A toilet robot and a robot toilet

Abstract

The utility model relates to the technical field of intelligent bathroom, disclose a kind of toilet robot and robot closestool, to solve the single cleaning mode of existing intelligent closestool, cleaning is not thorough, there is sewage and dirt splashing and diffusion and cross-infection risk problem.The toilet robot includes closestool ring cover, cabin, manipulator, manipulator cleaning system and intelligent control system.Manipulator is rolled and scrubbed to human body by the way of water flow gushing out through wrapping layer (such as honeycomb tissue) to clean wash;Manipulator cleaning system is designed through double water flow pipeline and water jet hole, and it has the dual function of cleaning manipulator and user's body.The utility model provides a variety of clean mode such as rolling and scrubbing, water spraying and flushing, wiping dry water stain by the collaborative work of manipulator and cleaning system, realizes whole process automation, personalization and high sanitary standard clean experience, and can integrate heating, drying and intelligent control function.

Description

Technical Field

[0001] This utility model relates to the field of intelligent bathroom and service robot technology, and in particular to a highly automated, multi-functional cleaning robot and a robot toilet containing the robot. Background Technology

[0002] Most toilet seats, smart toilets, or smart commodes on the market today have functions for posterior washing and feminine hygiene. The corresponding water spray device usually consists of one or more linear nozzles, which spray out single or multiple linear water streams to directly act on the parts of the body to be cleaned.

[0003] However, toilet seats using linear water jets have poor cleaning performance. For example, when the linear water flow impacts the surface of sticky feces, the impact force easily causes the waste and sewage to splash and spread radially around the water flow point! Even adjusting the nozzle position, moving the body trajectory, or adjusting the water pressure cannot change this radial splashing and spreading of waste. The splashed and spread waste and sewage will remain around the cleaning area, such as on the skin, folds, hair roots, and clothing. Men, in particular, are more susceptible to contamination of the scrotum by splashed fecal waste due to their body structure, and this contamination is difficult to remove effectively by subsequent water flow. Furthermore, the residual waste can cause bacterial growth in women's private parts, posing potential hygiene and health risks, leading to negative psychological impacts and fears, and ultimately, a reluctance to use the toilet seat again!

[0004] Therefore, the market urgently needs a clean-up robot and robotic toilet technology that can fundamentally solve the problem of sewage and waste splashing and spreading, especially towards the private parts of men and women, from a structural principle perspective. Utility Model Content

[0005] This utility model provides a body-cleaning robot and a robot toilet to solve the problems of existing smart bathroom products having a single cleaning mode, incomplete cleaning, and the risk of sewage and dirt splashing, spreading, and cross-infection.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A body cleaning robot includes a toilet seat, a chamber, a heated water purifier, a water pump, a pipe converter, a robotic arm, a robotic arm cleaning system, and an intelligent control system.

[0008] The robotic arm, the robotic arm cleaning system, and the intelligent control system are located inside the cabin.

[0009] The intelligent control system includes sensors, a circuit board, and a preset program;

[0010] The robotic arm includes a robotic arm, a moving motor, a rotating motor, a rotating water pipe, a washing head, and a wrapping layer;

[0011] The robotic arm is driven by a moving motor, and the rotating water pipe is mounted on the robotic arm and is driven by a rotating motor.

[0012] The cleaning water head is fixed to the outlet end of the rotating water pipe, and the wrapping layer is wrapped around its surface;

[0013] The water pump's inlet is connected to the heated water purifier, and its outlet is connected to the rotating water pipe and the robotic arm cleaning system via the pipe converter.

[0014] When started, the intelligent control system controls the robotic arm, robotic arm cleaning system, water pump, pipeline converter, and stepper motor to work together. The robotic arm and robotic arm cleaning system can move out of the cabin simultaneously or separately according to the user's instructions to complete the rolling scrubbing and water spraying cleaning functions for the human body.

[0015] A cleaning robot integrates two functions—a robotic arm for rolling scrubbing and a water rinse—into a compact cabin. The robotic arm performs gentle rolling scrubbing using a replaceable wrapping layer, such as a tissue, while its own rinsing head is driven by a rotary motor to automatically roll and peel off the wrapping layer.

[0016] The robotic arm cleaning system has a dual function: it can clean the robotic arm after use and also provide direct water rinsing for users. The intelligent control system acts as the "brain," coordinating all actions of the robotic arm and the cleaning system, including movement trajectory, water flow switching, and paper towel replacement, thereby achieving fully automated and personalized service from rolling scrubbing and water spraying to drying.

