A self-propelled toilet cleaning and dredging integrated robot

Abstract

A self-propelled toilet cleaning and dredging integrated robot, comprising a mobile chassis and an execution mechanism rotatably arranged on the mobile chassis, the execution mechanism comprising a multi-degree-of-freedom mechanical arm and a magnetic suction type gripper at the end of the mechanical arm for grabbing and manipulating cleaning tools; the mobile chassis is provided with a brush head assembly matched with the magnetic suction type gripper, the brush head assembly is provided with a brush head for cleaning, and the brush head is provided with a first magnet matched with the magnetic suction type gripper; compared with the prior art, by organically combining the mobile chassis, the multi-degree-of-freedom mechanical arm, the magnetic suction type gripper, the various brush head assemblies and the pneumatic mechanism (air pump, gas cylinder, electromagnetic valve, rubber plug, etc.), the robot can not only use the mechanical arm and the brush head to perform the brushing and cleaning task of each part of the toilet, but also use the pneumatic mechanism to release high-pressure gas through the rubber plug to dredge the toilet pipeline, one machine with multiple functions, solving the problem of single function, cleaning and dredging being mutually separated of the existing equipment.

Description

Technical Field

[0001] This invention relates to the field of toilet cleaning and unclogging technology, specifically to a self-propelled integrated robot for toilet cleaning and unclogging. Background Technology

[0002] As people's living standards continue to improve, their requirements for the cleanliness and hygiene of their homes are also becoming increasingly stringent. As the most frequently used fixture in the bathroom, the cleanliness and maintenance of the toilet directly affect the health and comfort of the home environment. However, daily cleaning of the toilet, especially scrubbing the inner walls and unclogging the pipes, often requires manual operation, which is not only time-consuming and laborious but can also cause psychological discomfort. Furthermore, if cleaning is not timely, bacteria can easily grow inside the toilet, producing unpleasant odors and seriously affecting the home's hygiene.

[0003] Currently, some auxiliary devices for toilet cleaning or unclogging are available on the market. For example, some automatic cleaning robots can walk along the edge of the toilet and scrub the inner wall of the toilet with fixed or rotating brush heads. However, most of these devices are single-function, only able to perform basic scrubbing work, and cannot effectively clean the outer wall of the toilet, the seat, or other areas, let alone unclog pipes. On the other hand, for toilet blockage problems, commonly used unclogging tools are mostly manual plungers or pneumatic plungers, which are separate devices that require manual operation and are independent of the cleaning function.

[0004] Chinese Patent Application No. 202011500735.2 discloses a constant-force adaptive toilet cleaning robot. This disclosed toilet cleaning robot includes: a rotating mechanism, a swing arm mechanism, a constant-force brush head, a telescopic mechanism, a drive mechanism, a lifting mechanism, a control mechanism, and an electric slip ring assembly. Chinese Patent Application No. 201611032552.6 discloses an automatic toilet cleaning robot for bathroom use. This disclosed automatic toilet cleaning robot includes a traveling device, a rotating device, a lower brush device, and an upper brush device. The traveling device includes a traveling rail, a conveyor chain, and a conveyor motor. The rotating device includes a sliding plate, pulleys, a rotating motor, a rotating plate, and a hook. Both the lower brush device and the upper brush device include a cleaning hose, a water supply hose, a hanging ring, and a cleaning side end. The cleaning side end includes a side brush column, a connector, a side brush head, and a water pipe.

