Excrement cleaning mechanism for pet nursing robot

Abstract

The utility model discloses an excrement cleaning mechanism for a pet nursing robot, which comprises a humanoid flexible mechanical arm which is arranged on the pet nursing robot and can move up and down and left and right. The humanoid flexible mechanical arm comprises a mechanical arm holder, a clamping device, a plurality of motors, a plurality of steering shafts and a plurality of mechanical arm lengthening shafts, the mechanical arm holder is connected with the steering shafts through the motors, the mechanical arm lengthening shafts are connected with the steering shafts through the motors, and the clamping device is arranged at the tail end of the humanoid flexible mechanical arm. The humanoid flexible mechanical arm disclosed by the utility model can simulate arm actions of human beings to the greatest extent, realizes multi-degree-of-freedom movement, and improves the direction adjustment flexibility and functionality of the mechanical arm, so that the position flexibility of a clamping device is improved, and the excrement cleaning effect is better ensured; in addition, the humanoid flexible mechanical arm in the idle state can be contained in a hidden mode.

Description

TECHNICAL FIELD

[0001] The utility model relates to pet care robot technical field, concretely is a kind of excrement cleaning mechanism for pet care robot. BACKGROUND

[0002] With the improvement of people's living standards, pets have become important members of many families, and people pay more and more attention to the health and happiness of pets. Therefore, the demand for providing high-quality pet services is increasing; In this regard, pet care robots have emerged, which can provide pets with pet service functions such as feeding, excrement cleaning, entertainment, etc.

[0003] Pet feces will coalesce into a group in the sand basin, and the excrement cleaning mechanism of the pet care robot usually includes a mechanical arm and a clamping device, etc., which moves the clamping device by the mechanical arm to grab the feces in the sand basin and place it into the feces treatment box to realize excrement cleaning. However, the above-mentioned existing excrement cleaning mechanism has the following technical problems: the direction adjustment flexibility of its mechanical arm is relatively single, which affects the position flexibility of the clamping device, i.e. affects the excrement cleaning effect. SUMMARY

[0004] (I) Technical problem solved

[0005] In view of the deficiencies of the prior art, the utility model provides an excrement cleaning mechanism for pet care robot, which can solve the above technical problems.

[0006] (II) Technical solution

[0007] To solve the above technical problems, the utility model provides the following technical scheme: an excrement cleaning mechanism for pet care robot, comprising: a humanoid flexible mechanical arm, the humanoid flexible mechanical arm is movably arranged on the pet care robot up and down and left and right, the humanoid flexible mechanical arm includes a mechanical arm holder, a clamping device, a plurality of motors, a plurality of steering shafts and a plurality of mechanical arm extension shafts, the mechanical arm holder is connected with the steering shaft through the motor, the mechanical arm extension shaft is connected with the steering shaft through the motor, and the clamping device is arranged at the tail end of the humanoid flexible mechanical arm.

[0008] Preferably, the clamping device is a shovel-shaped clamp.

[0009] Preferably, the steering shaft is L-shaped, and the mechanical arm extension shaft is cylindrical.

[0010] Preferably, the motor comprises a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor and an eighth motor, the steering shaft comprises a first steering shaft, a second steering shaft, a third steering shaft, a fourth steering shaft and a fifth steering shaft, and the mechanical arm growth shaft comprises a first mechanical arm growth shaft, a second mechanical arm growth shaft and a third mechanical arm growth shaft; the first motor is arranged in the mechanical arm holder and connected with the first end of the first steering shaft, the second motor is arranged at the tail end of the first steering shaft and connected with the first end of the first mechanical arm growth shaft, the third motor is arranged at the tail end of the first mechanical arm growth shaft and connected with the first end of the second steering shaft, the fourth motor is arranged at the tail end of the second steering shaft and connected with the first end of the third steering shaft, the fifth motor is arranged at the tail end of the third steering shaft and connected with the first end of the second mechanical arm growth shaft, the sixth motor is arranged at the tail end of the second mechanical arm growth shaft and connected with the first end of the fourth steering shaft, the seventh motor is arranged at the tail end of the fourth steering shaft and connected with the first end of the fifth steering shaft, and the eighth motor is arranged at the tail end of the fifth steering shaft and connected with the first end of the third mechanical arm growth shaft.

[0011] Preferably, the motor further comprises a ninth motor, and the anthropomorphic flexible mechanical arm further comprises a mechanical arm rotating shaft; the ninth motor is arranged at the tail end of the third mechanical arm growth shaft and connected with the mechanical arm rotating shaft, and the clamping device is arranged on the mechanical arm rotating shaft.

[0012] Preferably, the pet care robot is provided with a containing cavity for containing the anthropomorphic flexible mechanical arm.

[0013] Preferably, the containing cavity is provided with a sealing and telescoping module.