[0017] Preferably, the rinsing head is a cylindrical hollow structure with many tiny water outlet holes on its outer surface and many small protrusions on its surface.

[0018] Preferably, the diameter of the rinsing water head is 5mm to 100mm, more preferably 10mm to 20mm; and the length is 10mm to 200mm, more preferably 40mm to 60mm.

[0019] Preferably, the wrapping layer is a honeycomb paper towel; the thickness of the honeycomb paper towel is preferably 1mm, and many sheets are stacked together to form a paper towel module. A paper towel module is packaged in a paper towel box, and the paper towel box is placed in the cabin near the cleaning water head, so that it can be more easily caught by the small protrusions on the surface of the cleaning water head and the water flow can be more easily gushed out.

[0020] Preferably, the honeycomb paper towel is for single use only, i.e., it is discarded after being peeled off.

[0021] Preferably, when the washing head rotates and approaches the honeycomb paper towel, the first honeycomb paper towel on the surface is caught by the washing head. As the washing head rotates, it can wrap around the paper towel. As the washing head moves out of the chamber, the water pump injects water into the rotating water pipe and the washing head through the pipe converter. The washing head gushes out water through the honeycomb paper towel. As the washing head moves to the center of the toilet, it begins to reverse and washes the body by rolling and scrubbing.

[0022] Preferably, the tissue module is further provided with a supporting system, which consists of a stepper motor, a lead screw, a tissue pusher plate, and a sensor. The stepper motor and the sensor are electrically connected to the intelligent control system and are used to push the honeycomb tissues in the tissue module forward and sense the remaining quantity under the control of the intelligent control system.

[0023] Preferably, the robotic arm is also provided with fingers, and the gap between the fingers and the washing head should be consistent with the total thickness of the honeycomb paper towel rolled on it. When the washing head is reversed, natural gravity or the fingers on the robotic arm can gradually peel off the dirty honeycomb paper towel that has been in contact with the human body from the washing head and drop it into the toilet.

[0024] It should be noted that in this utility model, the wrapping layer is only listed as a honeycomb paper towel. In actual production applications, other soft materials such as latex sleeves can also be used instead. The latex sleeve is densely covered with many tiny water outlet holes and can be repeatedly used after one-time installation.

[0025] Preferably, the robotic arm cleaning system has the functions of cleaning the robotic arm and cleaning the user's body; the robotic arm cleaning system includes a cleaning moving motor, a cleaning robotic arm, a first water flow pipe, a second water flow pipe, a first water spray hole, a second water spray hole, and a shared water container.

[0026] The first water flow pipe and the second water flow pipe are both installed inside the cleaning robot arm and arranged in parallel. The shared water container is located at the end of the cleaning robot arm and is connected to the second water flow pipe. The first water spray hole is located on the first water flow pipe, and the second water spray hole is located on the shared water container.

[0027] Preferably, the first water spray holes are arranged linearly along the length of the first water flow pipe, while the second water spray holes are arranged in a dotted, sheet-like, or ring-like manner on the shared water-containing cavity.

[0028] Preferably, the robotic arm cleaning system receives water flow through a pipe converter and can direct the water flow to different water pipes according to instructions. When cleaning the robotic arm, water flow is simultaneously introduced into the first and second water pipes, at which time the first and second spray nozzles work simultaneously to ensure that the robotic arm is completely cleaned; when cleaning the human body, water flow is only introduced into the second water pipe to provide feminine wash or posterior wash.

[0029] It should be noted that, depending on the user's needs, they can choose to have the robotic arm wrap around a roll of honeycomb paper towels and use the water flow from the paper towels to roll and wipe their body; or they can choose to have the robotic arm cleaning system use a jet of water to directly clean their body. After cleaning, the robotic arm wraps around the honeycomb paper towels and then automatically dries the user's body without any water flow.

[0030] Preferably, the intelligent control system is electrically connected to the mobile motor, cleaning mobile motor, rotary motor, stepper motor, water pump, pipe converter, heated water purifier, and various functional motors and electrical appliances, and is used to control the movement trajectory of the robotic arm and cleaning robotic arm, the clockwise and counterclockwise switching and rotation of the rotating water pipe, the water pressure and water temperature, and the opening and stopping of water flow in the pipe converter, as well as other preset functions.

[0031] It should be noted that the various functional motors and electrical appliances include standard equipment required for smart toilets, such as hair dryers and heating elements.