[0005] Most existing toilet cleaning aids (such as cleaning robots) can only perform basic scrubbing and cannot unclog toilet pipes. Commonly used unclogging tools (such as manual plungers and pneumatic plungers) are independent devices requiring manual operation, separate from the cleaning function. Users often need to purchase and use different devices to handle cleaning and unclogging issues, which is cumbersome and inefficient. Furthermore, existing toilet cleaning robots typically only move along the toilet rim and scrub the inner wall, failing to effectively clean the outer wall and seat, leaving cleaning blind spots and hindering comprehensive toilet cleaning. In addition, whether for daily toilet cleaning or unclogging pipes, existing solutions mostly require direct manual operation (such as hand-held brush scrubbing or manually pressing a plunger), which is not only time-consuming and laborious but also can cause psychological discomfort due to direct contact with the toilet. Summary of the Invention

[0006] The present invention aims to overcome the defects in the prior art and provide a self-propelled toilet cleaning and unclogging robot that can simultaneously achieve automatic toilet cleaning and pipe unclogging, cleaning without dead angles and with a high degree of automation.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: a self-propelled toilet cleaning and unclogging robot, comprising a mobile chassis and an actuator rotatably mounted on the mobile chassis. The actuator includes a multi-degree-of-freedom robotic arm and a magnetic gripper at its end for grasping and manipulating cleaning tools. The mobile chassis is provided with a brush head assembly that cooperates with the magnetic gripper. The brush head assembly contains a brush head for cleaning, and the brush head has a first magnet adapted to the magnetic gripper. The mobile chassis is also provided with a pneumatic mechanism that cooperates with the brush head assembly. The pneumatic mechanism includes an air pump, an air cylinder, a solenoid valve, a detergent container, and a rubber stopper connected by an air pipe. The air pump is connected to the air cylinder, and the air cylinder is connected to the detergent container and the rubber stopper via the solenoid valve. The outlet of the detergent container is led to the magnetic gripper via the air pipe as a cleaning liquid nozzle, and the rubber stopper is used to release high-pressure gas into the toilet pipe for unclogging.

[0008] As a preferred embodiment of the present invention, the actuator further includes a rotating component for controlling the rotation of the robotic arm. The rotating component includes a fixed base and a rotating drive component disposed in the fixed base. The rotating shaft of the rotating drive component is connected to a bearing, and a mounting plate is provided on the bearing. The robotic arm is disposed on the mounting plate.

[0009] In a preferred embodiment of the present invention, the mounting plate and the rotating shaft of the rotating drive are both connected to the inner ring of the bearing, and the outer ring of the bearing is connected to the fixed base.

[0010] As a preferred embodiment of the present invention, the robotic arm includes a large arm and a small arm rotatably connected to the large arm, and the top of the large arm is provided with a first driving member for controlling the rotation of the small arm.

[0011] As a preferred embodiment of the present invention, the forearm end is connected in series with a second driving member, a third driving member and a fourth driving member, and the magnetic gripper is connected to the rotation axis of the fourth driving member. The rotation axes of the second driving member and the third driving member, and the third driving member and the fourth driving member are perpendicular to each other, so as to provide the magnetic gripper with three degrees of freedom in the pitch, rotation and yaw directions.

[0012] As a preferred embodiment of the present invention, the magnetic gripper includes a gripper frame connected to the rotating shaft of the fourth drive member and a second magnet disposed on the gripper frame.

[0013] As a preferred embodiment of the present invention, the brush head assembly includes a fixed bracket and a chuck disposed on the fixed bracket, and a receiving space for accommodating the brush head is formed between the fixed bracket and the chuck, and the chuck is provided with an opening to facilitate the connection between the first magnet and the second magnet.

[0014] As a preferred embodiment of the present invention, the brush head includes at least a sponge for cleaning the outer wall of the toilet and a brush for cleaning the inner wall of the toilet.

[0015] As a preferred embodiment of the present invention, the air pump, air cylinder, solenoid valve, and cleaning agent container are all installed at the rear of the mobile chassis. A bracket is provided on one side of the mobile chassis, and a rubber stopper is provided on the bracket. The rubber stopper is provided with a third magnet that is compatible with the second magnet.