[0014] Preferably, the sealing and telescoping module comprises a telescopic arm, a sealing plate and a micro stepping motor; the telescopic arm is movably arranged in the containing cavity, and the micro stepping motor is arranged at the tail end of the telescopic arm and connected with the upper end of the sealing plate.

[0015] (Three) beneficial effects

[0016] Compared with the prior art, the present application provides a kind of for pet care robot's excrement cleaning mechanism, with the following beneficial effects: the excrement cleaning mechanism of the utility model adopts anthropomorphic flexible mechanical arm, the anthropomorphic flexible mechanical arm includes mechanical arm holder, clamping device, a plurality of motors, a plurality of steering shafts and a plurality of mechanical arm growth shafts, the anthropomorphic flexible mechanical arm can better imitate human arm action, realize multi-degree-of-freedom movement, improve the direction adjustment flexibility of mechanical arm, to improve the position flexibility of clamping device, to better guarantee excrement cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the first perspective view of the anthropomorphic flexible mechanical arm of the utility model;

[0018] Figure 2 Figure 2 is a second perspective view of the humanoid flexible robot arm of the present application;

[0019] Figure 3 Figure 3 is a third perspective view of the humanoid flexible robot arm of the present application;

[0020] Figure 4 Figure 4 is a perspective view of the mechanical arm holder and the first steering shaft of the present application;

[0021] Figure 5 Figure 5 is a perspective view of the first mechanical arm extension shaft of the present application;

[0022] Figure 6 Figure 6 is a perspective view of the pet care robot of the present application;

[0023] Figure 7 Figure 7 is a perspective view of the sealed telescopic module of the present application.

[0024] In the figure, the reference numerals are: 1 pet care robot, 11 accommodation cavity, 12 telescopic arm, 13 sealing plate, 14 vertical driving device, 15 first horizontal driving device, 16 second horizontal driving device, 2 humanoid flexible robot arm, 21 mechanical arm holder, 22 clamping device, 23 second motor, 24 third motor, 25 first steering shaft, 26 second steering shaft, 27 third steering shaft, 28 fourth steering shaft, 29 fifth steering shaft, 210 first mechanical arm extension shaft, 211 second mechanical arm extension shaft, 212 third mechanical arm extension shaft, 213 mechanical arm rotation shaft. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0026] The present application provides a kind of for pet care robot's excrement cleaning mechanism, including humanoid flexible robot arm 2, this humanoid flexible robot arm 2 can be set up in pet care robot 1 up and down left and right movement, humanoid flexible robot arm 2 includes mechanical arm holder 21, clamping device 22, several motors, several steering shafts and several mechanical arm extension shafts, mechanical arm holder 21 is connected by motor and steering shaft, mechanical arm extension shaft is connected by motor and steering shaft, clamping device 22 is set to the tail end of humanoid flexible robot arm 2.

[0027] The base of the mechanical arm holder 21, i.e. the base of the humanoid flexible mechanical arm 2; specifically, the clamping device 22 can be a shovel-shaped clamping device, or other clamping mechanical hands in the prior art, which are not limited here; the steering shaft can be L-shaped, and the mechanical arm growth shaft is cylindrical; the steering shaft and the mechanical arm growth shaft can be made of a polymer composite material to maintain the lightness of the mechanical arm while providing sufficient structural support, so that the mechanical arm of the utility model is more accurate and efficient when performing tasks; in addition, the above-mentioned motor can specifically be an open-loop motor; the mechanical arm holder, clamping device, motor, steering shaft, mechanical arm growth shaft and other components of the utility model are all prior art, which are not limited here.

[0028] In the embodiment, the motor includes a first motor, a second motor 23, a third motor 24, a fourth motor, a fifth motor, a sixth motor, a seventh motor and an eighth motor, the steering shaft includes a first steering shaft 25, a second steering shaft 26, a third steering shaft 27, a fourth steering shaft 28 and a fifth steering shaft 29, and the mechanical arm growth shaft includes a first mechanical arm growth shaft 210, a second mechanical arm growth shaft 211 and a third mechanical arm growth shaft 212.

[0029] The first motor is arranged in the mechanical arm holder 21 and connected to the first end of the first steering shaft 25, i.e. the rotating shaft of the first motor is connected to the first end of the first steering shaft 25; the second motor 23 is arranged at the tail end of the first steering shaft 25 and connected to the first end of the first mechanical arm growth shaft 210, the third motor 24 is arranged at the tail end of the first mechanical arm growth shaft 210 and connected to the first end of the second steering shaft 26, the fourth motor is arranged at the tail end of the second steering shaft 26 and connected to the first end of the third steering shaft 27, the fifth motor is arranged at the tail end of the third steering shaft 27 and connected to the first end of the second mechanical arm growth shaft 211, the sixth motor is arranged at the tail end of the second mechanical arm growth shaft 211 and connected to the first end of the fourth steering shaft 28, the seventh motor is arranged at the tail end of the fourth steering shaft 28 and connected to the first end of the fifth steering shaft 29, and the eighth motor is arranged at the tail end of the fifth steering shaft 29 and connected to the first end of the third mechanical arm growth shaft 212.

