 307 is fixedly installed on the upper rear side of the outer wall of the washing tub 301. The radar detector 305 can detect the amount of clothes and then transmit the information to the microcomputer controller 307, thereby controlling the water intake, washing time, and the scrubbing force of the robotic arm component 2. The microcomputer controller 307 can also control the detergent dispenser 103 to automatically dispense detergent according to the detected amount of clothes.

[0051] In a preferred embodiment of the present invention, a water immersion leakage protection device 105, a power ballast 104, and three sets of drivers 107 are fixedly installed on the lower inner side of the outer casing 101. Considering the humid working environment, the washing tub 301 is equipped with a water immersion leakage protection device 105, which can further ensure safety. Each set of drivers 107 can drive the waterproof electric push rod 201, the waterproof lead screw motor 204, and the waterproof planetary gear motor 208 to work, thereby providing power to control the movement of the robotic arm assembly 2. The power ballast 104 can control and stabilize the current to provide the 24V DC power required by the washing robot.

[0052] In a preferred embodiment of the present invention, a sealing door 106 is movably mounted on the front side of the outer shell 101 via a hinge. A silicone sealing strip B306 is embedded in the side of the washing tub 301 near the sealing door 106. The sealing door 106 is also provided with tempered glass for easy observation. When the sealing door 106 is opened, clothes can be put into the washing tub 301. When closed, the silicone sealing strip B306 can provide good sealing.

[0053] In a preferred embodiment of the present invention, a plurality of reinforcing blocks 102 are fixedly installed between the outer shell 101 and the washing tub 301, and the two ends of the reinforcing blocks 102 are fixedly welded to the outer shell 101 and the washing tub 301 respectively. The multiple sets of reinforcing blocks 102 can effectively improve the strength of the washing tub 301 and prevent the washing tub 301 from deforming due to excessive negative pressure during vacuuming. When the top cover 111 is installed on the top of the outer shell 101, its gap is sealed by a silicone sealing strip A109.

[0054] In a preferred embodiment of the present invention, a support plate 108 is fixedly welded inside the outer shell 101 and below the washing tub 301. The washing tub 301 is fixedly installed on the support plate 108. The support plate 108 can provide good support for the washing tub 301 and prevent the bottom of the washing tub 301 from deforming. Multiple sets of support columns 112 are provided at the four corners of the bottom of the support plate 108 to support the support plate 108. Adjustable bases are provided at the four corners of the bottom of the mounting base plate 113 to facilitate the adjustment of the stability of the equipment.

[0055] Working principle:

[0056] Soaking Stage: The microcomputer controller 307 opens the solenoid valve 602 at the bottom of the washing tub 301, and the hot water pump 605 starts, maintaining hot water at around 40 degrees Celsius. Water is injected into the washing tub 301 through six sets of high-pressure nozzles 304 around the tub. Simultaneously, the drain solenoid valve 403 of the detergent dispenser 103 opens, adding detergent from the dispenser into the washing tub 301. The clothes are soaked for 3-5 minutes, ensuring the water level is lower than the clothes. The water level is controlled by the radar detector 305 inside the washing tub 301, which detects the amount of clothing and transmits the signal to the microcomputer controller 307. When the water level reaches the set position, the microcomputer controller 307 shuts off the hot water pump 605, solenoid valve 602, detergent dispenser 103, and drain solenoid valve 403. Then, the robotic arm assembly 2, initially in its original state, is controlled by the microcomputer controller 307 to begin executing actions.

[0057] Action 1: The first transmission rod 205 is pushed outward by the waterproof electric push rod 201, which drives the first transmission rod 205 to move downward around the mechanical arm fixing part 203. At the same time, the second transmission rod 206 moves downward under the push of the waterproof lead screw motor 204 rotating forward, so that the simulated bionic hand 210 at the end of the robotic arm component 2 reaches the middle position of the washing tub 301.