[0032] This utility model also provides a robotic toilet, that is, a toilet equipped with the above-mentioned cleansing robot.

[0033] This invention provides users with an unprecedented, fully automated, and highly hygienic personal hygiene experience that combines the advantages of robotic arm scrubbing and water rinsing. It effectively solves problems in existing technologies such as incomplete cleaning, splashing and spreading of wastewater and dirt, risk of cross-infection, and limited functionality, representing a new direction for the development of smart bathroom solutions. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the planar structure arrangement of the cleansing robot according to an embodiment of the present utility model;

[0036] Figure 2 This is a schematic diagram of the washing head of this utility model coming close to the paper towel module to wrap the roll of paper towels;

[0037] Figure 3 This is a schematic diagram of the robotic arm moving out of the cabin and to the center position according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram showing the farthest position of the robotic arm when it returns after completing the cleaning process, according to an embodiment of this utility model.

[0039] Figure 5 This is a schematic diagram of the robotic arm returning to its final position after the packaging layer has been removed, according to an embodiment of the present invention.

[0040] Figure 6 This is a schematic diagram of the robotic arm cleaning system of this utility model performing gynecological or posterior washing.

[0041] Figure 7 This is a cross-sectional elevation view of the body-cleaning robot according to an embodiment of the present utility model;

[0042] Figure 8 A schematic diagram illustrating the preparatory work of the cleansing robot after its cover is opened, according to an embodiment of this utility model.

[0043] Figure 9 This is a cross-sectional elevation view of the cabin of the cleansing robot according to an embodiment of the present utility model;

[0044] Figure 10 This is a cross-sectional elevation view of the robotic arm and robotic arm cleaning system according to an embodiment of the present utility model;

[0045] Figure 11 This is a cross-sectional elevation view of the robotic arm according to an embodiment of the present utility model;

[0046] Figure 12 This is a cross-sectional elevation view of the robotic arm cleaning system according to an embodiment of the present utility model;

[0047] Figure 13 This is a plan view of the robotic arm cleaning system according to an embodiment of the present invention;

[0048] Figure 14 This is a planar schematic diagram of the robotic arm of the robotic hand according to an embodiment of the present utility model;

[0049] Figure 15 This is a schematic diagram of the combination of the body-cleaning robot and the toilet body according to an embodiment of the present utility model;

[0050] Figure 16 This is a plan view of another embodiment of the cleansing robot of this utility model;

[0051] Figure 17 A schematic diagram of a robotic arm and robotic arm cleaning system moving out of the compartment, according to another embodiment;

[0052] Figure 18 A schematic diagram illustrating the movement of a robotic arm out of the cabin in another embodiment;

[0053] Figure 19 A schematic diagram of a robotic arm cleaning system moving out of the compartment, as shown in another embodiment;

[0054] Figure 20 This is a cross-sectional elevation view of another implementation method;

[0055] Figure 21 A cross-sectional elevation view of the robotic arm and robotic arm cleaning system moving out of the compartment, according to another embodiment;

[0056] Figure 22 A cross-sectional elevation view of a robotic arm and robotic arm cleaning system according to another embodiment;

[0057] Figure 23 An exploded cross-sectional view of a robotic arm and robotic arm cleaning system according to another embodiment;

[0058] Figure 24 A schematic diagram of a robotic arm cleaning system according to another embodiment;

[0059] Figure 25 A schematic diagram of a robotic arm according to another embodiment;

[0060] Figure 26 This is a schematic diagram illustrating the combination of a personal hygiene robot and a toilet body in another implementation.

[0061] Explanation of reference numerals in the attached figures:

[0062] 1. Toilet seat cover; 2. Toilet ring cover; 3. Compartment; 4. Water inlet; 5. Power cord; 6. Heated water purifier; 7. Pipe converter; 8. Warm air blower; 9. Mobile motor; 10. Mobile motor gear; 11. Rotary motor; 12. Water pump; 13. Intelligent control system; 14. Stepper motor; 15. Tissue paper pusher plate; 16. Lead screw; 17. Honeycomb tissue; 18. Tissue paper holder; 19. Washing head; 20. Rotary water pipe; 21. Rotary motor gear; 22. Rotary water pipe gear; 23A. Mechanical 23B. Hand cleaning gear; 24. Robotic arm gear; 25. Fixed shaft; 26. Transmission gear; 27. Cleaning moving motor gear; 28. Cleaning moving motor; 29. ​​Robotic arm; 30. Rotating water pipe fixed bearing; 31. Pin at the upper end of the fixed shaft; 32. Fingers on the robotic arm; 33. Hollow pipe for cleaning water head; 34. First water flow pipe for cleaning robotic arm; 35. Second water flow pipe for cleaning robotic arm; 36. Inlet of the first water flow pipe; 37. Inlet of the second water flow pipe; 38. 39. Shared water chamber; 40. Second spray hole; 41. First spray hole; 42. Strip-shaped water passage space of the robotic arm; 43. Toilet body; 44. Toilet tank; 45. Slide groove of another embodiment; 46. Cleaning moving motor of another embodiment; 47. Moving motor of another embodiment; 48. Cleaning robotic arm of another embodiment; 49. Robotic arm of another embodiment; 50. Straight teeth on the robotic arm of another embodiment; 51. Straight teeth on the cleaning robotic arm of another embodiment; 52. Hollow pipe of the rinsing head of another embodiment; 53. Second water flow pipe on the cleaning robotic arm of another embodiment; 54. First water flow pipe on the cleaning robotic arm of another embodiment; 55. Shared water chamber on the cleaning robotic arm of another embodiment; 56. Second spray hole on the cleaning robotic arm of another embodiment; 57. First spray hole on the cleaning robotic arm of another embodiment; 58. Strip-shaped water passage space on the robotic arm of another embodiment. Detailed Implementation

[0063] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present utility model. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0064] like Figures 1 to 15As shown, the core components of the cleaning robot of this utility model embodiment are all integrated in the chamber 3, which is usually located inside the toilet seat. The core components mainly include: a robotic arm, a robotic arm cleaning system, a tissue module and its supporting system, and an intelligent control system.

[0065] The robotic arm is the key component for performing the rolling scrubbing operation. It includes a robotic arm 29, a moving motor 9, a rotating motor 11, a rotating water pipe 20, a cleaning water head 19, and a protective layer. The moving motor 9, through gear 10 meshing with gear 23B, and the cleaning moving motor 27, through gear 26 and transmission gear 25 meshing with gear 23A, jointly drive the robotic arm 29 and the cleaning robotic arm 28 to move out of or back into the cabin. The rotating motor 11, through gears 21 and 22, drives the rotating water pipe 20 and the cleaning water head 19 at its front end to rotate forward and backward.

[0066] The intelligent control system 13 coordinates and manages the entire workflow of the cleansing robot through its preset program. Taking a complete cleansing process as an example, its control logic includes:

[0067] 1. Receive user commands: Receive user-selected modes such as tumble washing mode, spray cleaning mode, drying mode, or combinations thereof via an interface set on the toilet or remote control;

[0068] 2. Start-up preparation: If the rolling wiping mode is selected, the stepper motor 14 is controlled to push the tissue module, and the robotic arm is controlled to move to... Figure 2 At the position shown, drive the washing head 19 to rotate to roll up the honeycomb paper towel 17;

[0069] 3. Perform cleaning: Control the robotic arm 29 to move to Figure 3 In the working area shown, the water pump 12 is turned on and water is supplied to the rotating water pipe 20 through the pipe converter 7, and the cleaning water head 19 is controlled to reverse to perform rolling scrubbing.

[0070] 4. Post-processing: After cleaning is complete, control the robotic arm to return to... Figure 5 At the position shown, the reverse stroke of the cleaning head 19 ends, and the honeycomb paper towel 17 is completely peeled off by the fingers 32 or by gravity; then, the controllable robotic arm cleaning system moves to the overlapping position and switches the water path to clean the robotic arm;

[0071] 5. Function switching: According to user instructions, the pipe converter 7, under the control of the intelligent control system 13, precisely switches the water flow to the rotating water pipe 20, the first water flow pipe 34 and the second water flow pipe 35 to achieve different functions.

[0072] The above control logic is implemented through a preset program mounted on the circuit board, and the feedback signals from various sensors, such as the position sensor and the remaining tissue amount sensor, are used to adjust the above actions in real time.

[0073] The structure, implementation method, and beneficial effects of each diagram are illustrated below:

[0074] Figure 1 A schematic diagram of the planar structure of the cleansing robot.

[0075] This diagram shows the overall layout of the equipment in standby mode: the toilet lid 1 and toilet seat 2 are closed, and all core components, such as the robotic arm, robotic arm cleaning system, and paper towel module, are compactly housed inside the compartment 3. The water inlet 4 and power cord 5 provide the equipment with water and electricity.

[0076] This state represents the device's "zero" position. It features a compact structure and a clean appearance, reflecting the product's integrated and concealed design. All components are not activated and are in standby mode.