[0016] As a preferred embodiment of the present invention, the bottom of the mobile chassis is provided with a plurality of moving wheels, and each moving wheel is connected to a drive motor for driving the moving wheel.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. By organically combining a mobile chassis, a multi-degree-of-freedom robotic arm, a magnetic gripper, various brush head components, and a pneumatic mechanism (air pump, air cylinder, solenoid valve, rubber stopper, etc.), this robot can perform the task of scrubbing and cleaning various parts of the toilet using the robotic arm and brush head, and can also use the pneumatic mechanism to release high-pressure gas into the toilet pipe through the rubber stopper for unclogging. It is a multi-functional device that solves the problem of existing equipment having a single function and the separation between cleaning and unclogging.

[0019] 2. The actuator adopts a multi-degree-of-freedom robotic arm (providing pitch, rotation, and yaw degrees of freedom through multiple drive components) and is equipped with a variety of optional brush heads (such as a sponge for cleaning the outer wall of the toilet and a brush for cleaning the inner wall of the toilet). It can flexibly adjust its posture and angle to achieve comprehensive cleaning of different areas such as the outer wall, inner wall, and seat of the toilet, effectively eliminating cleaning dead corners.

[0020] 3. The robot moves autonomously via a mobile chassis, uses magnetic grippers to automatically grab or replace different brush head components, and can control the pneumatic mechanism to automatically spray cleaning fluid or perform unclogging operations. The whole process is highly automated, and users do not need to directly touch the toilet or manually operate tools, saving time and effort and significantly improving the user experience and hygiene level.

[0021] 4. The robotic arm is mounted on a mobile chassis via a rotating assembly, enabling overall rotation and increasing the working range. The magnetic gripper's design, with the first magnet on the brush head and the third magnet on the rubber stopper, ensures a stable and reliable process for gripping and changing tools or accessories. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the mobile chassis of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the rotating component of the present invention;

[0025] Figure 4 This is a schematic diagram of the actuator;

[0026] Figure 5 This is a schematic diagram of the magnetic gripper structure;

[0027] Figure 6 This is a structural diagram of the brush head assembly;

[0028] Figure 7 This is a schematic diagram of the pneumatic mechanism;

[0029] Reference numerals: mobile chassis 1, moving wheel 101, drive motor 102, actuator 2, robotic arm 201, upper arm 2011, lower arm 2012, first drive component 2013, second drive component 2014, third drive component 2015, fourth drive component 2016, magnetic gripper 202, gripper frame 2021, second magnet 2022, rotating assembly 203, fixed base 2031, rotating drive component 2032, bearing 2033, mounting plate 2034, brush head assembly 3, brush head 301, sponge 3011, brush 3012, first magnet 302, fixed bracket 303, chuck 304, opening 3041, accommodating space 305, pneumatic mechanism 4, air pump 401, air cylinder 402, solenoid valve 403, cleaning agent container 404, rubber stopper 405, bracket 4051, third magnet 4052, air pipe 406. Detailed Implementation

[0030] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0031] like Figures 1-7 As shown, a self-propelled toilet cleaning and unclogging robot includes a mobile chassis 1 and an actuator 2 rotatably mounted on the mobile chassis 1. The actuator 2 includes a multi-degree-of-freedom robotic arm 201 and a magnetic gripper 202 at its end for grasping and manipulating cleaning tools. The mobile chassis 1 is equipped with a brush head assembly 3 that cooperates with the magnetic gripper 202. The brush head assembly 3 contains a cleaning brush head 301, and the brush head 301 has a first magnet 302 adapted to the magnetic gripper 202. The mobile chassis 1 also includes... The pneumatic mechanism 4, which works in conjunction with the brush head assembly 3, includes an air pump 401, an air cylinder 402, a solenoid valve 403, a detergent container 404, and a rubber stopper 405, which are connected by an air pipe 406. The air pump 401 is connected to the air cylinder 402, and the air cylinder 402 is connected to the detergent container 404 and the rubber stopper 405 via the solenoid valve 403. The outlet of the detergent container 404 is led to the magnetic gripper 202 via the air pipe 406 as a cleaning liquid nozzle, and the rubber stopper 405 is used to release high-pressure gas into the toilet pipe for unclogging.