[0058] Action 2: The waterproof electric push rod 201 stops pushing out the first transmission rod 205, and the second transmission rod 206 continues to move downward, pressing the clothes down into the washing water. When the set depth is reached, the second transmission rod 206 can reverse through the waterproof lead screw motor 204 to drive the bionic hand 210 to lift up to the middle position of the washing tub 301.

[0059] Action 3: The waterproof electric push rod 201 of the first transmission rod 205 retracts inward, driving the robotic arm component 2 to move back one position of the bionic hand 210. Then, Action 2 and Action 3 are repeated to evenly press down on the clothes. Then the robotic arm component 2 returns to its original state. The pressing action of the robotic arm component 2 can cause water to ripple, and the detergent will dissolve evenly in the hot water, and the clothes can be completely soaked in the water.

[0060] 2. Washing Stage: After the soaking time is completed, the robotic arm component 2, initially in its original state, is activated by the microcomputer controller 307 to perform the washing action.

[0061] Action 1: The first transmission rod 205 is pushed outward and downward by the waterproof electric push rod 201. At the same time, the second transmission rod 206 can move downward under the push of the waterproof lead screw motor 204 rotating in the forward direction. At this time, the simulated bionic hand 210 at the end of the robotic arm component 2 reaches the middle position of the washing tub 301.

[0062] Action 2: The first transmission rod 205 stops extending the waterproof electric push rod 201, while the second transmission rod 206 continues to move downwards. Simultaneously, the bionic hand 210 unfolds downwards under the forward drive of the waterproof planetary gear motor 208. When the bionic hand 210 approaches the bottom right side of the washing tub 301, the waterproof electric push rod 201 can retract inwards through the first transmission rod 205, driving the mounting base 207 and the bionic hand 210 to move to the left and upwards. Meanwhile, the second transmission rod 206 continues to move downwards under the forward drive of the waterproof lead screw motor 204. The entire robotic arm assembly 2 moves to the left side of the washing tub 301, and the bionic hand 210 pulls the clothes to gather on the right and left sides of the washing tub so that the bionic hand 210 can grab an appropriate amount of clothes. When the bionic hand 210 moves to a position close to the center of the washing tub 301, the bionic hand 210 can retract simultaneously under the reverse drive of the waterproof planetary gear motor 208, firmly gripping the clothes.

[0063] Action 3: The first transmission rod 205 retracts inward using the waterproof electric push rod 201, driving the mounting base 207 and the bionic hand 210 to continue moving to the left and upward. Meanwhile, the waterproof lead screw motor 204 reverses and drives the second transmission rod 206 to move upward. At this time, the bionic hand 210 can be lifted upward, thereby lifting the bionic hand 210 that is holding the clothes and moving it to the upper left end of the washing tub 301. When it reaches the limit position, the clothes are lifted to the high left end and are located above the long silicone plate 302.

[0064] Action 4: The waterproof electric push rod 201 drives the first transmission rod 205 to push outward, which in turn drives the first transmission rod 205 to move downward first and press down. Then, the second transmission rod 206 moves downward and presses down under the forward rotation of the waterproof lead screw motor 204. Together, they drive the bionic hand 210 that grabs the clothes to push and knead towards the right end of the washing tub 301, so that the clothes are rubbed and squeezed under pressure. The clothes are pushed and kneaded until they reach the rightmost end of the washing tub 301.

[0065] Action 5: The bionic hand 210 grips the clothes and holds them in place. The waterproof electric push rod 201 drives the first transmission rod 205 to retract inward, which in turn moves the mounting base 207 and the bionic hand 210 to the left and upward. Meanwhile, the waterproof lead screw motor 204 stops rotating. The first transmission rod 205 drives the bionic hand 210, which is gripping the clothes, to push and rub towards the left end of the washing tub until it reaches the left side of the washing tub 301. Actions 4 and 5 can simulate manual washing and repeat. By repeating actions 4 and 5, the clothes can be washed four to five times.

