CN219073816U - Cat litter self-cleaning equipment - Google Patents

Abstract

The utility model discloses automatic cat litter cleaning equipment which comprises a base body, a rotating mechanism, a swinging mechanism, a litter shoveling mechanism and a camera; the bottom of the seat body is provided with a travelling wheel; the camera is arranged on the base body, the rotating mechanism comprises a first driving device and a rotating frame, the first driving device is connected with the base body, and the output end of the first driving device is connected with the rotating frame and drives the rotating frame to rotate around a central shaft of the rotating frame relative to the base body; the swinging mechanism comprises a second driving device and a swinging piece, the second driving device is arranged on the rotating frame, and the output end of the second driving device is connected with the swinging piece and drives the swinging piece to swing up and down in a vertical plane; the sand shoveling mechanism is connected with the swinging piece and drives the swinging piece to swing up and down. The automatic cat litter cleaning device can automatically clean excrement in the cat litter basin.

Description

Cat litter self-cleaning equipment

Technical Field

The utility model belongs to the technical field of pet supplies, and particularly relates to automatic cat litter cleaning equipment.

Background

With the development of social economy and the improvement of living standard of people, more and more families start to raise pets. Cats are popular as a popular family pet worldwide and are favored by more and more families, so that the families for raising cats are gradually increased. Cats have the habit of burying their own excrement after defecation. Therefore, most households for raising cats are provided with a cat litter box, training cats excrete in the cat litter box, and after excretion, the cat litter box is manually shoveled, so that excrement is cleaned. In order to avoid the trouble that the owner needs to manually scoop the excrement every time after the cat excretes, various automatic cat litter bowls for automatically scooping the excrement appear on the market at present, the owner does not need to manually scoop the excrement every time, and only the collected excrement is required to be treated regularly to be agglomerated.

At present, realize cat litter basin of automatic shovel excrement, its automatic shovel excrement structure generally sets up in cat litter basin inside, for example, patent CN201921117232.X discloses an intelligent cat litter basin, including inferior valve and display screen, inferior valve lower extreme four corners position department is provided with the callus on the sole of weighing, the drawer has been cup jointed to inferior valve rear end below inside position department, inferior valve and drawer junction is provided with accomodates the pole, inferior valve inside position department is provided with the mesochite, mesochite rear side position department is provided with the excrement passageway, mesochite middle inside position department is provided with cat litter basin main part, when using, when the cat litter volume is too little, through artificial operation, start motor drives cat litter basin main part anticlockwise rotation to 270 degrees escape orifice, the jack-up cat litter of filter screen front end is to the escape orifice, escape orifice dustcoat is opened with mesochite friction, the cat litter falls into the drawer, the machine is turned back to the normal position, the escape orifice dustcoat is closed, after the closure, the user just can add new cat litter in cat litter basin main part inside. This intelligence cat litter basin structure is complicated, can occupy the inside a large amount of spaces of cat litter basin, and to open cat litter basin, does not have supporting equipment that carries out self-cleaning to the excrement in the cat litter basin yet at present, still needs manual shovel excrement to carry out cleaning operation.

Disclosure of Invention

The utility model aims to provide automatic cat litter cleaning equipment which can automatically clean excrement in an open cat litter basin and does not occupy space in the cat litter basin.

The technical scheme is as follows:

the cat litter automatic cleaning device comprises a base, a rotating mechanism, a swinging mechanism, a litter shoveling mechanism and a camera; the bottom of the seat body is provided with travelling wheels; the camera is arranged on the base body;

the rotating mechanism comprises a first driving device and a rotating frame, the first driving device is connected with the base body, and the output end of the first driving device is connected with the rotating frame and drives the rotating frame to rotate around a central shaft of the rotating frame relative to the base body;

the swinging mechanism comprises a second driving device and a swinging piece, the second driving device is arranged on the rotating frame, and the output end of the second driving device is connected with the swinging piece and drives the swinging piece to swing up and down in a vertical plane;

the sand shoveling mechanism is connected with the swinging piece and drives the swinging piece to swing up and down.

In one embodiment, the sand shoveling mechanism comprises a third driving device and two sand shovels, wherein the third driving device is connected with the swinging piece, and the two sand shovels are connected with the third driving device and are driven by the third driving device to form a mutually gathered state or a mutually opened state.