[0032] The actuator 2 includes a multi-degree-of-freedom robotic arm 201 and a magnetic gripper 202 at its end for grasping and manipulating cleaning tools. Specifically, the actuator 2 also includes a rotating assembly 203 for controlling the rotation of the robotic arm 201. Figure 3As shown, the rotating assembly 203 includes a fixed base 2031 and a rotating drive component 2032 (e.g., a servo motor or servo motor) disposed in the fixed base 2031. The rotation shaft of the rotating drive component 2032 is connected to a bearing 2033, and a mounting plate 2034 is provided on the bearing 2033. The robotic arm 201 is fixedly mounted on the mounting plate 2034. Both the mounting plate 2034 and the rotation shaft of the rotating drive component 2032 are connected to the inner ring of the bearing 2033, and the outer ring of the bearing 2033 is connected to the fixed base 2031. When the rotating drive component 2032 is working, it drives the mounting plate 2034 and the entire robotic arm 201 to rotate through the bearing 2033, thereby expanding the working range.

[0033] Furthermore, the fixed base 2031 is fixedly mounted on the mobile chassis 1, the outer ring of the bearing 2033 is fixedly mounted on the fixed base 2031, the rotation shaft of the rotary drive 2032 is fixedly connected to the inner ring of the bearing 2033, and the mounting plate 2034 is fixedly connected to the inner ring of the bearing 2033. The rotary drive 2032 controls the mounting plate 2034 to rotate synchronously with the robotic arm 201.

[0034] like Figure 4 , 5 As shown, the robotic arm 201 includes a large arm 2011 and a small arm 2012 rotatably connected to the large arm 2011. A first drive member 2013 for controlling the rotation of the small arm 2012 is located at the top of the large arm 2011. A second drive member 2014, a third drive member 2015, and a fourth drive member 2016 are connected in series at the end of the small arm 2012. A magnetic gripper 202 is connected to the rotation axis of the fourth drive member 2016. The rotation axes of the second drive member 2014 and the third drive member 2015, and the third drive member 2015 and the fourth drive member 2016 are perpendicular to each other, thus providing the magnetic gripper 202 with degrees of freedom in pitch, rotation, and yaw. The first drive member 2013 is a high-torque alloy servo motor, while the second drive member 2014, the third drive member 2015, and the fourth drive member 2016 are small servo motors or servo motors.

[0035] The magnetic gripper 202 includes a gripper frame 2021 connected to the rotation shaft of the fourth drive member 2016 and a second magnet 2022 disposed on the gripper frame 2021.

[0036] Specifically, the rotation shaft of the second drive component 2014 is connected to the forearm 2012. The second drive component 2014 rotates around the axis of its rotation shaft, thereby driving the magnetic gripper 202 to perform pitch motion. The third drive component 2015 is fixed to the second drive component 2014 via a connecting bracket. The fourth drive component 2016 is connected to the rotation shaft of the third drive component 2015. The fourth drive component 2016 and the magnetic gripper 202 rotate synchronously around the rotation shaft of the third drive component 2015. The magnetic gripper 202 rotates around the axis of rotation of the fourth drive member 2016 via the gripper frame 2021, thus causing the magnetic gripper 202 to perform a yaw motion. The magnetic gripper 202 is connected to the rotation axis of the fourth drive member 2016 via the gripper frame 2021. The magnetic gripper 202 rotates around the axis of rotation of the fourth drive member 2016, thus causing the magnetic gripper 202 to perform a yaw motion. The second drive member 2014, the third drive member 2015 and the fourth drive member 2016 realize the three degrees of freedom of the magnetic gripper 202 in the three directions.