[0066] Action Six: After the final rubbing, when the clothes are pushed and kneaded to the left end of the washing tub 301, the bionic hand 210 holds the clothes and stops. The first transmission rod 205 stops moving, and the waterproof lead screw motor 204 reverses, driving the second transmission rod 206 and the clothes held by the bionic hand 210 to lift them high to the limit position. The bionic hand 210 can then release under the forward drive of the waterproof planetary gear motor 208. At this time, the clothes held are scattered at the bottom of the washing tub 301. Then repeat actions two and five, and then repeat actions four and five to rub three to five times. Then execute action six again. Repeat this process 2 to 5 times. The specific number of times can be adjusted by the microcomputer controller 307 according to the amount of clothes. The final action of washing is to execute action four. The robotic arm component 2 pushes and kneads the clothes to the right end of the washing tub 301 and stops. The clothes are still held, leaving the drain outlet 303 open for drainage.

[0067] The above methods allow clothes to be thoroughly and completely rubbed, simulating human hand washing to achieve the purpose of cleaning and removing dirt. If there are too many clothes under the bionic hand 210, an overload spring is installed at the rear end of the waterproof electric push rod 201 of the robotic arm component 2. When the pressure reaches the set value, the waterproof electric push rod 201 moves backward, driving the entire robotic arm component 2 to lift up, reducing the pressure and avoiding excessive friction that could damage the clothes.

[0068] 3. Washing Stage: After washing, the microcomputer controller 307 controls the drain solenoid valve 403 of the washing tub 301 to open, draining the wastewater from the washing tub 301. When the set time is reached, the microcomputer controller 307 again controls the robotic arm assembly 2 to start and repeat actions four and five of the washing stage. Through the repeated rubbing and squeezing of the robotic arm assembly 2, the remaining wastewater in the clothes is continuously squeezed out and drained. The diaphragm vacuum pump 501, controlled by the microcomputer controller 307, quickly removes the wastewater. The extraction of the diaphragm vacuum pump 501 creates a negative pressure in the air inside the washing tub 301, which also forces the wastewater out of the wet clothes. The extraction of the diaphragm vacuum pump 501, combined with the squeezing of the robotic arm assembly 2, not only accelerates the drying speed of the clothes but also shortens the drying time. At the same time, it is energy-saving and energy-efficient. The robotic arm assembly 2 has lower power consumption, and its squeezing is more efficient than the extraction of the diaphragm vacuum pump 501. When the set time is reached, the robotic arm assembly 2 continues to perform the above actions, and the microcomputer controller 307 will... The drain solenoid valve 403 at the bottom of the washing tub 301 is closed, and the water inlet solenoid valve 602 is opened. Water is injected into the washing tub 301 through six high-pressure nozzles 304 around the inner wall of the washing tub 301. The water level must be lower than the clothes. The water level is controlled by a radar sensor above the washing tub 301 that senses the amount of clothes and transmits the information to the microcomputer controller 307 of the washing machine. When the water level reaches the set position, the microcomputer controller 307 closes the water inlet solenoid valve 602. The robotic arm component 2 performs the fourth and fifth actions of the washing stage twice, and the remaining dirty water in the clothes is rubbed out. The microcomputer controller 307 then controls the drain solenoid valve 403 of the washing tub 301 to open again, and the dirty water in the washing tub 301 is discharged. Repeating the fourth and fifth actions of the washing stage allows the robotic arm component 2 to repeatedly rub and squeeze out the residual dirty water in the clothes. When the set time is reached, the microcomputer controller 307 controls the booster pump 603 at the bottom of the washing tub 301 to start, boosting the normal tap water pressure of 0.07MPa to 0.07MPa.A high-speed water flow of 2MPa is sprayed into the washing tub 301 from six high-pressure nozzles 304 around the tub wall. At this time, the drain solenoid valve 403 remains open, preventing the rinsed wastewater from lingering in the tub and allowing it to drain directly from the drain hose 402. This ensures that the clothes receive only fresh, clean water and are not re-contaminated by wastewater. Subsequently, the robotic arm assembly 2 continues to execute actions four, five, and six of the washing stage sequentially. When the clothes are rubbed and pushed to the right end of the tub for the final wash, the bionic hand holds onto the clothes, the first transmission rod 205 stops moving, and the waterproof lead screw motor 204 reverses, causing the bionic hand 210 to lift the clothes upwards. The clothes are lifted high to a predetermined position, and then released downwards under the forward drive of the waterproof planetary geared motor 208. The clothes are scattered at the bottom of the washing tub. This action allows the clothes to be thoroughly rinsed by the high-speed water flow during the lifting process. Releasing the clothes loosens them, facilitating the rapid rinsing of any residual wastewater. This process, repeating steps four, five, and six of the washing cycle 3 to 6 times, thoroughly rinses away any residual wastewater and chemical residues from the detergents. The rinsed clothes are clean and like new. The inner wall of the washing tub 301 and the robotic arm assembly 2 are also thoroughly cleaned by the high-speed water flow, leaving no residue and preventing recontamination.