[0077] This figure demonstrates the high degree of integration of this invention. All complex mechanisms are perfectly concealed within the chamber when not in use, ensuring both the overall aesthetic appeal of the toilet and safety during daily use.

[0078] Figure 2 This is a diagram illustrating how the rinsing water tap is brought close to the tissue roll module to wrap the tissue paper.

[0079] Figure 3 This is a schematic diagram showing the robotic arm moving out of the cabin and to the center position.

[0080] Structural Description: The key feature is the interaction between the robotic arm and the tissue module: the robotic arm 29, carrying the rotating water pipe 20 and the rinsing head 19, moves and approaches the lower side of the tissue box 18. The supporting system of the tissue module—stepper motor 14, lead screw 16, and tissue pusher 15—has pushed the tissue module to its working position, bringing the outermost honeycomb tissue 17 into contact with the rinsing head 19. Driven by the rotary motor 11, the rinsing head 19 rotates, and the protrusions on its outer surface attract and "wrap" the honeycomb tissue around its surface. This visually demonstrates the mechanism by which it automatically and hygienically acquires the honeycomb tissue, forming the basis for the "robotic arm rolling and wiping" function. This avoids manual contact and ensures a hygienic process.

[0081] See Figure 2 , Figure 3 The compartment 3 is equipped with a tissue box 18 for storing honeycomb tissues 17. The tissue module and tissue box 18 are also equipped with a supporting system, the operation of which is as follows:

[0082] 1. When the user selects the rolling scrubbing mode or the system is ready to perform rolling scrubbing, the intelligent control system 13 starts the stepper motor 14.

[0083] 2. Stepper motor 14 drives lead screw 16 to rotate, which drives tissue pusher plate 15 to push the entire tissue module forward, so that the first honeycomb tissue 17 can be caught when the washing head 19 approaches.

[0084] 3. At this time, the rotary motor 11 starts, driving the rotary water pipe 20 and the washing head 19 to rotate. The protrusions on the surface of the washing head "hold" the first paper towel and roll it around the surface of the washing head.

[0085] 4. The moving motor 9, through gear 10 meshing with gear 23B, and the cleaning moving motor 27, through gear 26 and transmission gear 25 meshing with gear 23A, drive the robotic arm 29 and the cleaning robotic arm 28 to move out of the cabin. Subsequently, the water pump 12 starts, injecting water into the hollow pipe 33 of the cleaning head through the pipe converter 7 and the rotating water pipe 20. The water then flows out through the densely distributed water outlet holes and honeycomb paper towel 17 on the outer surface of the cleaning head, so as to perform rolling scrubbing on the parts of the human body to be cleaned.

[0086] It should be noted that the advantages of using a flowing water jet for tumbling and scrubbing are: ① It prevents any splashing of water. ② It allows the cleaned dirt and grime to roll down into the toilet along with the honeycomb paper towels, preventing them from spreading and contaminating other parts of the body.

[0087] It should also be noted that the pipe converter 7 and the rotating water pipe 20 can be connected by a flexible hose or other movable joints, which will not be elaborated here.

[0088] Figure 4 This is a schematic diagram showing the furthest position the robotic arm will reach when it returns after completing the cleaning process.

[0089] and Figure 3 The illustration shows the robotic arm moving from the work area to its return position after completing a rolling scrubbing and cleaning task.

[0090] Figure 5 This is a schematic diagram showing the robotic arm returning to its final position after disassembling the honeycomb tissue 17.

[0091] Figure 5 This diagram shows the final position of the robotic arm returning after disassembling the honeycomb paper towel 17. It also shows the position where the finger 32 presses against the used paper towel head when the rinsing head 19 rotates in the opposite direction, allowing it to be smoothly peeled off, or peeled off by gravity and fall into the toilet below. It also shows the position of the cleaning robotic arm 35 cleaning the robotic hand.

[0092] It should be noted that the position shown above is only an ideal optimal position, and is not intended to be a limitation.

[0093] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 This series of illustrations demonstrates a complete working mode of a robotic arm "rolling and scrubbing" the human body: from standby... Figure 1 → Automatically retrieve honeycomb tissues Figure 2 → Move to the work station to perform rolling scrubbing Figure 3 → Return to location Figure 4 →Automatic disassembly of used honeycomb tissues Figure 5 . Figure 5 This is also a schematic diagram of the position of the cleaning robotic arm 28. Simultaneously, the cleaning head rotates counter-clockwise when wrapping the honeycomb paper towel, and counter-clockwise when rolling and scrubbing after moving out of the chamber. This not only allows for smooth disassembly and peeling of the honeycomb paper towel, but also ensures that the dirty honeycomb paper towel that has come into contact with the human body is continuously rolled away and peeled off, keeping the honeycomb paper towel still wrapped on the cleaning head 19 in an unused and clean state before it comes into contact with the human body! This is a core creative point of this utility model.