[0037] According to the working mode selected by the user, the first drive component 2013 on the upper arm 2011 and the second drive component 2014, third drive component 2015 and fourth drive component 2016 on the lower arm 2012 move to a specific angle, controlling the lower arm 2012 to lift up, and controlling the magnetic gripper 202 at the end of the lower arm 2012 to pick up the corresponding cleaning tool. The angle is adjusted by the first drive component 2013, second drive component 2014, third drive component 2015 and fourth drive component 2016, thereby working on the designated area.

[0038] The mobile chassis 1 is equipped with a brush head assembly 3 that cooperates with the magnetic gripper 202. For example... Figure 6 As shown, the brush head assembly 3 is positioned above the pneumatic mechanism 4. The brush head assembly 3 includes a fixed bracket 303 and a chuck 304 mounted on the fixed bracket 303. A receiving space 305 for accommodating the brush head 301 is formed between the fixed bracket 303 and the chuck 304. The chuck 304 has an opening 3041 to facilitate the connection between the first magnet 302 and the second magnet 2022. The brush head 301 is placed within the receiving space 305, and the brush head 301 has a first magnet 302 adapted to the magnetic gripper 202. In this embodiment, the brush head 301 includes, but is not limited to, a sponge 3011 for cleaning the outer wall of the toilet and a brush 3012 for cleaning the inner wall of the toilet. Each brush head 301 is normally stored in the receiving space 305. When needed, the robotic arm 201 moves the magnetic gripper 202 to above the corresponding brush head 301. The second magnet 2022 passes through the opening 3041 and attracts the first magnet 302. Then, it moves horizontally towards the opening of the opening 3041 to remove the brush head 301. When replacing, the brush head 301 is placed back into the receiving space 305, and the robotic arm 201 moves the magnetic gripper 202 upward to release the brush head 301.

[0039] The mobile chassis 1 is also equipped with a pneumatic mechanism 4 that cooperates with the brush head assembly 3. For example... Figure 6 As shown, the pneumatic mechanism 4 includes an air pump 401, an air cylinder 402, a solenoid valve 403, a detergent container 404, and a rubber stopper 405, all connected via an air pipe 406. The air pump 401 is connected to the air cylinder 402 and is used to inflate the cylinder 402. The air cylinder 402 is connected to the detergent container 404 and the rubber stopper 405 via the solenoid valve 403. The outlet of the detergent container 404 is led through the air pipe 406 to the magnetic gripper 202 as a cleaning fluid nozzle, allowing cleaning fluid to be sprayed onto the brush head 301 or the toilet surface during cleaning operations. The rubber stopper 405 is used to release high-pressure gas into the toilet drain for unclogging.

[0040] In addition, the air pump 401, air cylinder 402, and solenoid valve 403 are covered with a housing, which is fixed on the mobile chassis 1, and the brush head assembly 3 is located on the top of the housing.

[0041] Specifically, the solenoid valve 403 is a three-position five-way solenoid valve. Its P port is connected to the gas cylinder 402, its A port is connected to the cleaning agent container 404 and set to the first air pressure threshold, and its B port is connected to the rubber stopper 405 and set to the second air pressure threshold. The second air pressure threshold is higher than the first air pressure threshold. When cleaning the inner wall, the solenoid valve 403 opens the A port, and the air pressure in the gas cylinder 402 forces the cleaning agent in the cleaning agent container 404 through the air tube 406 to be sprayed out at the end of the robotic arm 201. When unblocking, the solenoid valve 403 opens the B port, and the high-pressure gas in the gas cylinder 402 is instantly released to the rubber stopper 405. The second air pressure threshold is 4 atm.

[0042] The rubber stopper 405 is equipped with a third magnet 4052 that matches the second magnet 2022. A bracket 4051 is provided on one side of the movable chassis 1, and the rubber stopper 405 is placed on the bracket 4051. When unclogging is required, the robotic arm 201 moves the magnetic gripper 202 to the rubber stopper 405, the second magnet 2022 and the third magnet 4052 are attracted, the rubber stopper 405 is removed from the bracket 4051, and then moved to the toilet pipe opening. High-pressure gas is released from the gas cylinder 402 to the rubber stopper 405 through the solenoid valve 403 to unclog the toilet.