[0069] After the spin-drying stage and washing, the drain solenoid valve 403 remains open. The robotic arm assembly 2 repeats actions four, five, and six of the washing stage. Through repeated rubbing and squeezing by the robotic arm assembly 2, the remaining water in the clothes is continuously squeezed out and drained. In conjunction with the extraction of the diaphragm vacuum pump 501, a negative pressure is created in the washing tub 301, which also forces out the remaining water from the wet clothes. The extraction of the diaphragm vacuum pump 501, combined with the squeezing of the robotic arm assembly 2, not only accelerates the drying of the clothes but also shortens the drying time, while also saving energy. The spin-drying process ends after 2 to 5 minutes. After the robotic arm assembly 2 performs action six of the washing stage, it returns to its original state, and the clothes are loosely scattered at the bottom of the washing tub for easy removal. This washing and spin-drying method prevents clothes from tangling and keeps them fluffy. Since the robotic arm assembly 2 and the inner wall of the washing tub 3 are rinsed by water during the washing stage, there are no residues.

[0070] It should be noted that the present invention is a washing robot, and its components are all general standard parts or parts known to those skilled in the art. Its structure and principle can be known to those skilled in the art through technical manuals or through conventional experimental methods.

Claims

1. A laundry robot, comprising a shell assembly (1), a laundry tub assembly (3), a drainage mechanism (4), a water injection mechanism (6), a vacuum mechanism (5), and a robotic arm assembly (2), characterized in that, The outer shell assembly (1) includes an outer shell (101) and a top cover (111) fixedly installed on the top by a fixing connector (110). A water immersion leakage protection device (105), a power ballast (104) that provides the required 24V DC power to the washing robot, and three sets of drivers (107) for controlling the robotic arm assembly (2) are fixedly installed on the lower inner side of the outer shell (101). A push rod guide rail (114) is provided on the bottom inner side of the top cover (111). The washing tub assembly (3) includes a washing tub (301) fixedly installed on the upper inner side of the outer shell (101). The bottom inner side of the washing tub (301) is designed with a slope. Several sets of long silicone plates (302) are fixedly installed on the slope of the bottom inner side of the washing tub (301). A drain outlet (303) is provided on one side of the bottom of the washing tub (301). The robotic arm assembly (2) includes a waterproof electric push rod (201) movably mounted on the bottom of the upper cover (111) via a push rod guide rail (114). One end of the waterproof electric push rod (201) is fixedly mounted with an overload spring (202), and the other end of the overload spring (202) is fixedly connected to the inner wall of the upper cover (111). A robotic arm fixing component (203) is centrally mounted on the bottom of the upper cover (111). A first transmission rod (205) is movably mounted on the front end of the waterproof electric push rod (201) via a rotating shaft. A second transmission rod (206) is movably mounted below the first transmission rod (205) via a rotating shaft. The other side above the first transmission rod (205) is movably connected to the robotic arm fixing component (203) via a rotating shaft. A mounting base (207) is integrally formed at the bottom of the second transmission rod (206). A bionic hand (210) is movably mounted below the movable arm (209), and the upper and lower ends of the movable arm (209) are movably connected to the mounting base (207) and the bionic hand (210) respectively via rotating shafts. Waterproof planetary gear motors (208) are symmetrically