[0030] Further, the motor further includes a ninth motor, the humanoid flexible mechanical arm 2 further includes a mechanical arm rotating shaft 213, the ninth motor is arranged at the tail end of the third mechanical arm growth shaft 212 and connected to the mechanical arm rotating shaft 213, and the clamping device 22 is arranged on the mechanical arm rotating shaft 213.

[0031] It can be understood that the first motor can drive the first steering shaft 25 to rotate, the second motor 23 can drive the first mechanical arm growth shaft 210 to rotate, the third motor 24 can drive the first steering shaft 25 to rotate, the fourth motor can drive the second steering shaft 26 to rotate, the fifth motor can drive the second mechanical arm growth shaft 211 to rotate, the sixth motor can drive the fourth steering shaft 28 to rotate, the seventh motor can drive the fifth steering shaft 29 to rotate, the eighth motor can drive the third mechanical arm 212 growth shaft to rotate, the ninth motor can drive the mechanical arm rotating shaft 213 to rotate, that is, drive the clamping device 22 to rotate, and in addition, the humanoid flexible mechanical arm 2 is movably arranged on the pet care robot 1. Since the manual processing of human hands can achieve good effect on pet feces cleaning, the humanoid flexible mechanical arm 2 can better imitate the arm movement of human beings, realize multi-degree-of-freedom movement, so that the mechanical arm 2 is more accurate when performing tasks, that is, the clamping device 22 can be better moved to the position of the feces to be cleaned for clamping. In other embodiments, other number of motors, steering shafts and mechanical arm growth shafts can also be used, which is not limited here.

[0032] In addition, the prior art does not provide a related structure for accommodating the mechanical arm in an idle state, and the pet care robot of the utility model is provided with an accommodation cavity 11 for accommodating the humanoid flexible mechanical arm 2. The accommodation cavity 11 is provided with a vertical driving device 14, and the vertical driving device 14 is provided with a first horizontal driving device 15. The mechanical arm holder 21 is arranged on the first horizontal driving device 15, and the vertical driving device 14 and the first horizontal driving device 15 can drive the mechanical arm holder 21 to move up and down and left and right, that is, realize the up and down and left and right movement of the humanoid flexible mechanical arm 2. The vertical driving device and the first horizontal driving device can adopt the driving device such as the existing cylinder and motor screw; further preferably, the accommodation cavity 11 is provided with a sealing and stretching module to seal or open the opening of the accommodation cavity 11, so as to realize the hidden processing of the mechanical arm 2 in an idle state; in addition, the accommodation cavity 11 can also be provided with a disinfection device for disinfecting the humanoid flexible mechanical arm 2.

[0033] In the embodiment, the sealing telescopic module comprises a telescopic arm 12, a sealing plate 13 and a micro stepping motor, the telescopic arm 12 is movably arranged in the accommodating cavity 11, the accommodating cavity 11 is provided with a second transverse driving device 16, the telescopic arm 12 is arranged on the second transverse driving device 16 to realize the left and right movement, the micro stepping motor is arranged at the tail end of the telescopic arm 12 and connected with the upper end of the sealing plate 13, it can be understood that the telescopic arm 12 is used to drive the sealing plate 13 to move left and right, the micro stepping motor is used to drive the sealing plate 13 to overturn up and down, and the specific realization can be 90-degree bending overturn, so as to realize the opening or sealing of the opening of the accommodating cavity 11, so as to facilitate the use or accommodation of the humanoid flexible robot arm 2.

[0034] It should be noted that the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0035] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A feces cleaning mechanism for a pet care robot, characterized by, Include: The pet care robot is provided with a receiving cavity for accommodating the anthropomorphic flexible robot arm.

2. The excrement cleaning mechanism for a pet care robot according to claim 1, characterized by: The receiving cavity is provided with a sealing and telescopic module.

3. The excrement cleaning mechanism for a pet care robot according to claim 1, characterized by: The sealing and telescopic module includes a telescopic arm, a sealing plate and a micro stepping motor, the telescopic arm is movably arranged in the receiving cavity, and the micro stepping motor is arranged at the tail end of the telescopic arm and connected with the upper end of the sealing plate.

4. The excrement cleaning mechanism for a pet care robot according to claim 1, characterized by: ​ ​ 5. The excrement cleaning mechanism for a pet care robot according to claim 4, characterized by: ​ 6. The excrement cleaning mechanism for a pet care robot according to claim 1, characterized by: ​ 7. The excrement cleaning mechanism for a pet care robot according to claim 6, characterized by: ​ 8. The excrement cleaning mechanism for a pet care robot according to claim 7, characterized by: ​

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