[0043] For optimal layout, the air pump 401, air cylinder 402, solenoid valve 403, and cleaning agent container 404 are all installed at the rear of the mobile chassis 1, and the air pipe 406 is routed along the inside or outside of the robotic arm 201 to the magnetic gripper 202.

[0044] The mobile chassis 1 has multiple wheels 101 at its bottom, and each wheel 101 is connected to a drive motor 102 to drive it, enabling the robot to move and turn autonomously on the bathroom floor. The drive motor 102 is a geared motor, and the wheels 101 are made of hard-bottomed material to ensure friction while reducing dents and ensuring sufficient driving force. The mobile chassis 1 can house conventional components such as a controller and battery (not shown in the figure). The controller is electrically connected to the mobile chassis 1, the actuator 2, and the pneumatic mechanism 4, and is used to control the overall movement of the robot. The controller has preset servo motor angle parameter models for different toilet sizes. Users can remotely select the working mode or manually adjust the servo motor angle via a mobile app via Bluetooth to achieve personalized cleaning.

[0045] The working principle is as follows:

[0046] The robot moves to the vicinity of the toilet via its mobile chassis 1. Depending on the task requirements, in cleaning mode: the robotic arm 201 adjusts its posture via the rotating component 203 and various drive components, and the magnetic gripper 202 grasps the required brush head 301 (such as a sponge 3011 or a brush 3012) from the brush head assembly 3. The controller controls the solenoid valve 403 to open the air path of the cleaning agent container 404. Compressed gas in the gas cylinder 402 sprays the cleaning liquid in the cleaning agent container 404 through the air pipe 406 from the nozzle at the magnetic gripper 202. Simultaneously, the robotic arm 201 drives the brush head 301 to scrub the outer wall, inner wall, or seat of the toilet. In unclogging mode: the robotic arm 201 grasps the rubber stopper 405 and presses it tightly against the toilet drain opening. The solenoid valve 403 switches to the air path of the rubber stopper 405, and the gas cylinder 402 instantly releases high-pressure gas, pushing the rubber stopper 405 into the drain to unclog it.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention; therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0048] Although this paper makes extensive use of the reference numerals in the figures: mobile chassis 1, mobile wheel 101, drive motor 102, actuator 2, robotic arm 201, upper arm 2011, lower arm 2012, first drive component 2013, second drive component 2014, third drive component 2015, fourth drive component 2016, magnetic gripper 202, gripper frame 2021, second magnet 2022, rotating assembly 203, fixed base 2031, rotating drive component 2032, shaft The terms used include 2033, mounting plate 2034, brush head assembly 3, brush head 301, sponge 3011, brush 3012, first magnet 302, fixing bracket 303, chuck 304, opening 3041, receiving space 305, pneumatic mechanism 4, air pump 401, air cylinder 402, solenoid valve 403, cleaning agent container 404, rubber stopper 405, bracket 4051, third magnet 4052, and air tube 406, etc., but the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would be contrary to the spirit of the invention.

Claims

1. A self-propelled toilet cleaning and unclogging robot, characterized in that, The device includes a mobile chassis (1) and an actuator (2) rotatably mounted on the mobile chassis (1). The actuator (2) includes a multi-degree-of-freedom robotic arm (201) and a magnetic gripper (202) at its end for gripping and manipulating cleaning tools. The mobile chassis (1) is provided with a brush head assembly (3) that cooperates with the magnetic gripper (202). The brush head assembly (3) is provided with a brush head (301) for cleaning, and the brush head (301) is provided with a first magnet (302) that is adapted to the magnetic gripper (202). The mobile chassis (1) is also provided with a brush head assembly (3) that cooperates with the brush head assembly (3). The pneumatic mechanism (4) includes an air pump (401), an air cylinder (402), a solenoid valve (403), a detergent container (404), and a rubber stopper (405) connected by an air pipe (406). The air pump (401) is connected to the air cylinder (402). The air cylinder (402) is connected to the detergent container (404) and the rubber stopper (405) via the solenoid valve (403). The outlet of the detergent container (404) is led to the magnetic grab (202) via the air pipe (406) as the nozzle for cleaning liquid spraying. The rubber stopper (405) is used to release high-pressure gas into the toilet pipe for unblocking.