[0094] Figure 6 A schematic diagram of a robotic arm cleaning system performing feminine or posterior washing.

[0095] This diagram illustrates the robotic arm cleaning system when operating independently. The cleaning robotic arm 28 moves independently out of compartment 3 to spray water onto the human body for cleaning.

[0096] Function and flow: At this time, the pipe converter 7 switches the water path and supplies water only to the second water flow pipe 35. The water flows out from the second spray hole 39 through the shared water container 38 to clean the human body.

[0097] This diagram reveals one of the system's dual functions: directly washing the human body with water, providing the flushing function of a traditional smart toilet, especially for feminine hygiene, and achieving better and cleaner coverage due to its greater mobility.

[0098] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As can be seen, the robotic arm and the robotic arm cleaning system can move out of the cabin at the same time to complete various preset functions, or they can move out of the cabin separately to complete their own preset functions. This is another important innovation of this utility model.

[0099] Figure 7 This is a cross-sectional elevation view of the cleansing robot.

[0100] This diagram, through a sectional elevation view, clearly reveals the three-dimensional layout and spatial relationships of the various functional modules inside compartment 3, including the heated water purifier 6, water pump 12, pipe converter 7, robotic arm mechanism, and robotic arm cleaning system mechanism. It demonstrates a highly integrated design that achieves complex functions within a limited space. This further emphasizes the compactness, precision, and refined design of this invention, showing the feasibility of integrating so many functions within a standard toilet seat size—a key to product commercialization.

[0101] Figure 8 A diagram illustrating the preparation work for the opening and closing of the cleansing robot.

[0102] This diagram illustrates how, after the user opens the toilet seat 1, the robotic arm and robotic cleaning system move out of compartment 3 and to the center of the toilet seat. This diagram provides the user with a visual understanding of what the equipment will look like when it is about to operate.

[0103] Figure 9 This is a cross-sectional elevation view of the cabin of the cleansing robot.

[0104] This diagram focuses more on the interior space of the cabin and the connecting components of the moving structure, such as the fixed shaft 24.

[0105] Figure 10 This is a cross-sectional elevation view of the robotic arm and its cleaning system.

[0106] Figure 11 This is a cross-sectional elevation view of the robotic arm.

[0107] Structural Introduction: These two diagrams, from the combined and independent perspectives respectively, illustrate in detail the composition and relationship of the robotic arm and the robotic arm cleaning system. Figure 10 It shows the relative positions of the two. Figure 11 The paper focuses on details such as the robotic arm, rotating water pipe 20, cleaning water head 19, and gears 21 and 22, clarifying the structural relationship between the two core actuators.

[0108] Beneficial effects: As a set of "detailed component diagrams", it provides a more detailed understanding of subsequent manufacturing processes, cleaning modes, and functions such as automatic paper towel replacement.

[0109] Figure 12 This is a cross-sectional elevation view of a robotic arm cleaning system.

[0110] Figure 13 This is a schematic diagram of a robotic arm cleaning system.

[0111] Structural Description: These two diagrams thoroughly reveal the internal water channel structure of the robotic arm cleaning system from different perspectives. They clearly show the parallel-arranged first water flow pipe 34 and second water flow pipe 35 of the cleaning robotic arm, and how they respectively lead to the first water spray hole 40 and the shared water-containing cavity 38 and second water spray hole 39 at the end.

[0112] These two diagrams visually explain the structural principle of the "dual function": two independent pipes provide physically isolated water paths for cleaning the robotic arm and the human body in two cleaning modes. When cleaning the robotic arm, both water channels spray water simultaneously, using a large volume of water to rinse the robotic arm from all directions, achieving the purpose of full coverage of the robotic arm; when cleaning the human body, such a wide rinsing area is not needed, so only the second water flow pipe 35 is used to supply water, and only the second spray hole 39 is used to clean the human body.

[0113] Beneficial effects: This component demonstrates how to achieve two different water supply functions on a single cleaning arm through an innovative dual-pipe system, which is another creative point of this utility model.