mounted on both sides of the top of the mounting base (207). A first swing arm (212) is driven and mounted at the front end of the waterproof planetary gear motor (208). A second swing arm (211) is movably mounted below the first swing arm (212) via rotating shafts. The second swing arm (211) is movably connected to the front end of the bionic hand (210) via rotating shafts. A waterproof lead screw motor (204) is movably mounted at the top of the second transmission rod (206) via rotating shafts. The top of the waterproof lead screw motor (204) is movably connected to the first transmission rod (205) and the mechanical arm fixing component (203) via rotating shafts. The drainage mechanism (4) includes a drain pipe (401) fixedly installed at the bottom of the drain outlet (303), a drain solenoid valve (403) is provided below the drain pipe (401), and a drain hose (402) is installed at the bottom of the drain solenoid valve (403). The vacuum mechanism (5) includes a diaphragm vacuum pump (501) installed at the bottom of the inner side of the housing (101). The upper air inlet pipe (503) of the diaphragm vacuum pump (501) is connected to the upper part of the drain pipe (401), and the air inlet pipe (503) is provided with an air valve (504). The lower air outlet pipe (502) of the diaphragm vacuum pump (501) is connected to the lower part of the drain pipe (401). The water injection mechanism (6) includes a booster pump (603) fixedly installed on one side of the bottom of the outer casing (101). A hot water pump (605) is fixedly installed at the water inlet end of the booster pump (603). A water injection pipe (601) is installed at the water inlet end of the hot water pump (605). A solenoid valve (602) is provided on the water injection pipe (601). A branch pipe (604) is installed at the water outlet end of the booster pump (603). The branch pipe (604) is installed around the gap between the outer casing (101) and the washing tub (301).

2. A washing robot according to claim 1, characterized in that: A detergent dispenser (103) is fixedly installed on one side of the upper part of the washing tub (301), a radar detector (305) is installed on the other side of the upper part of the washing tub (301), and a microcomputer controller (307) is fixedly installed on the upper rear side of the outer wall of the washing tub (301).

3. A washing robot according to claim 1, characterized in that: A sealing door (106) is movably installed on the front side of the outer shell (101) via a hinge. A silicone sealing strip B (306) is embedded in the side of the washing tub (301) near the sealing door (106). Tempered glass (115) is embedded inside the sealing door (106).

4. A washing robot according to claim 1, characterized in that: Several sets of reinforcing blocks (102) are fixedly installed between the outer shell (101) and the washing tub (301), and the two ends of the reinforcing blocks (102) are fixedly welded to the outer shell (101) and the washing tub (301) respectively. A silicone sealing strip A (109) is embedded in the unsealing part of the outer shell (101) and the top cover (111).

5. A washing robot according to claim 1, characterized in that: A tray (108) is fixedly welded inside the outer shell (101) and below the washing tub (301). The washing tub (301) is fixedly installed above the tray (108). Support columns (112) are fixedly installed at the four corners inside the outer shell (101) and below the tray (108).

6. A washing robot according to claim 1, characterized in that: The inner wall of the washing tub (301) is equipped with six sets of high-pressure nozzles (304), and the six sets of high-pressure nozzles (304) are arranged at different heights on the inner wall of the washing tub (301). The branch pipe (604) is connected to each set of high-pressure nozzles (304).

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