2. The self-propelled toilet cleaning and unclogging robot according to claim 1, characterized in that, The actuator (2) further includes a rotating assembly (203) for controlling the rotation of the robotic arm (201). The rotating assembly (203) includes a fixed base (2031) and a rotating drive (2032) disposed in the fixed base (2031). The rotating shaft of the rotating drive (2032) is connected to a bearing (2033), and a mounting plate (2034) is provided on the bearing (2033). The robotic arm (201) is disposed on the mounting plate (2034).

3. The self-propelled toilet cleaning and unclogging robot according to claim 2, characterized in that, The mounting plate (2034) and the rotating shaft of the rotating drive component (2032) are both connected to the inner ring of the bearing (2033), and the outer ring of the bearing (2033) is connected to the fixed base (2031).

4. The self-propelled toilet cleaning and unclogging robot according to claim 2, characterized in that, The robotic arm (201) includes a large arm (2011) and a small arm (2012) rotatably connected to the large arm (2011), and the top end of the large arm (2011) is provided with a first driving member (2013) for controlling the rotation of the small arm (2012).

5. A self-propelled toilet cleaning and unclogging robot according to claim 4, characterized in that, The forearm (2012) is connected in series with a second drive unit (2014), a third drive unit (2015) and a fourth drive unit (2016). The magnetic gripper (202) is connected to the rotation axis of the fourth drive unit (2016). The rotation axes of the second drive unit (2014) and the third drive unit (2015), and the third drive unit (2015) and the fourth drive unit (2016) are perpendicular to each other, which is used to provide the magnetic gripper (202) with degrees of freedom in the three directions of pitch, rotation and yaw.

6. The self-propelled toilet cleaning and unclogging robot according to claim 5, characterized in that, The magnetic gripper (202) includes a gripper frame (2021) connected to the rotation shaft of the fourth drive member (2016) and a second magnet (2022) disposed on the gripper frame (2021).

7. A self-propelled toilet cleaning and unclogging robot according to claim 5, characterized in that, The brush head assembly (3) includes a fixed bracket (303) and a chuck (304) disposed on the fixed bracket (303). A receiving space (305) for receiving the brush head (301) is formed between the fixed bracket (303) and the chuck (304). The chuck (304) is provided with an opening (3041) to facilitate the connection between the first magnet (302) and the second magnet (2022).

8. A self-propelled toilet cleaning and unclogging robot according to claim 7, characterized in that, The brush head (301) includes at least a sponge (3011) for cleaning the outer wall of the toilet and a brush (3012) for cleaning the inner wall of the toilet.

9. A self-propelled toilet cleaning and unclogging robot according to claim 6, characterized in that, The air pump (401), air cylinder (402), solenoid valve (403), and cleaning agent container (404) are all installed at the rear of the mobile chassis (1). A bracket (4051) is provided on one side of the mobile chassis (1), and a rubber stopper (405) is provided on the bracket (4051). A third magnet (4052) that is compatible with the second magnet (2022) is provided on the rubber stopper (405).

10. A self-propelled toilet cleaning and unclogging robot according to claim 9, characterized in that, The bottom of the mobile chassis (1) is provided with a plurality of mobile wheels (101), and each mobile wheel (101) is connected to a drive motor (102) for driving the mobile wheel (101).

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