[0114] See also Figure 6 , Figure 12 and Figure 13 .

[0115] This set of figures illustrates an embodiment of a robotic arm cleaning system: The robotic arm cleaning system includes a cleaning robotic arm 28, a cleaning moving motor 27, and a cleaning assembly integrated thereon. The cleaning assembly is supplied with water by a first water flow pipe 34 and a second water flow pipe 35. The first water flow pipe 34 supplies water to a first spray nozzle 40, and the second water flow pipe 35 supplies water to a shared water-containing chamber 38 and a second spray nozzle 39 thereon.

[0116] Cleaning robot mode: When it is necessary to clean the cleaning head 19 and the rotating water pipe 20, the robot and the robot cleaning system work together. The rotating water pipe and the cleaning head rotate simultaneously. Under the command of the intelligent control system 13, the pipe converter 7 simultaneously directs water flow to the first water flow pipe 34 and the second water flow pipe 35. The first spray hole 40 forms a linear water flow, and the second spray hole 39 forms a sheet-like or ring-shaped water flow, which together provide all-round rinsing for the cleaning head 19 and the rotating water pipe 20.

[0117] Human Body Washing Mode: When the user selects the feminine wash or posterior wash function, the robotic arm washing system simply moves out of the chamber to the center of the toilet, and the pipe converter 7 switches to supply water only to the second water flow pipe 35. Water flows through the shared water chamber 38 and is sprayed out from the second spray hole 39 for feminine or posterior wash. At this time, the first spray hole 40 does not spray water.

[0118] After feminine or posterior washing, the body can be dried with a dryer or a robotic arm can be used to wrap toilet paper and dry the body. If the robotic arm is used to wrap toilet paper and dry the body, the pipe converter 7 that supplies water to the water flow pipe 33 of the washing head will be shut off, and water will not be supplied to the already rolled-up honeycomb toilet paper 17.

[0119] See also Figure 10 , Figure 11 , Figure 12 , Figure 13 .

[0120] These four diagrams, from the overall assembly to individual components, and from the outside to the inside, thoroughly analyze the structural design and various functions of the robotic arm and its cleaning system, collectively revealing the advanced nature and integration of this utility model. They demonstrate how a precise and original mechanical design of the robotic arm and a multi-waterway system combine gushing water scrubbing with dual-jet cleaning, integrating both rolling scrubbing and rinsing functions within a limited space, providing solid and intuitive support for the technical solution in the claims.

[0121] Figure 14 This is a planar schematic diagram of the robotic arm of the robotic hand.

[0122] Structural Description: The structure of the robotic arm 29 itself is shown in detail, including the strip-shaped water passage space 41 on it, emphasizing its role in providing support for the rotating water pipe 20 and as a channel for the water jet to spray out of the robotic arm for cleaning.

[0123] Figure 15 This is a schematic diagram of the combination of a bidet robot and a toilet.

[0124] This figure shows the complete product form of the cleaning robot of this utility model combined with the traditional toilet body 42 and water tank 43, and clarifies the final application scenario of the utility model.

[0125] Beneficial effects: This demonstrates the excellent compatibility of this utility model, which can be adapted to existing toilet structures, reducing marketing and user costs.

[0126] Another example:

[0127] like Figures 16 to 26 Another implementation is shown. In this scheme, the robotic arm 48 and the cleaning robotic arm 47 move telescopically within the slide 44 by meshing with gears driven by the moving motor 46 and the cleaning moving motor 45 via spur teeth 49 and 50 at their bottom. Its basic working principle, including automatic paper towel replacement and dual-mode operation of the cleaning system, is consistent with the aforementioned embodiment. The main difference lies in the specific implementation of the moving mechanism; in the aforementioned embodiment, the robotic arm moves laterally into the central working area of ​​the toilet, while in this scheme, the robotic arm moves longitudinally into the central working area of ​​the toilet.

[0128] This invention, through the combination of the aforementioned precise mechanical structure and intelligent control system, achieves an unprecedented, fully automatic, and highly hygienic personal cleansing experience that integrates the advantages of robotic arm rolling scrubbing and water rinsing.

[0129] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character "~" generally indicates a continuation of preceding and following numbers.

[0130] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "diameter," "upper," "lower," "front end," "end," "surface," "left," "right," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "positive," and "negative" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description; the terms expressing relative relationships can also be interchanged, and do not indicate or imply that the equipment or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0131] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or simply being attached to each other; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0132] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A body cleaning robot, comprising a toilet seat, a chamber, a heated water purifier, a water pump, a pipe converter, a robotic arm, a robotic arm cleaning system, and an intelligent control system; Its features are, The robotic arm, the robotic arm cleaning system, and the intelligent control system are located inside the cabin. The intelligent control system includes sensors, a circuit board, and a preset program; The robotic arm includes a robotic arm, a moving motor, a rotating motor, a rotating water pipe, a washing head, and a wrapping layer; The robotic arm is driven by a moving motor, and the rotating water pipe is mounted on the robotic arm and is driven by a rotating motor. The cleaning water head is fixed to the outlet end of the rotating water pipe, and the wrapping layer is wrapped around its surface; The water pump's inlet is connected to the heated water purifier, and its outlet is connected to the rotating water pipe and the robotic arm cleaning system via the pipe converter. When started, the intelligent control system controls the robotic arm, robotic arm cleaning system, water pump, pipeline converter, heating water purifier, and various functional motors and electrical appliances to work together. The robotic arm and the robotic arm cleaning system move out of the cabin simultaneously or separately according to the user's instructions to complete the rolling scrubbing and water spraying cleaning functions for the human body.

2. The cleansing robot according to claim 1, characterized in that: The washing head is a cylindrical hollow structure with many tiny water outlet holes on its outer surface and many small protrusions on its surface. The diameter of the rinsing head is 5mm to 100mm, and the length is 10mm to 200mm.

3. The cleansing robot according to claim 1, characterized in that: The wrapping layer is a honeycomb paper towel; The honeycomb tissue consists of many sheets stacked together to form a tissue module. Each tissue module is packaged in a tissue box, and one of the tissue boxes is placed in the cabin near the rinsing water head. The honeycomb paper towel is for single use only, meaning it is removed and discarded.

4. The cleansing robot according to claim 3, characterized in that: The tissue module is also equipped with a supporting system, which consists of a stepper motor, a lead screw, a tissue pusher plate, and a sensor. The stepper motor and the sensor are electrically connected to the intelligent control system and are used to push the honeycomb tissues in the tissue module forward and sense the remaining quantity under the control of the intelligent control system.

5. The cleansing robot according to claim 1, 2, 3 or 4, characterized in that: When the device is started, as the cleaning head rotates and approaches the honeycomb paper towel, the first honeycomb paper towel on the surface is caught by the cleaning head and can be wrapped around its surface as the cleaning head rotates. Subsequently, the cleaning head moves out of the chamber, and the water pump injects water into the rotating water pipe and the cleaning head through the pipe converter. The cleaning head gushes out water through the honeycomb paper towel. As the cleaning head moves to the center of the toilet, it begins to reverse and clean the body by rolling and scrubbing.

6. The cleansing robot according to claim 1, 2, 3 or 4, characterized in that: The robotic arm is also equipped with fingers. The gap between the fingers and the washing head should be consistent with the total thickness of the honeycomb paper towel rolled on it. When the washing head is reversed, natural gravity or the fingers on the robotic arm can gradually peel off the dirty honeycomb paper towel that has been in contact with the human body from the washing head and drop it into the toilet.

7. The cleansing robot according to claim 1, characterized in that: The robotic arm cleaning system has the functions of cleaning the robotic arm and cleaning the user's body; the robotic arm cleaning system includes a cleaning moving motor, a cleaning robotic arm, a first water flow pipe, a second water flow pipe, a first water spray hole, a second water spray hole, and a shared water container; The first water flow pipe and the second water flow pipe are both installed inside the cleaning robot arm and arranged in parallel. The shared water container is located at the end of the cleaning robot arm and is connected to the second water flow pipe. The first water spray hole is located on the first water flow pipe, and the second water spray hole is located on the shared water container.

8. The cleansing robot according to claim 7, characterized in that: The first water spray holes are arranged linearly along the length of the first water flow pipe, while the second water spray holes are arranged in the form of dots, sheets, or rings on the shared water container.

9. The cleansing robot according to claim 1, characterized in that: The intelligent control system is electrically connected to the mobile motor, cleaning mobile motor, rotary motor, stepper motor, water pump, pipe converter, heating water purifier, and various functional motors and electrical appliances. It is used to control the movement trajectory of the robotic arm and cleaning robotic arm, the clockwise and counterclockwise switching and rotation of the rotating water pipe, the water pressure and water temperature, and the opening and stopping of water flow in the pipe converter, as well as various preset functions.

10. A robotic toilet, characterized in that: Including the cleansing robot as described in any one of claims 1 to 9.

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