In one embodiment, the sand shovel body comprises a bottom plate and a side wall plate, the bottom plate and the side wall plate are matched to form a containing groove with one side open, the openings of the two sand shovel bodies are arranged in opposite directions, and when the two sand shovel bodies are gathered together, one side, close to the opening, of the bottom plate of the sand shovel body closely abuts against one side, close to the opening, of the bottom plate of the other sand shovel body.

In one embodiment, the side wall board comprises a first side board, a second side board and a third side board which are all arranged on the bottom board, the first side board, the second side board and the third side board are sequentially connected, the second side board is of an arc-shaped board structure, and the second side board extends upwards to the tops of the first side board and the third side board along the bottom board to partially seal the groove top of the accommodating groove.

In one embodiment, the bottom plate is at least partially hollow.

In one embodiment, the bottom plate is provided with a plurality of through grooves penetrating up and down, and each through groove is arranged in a row and matched with the through groove to form the hollow structure.

In one embodiment, the third driving device comprises a telescopic driving device, a supporting frame, a connecting piece and two first connecting rod mechanisms;

the support frame set up in on the swinging member, the connecting piece with flexible drive arrangement all set up in on the support frame, the connecting piece keep away from the terminal bifurcation of support frame forms two link, two the link respectively with two the sand shovel body is articulated, flexible drive arrangement has two flexible output, two flexible output respectively with two the sand shovel body is articulated, and each flexible output is through one first link mechanism with one link transmission is connected.

In one embodiment, the second driving device comprises a first rotation driving device and a first rotation shaft; the swinging piece comprises a first swinging body;

the first rotary driving device is arranged on the rotary frame; the output end of the first rotary driving device is connected with the first rotary shaft and drives the first rotary shaft to rotate, the first rotary shaft is connected with the first swinging body and drives the first swinging body to swing up and down in a vertical plane, and the first swinging body is connected with the sand shoveling mechanism.

In one embodiment, the second driving device further comprises a second rotary driving device, a second rotary shaft and a second link mechanism; the swinging piece further comprises a second swinging body; the second rotary driving device is arranged on the rotary frame;

the output end of the second rotary driving device is connected with the second rotary shaft and drives the second rotary shaft to rotate, the second swinging body is rotatably arranged at the tail end of the first swinging body, the second rotary shaft drives the second swinging body to swing up and down in a vertical plane relative to the first swinging body through the second connecting rod mechanism, and the second swinging body is connected with the sand shoveling mechanism.

In one embodiment, two first swinging bodies are arranged, the two first swinging bodies are connected through a connecting plate, one of the first swinging bodies is connected with the first rotating shaft, the other first swinging body is rotationally sleeved on the second rotating shaft, and the tail ends of the two first swinging bodies are connected through a connecting shaft;

the second swinging body is rotationally sleeved on the connecting shaft, the second connecting rod mechanism comprises a fixed body and a rotating rod, the fixed body is sleeved on the second rotating shaft, the fixed body can drive the second rotating shaft to rotate, the first end of the rotating rod is hinged to the fixed body, and the second end of the rotating rod is hinged to the second swinging body.

The technical scheme provided by the utility model has the following advantages and effects:

this cat litter self-cleaning equipment is through setting up pedestal, rotary mechanism, swing mechanism, shovel sand mechanism and camera cooperation, wherein take the picture in the cat litter basin through the camera and obtain the position of waiting to shovel excrement, and through control pedestal, rotary mechanism, swing mechanism and shovel sand mechanism's motion state, wherein through pedestal, rotary mechanism and swing mechanism's cooperation motion can drive shovel sand mechanism reach the excrement of arbitrary position in the cat litter basin and shovel away this excrement, thereby realize carrying out self-cleaning operation to the excrement in the cat litter basin, and this cat litter self-cleaning equipment can independently set up outside the cat litter basin, thereby can not occupy cat litter basin inner space, and can carry out cleaning operation to a plurality of cat litter basins in a flexible way.

Drawings

FIG. 1 is a schematic view of a motion state of a cat litter automatic cleaning device according to an embodiment of the utility model, wherein two litter spades are gathered;

FIG. 2 is a schematic view of a structure of a two-movement state of the automatic cat litter cleaning apparatus in which two litter spades are opened;

FIG. 3 is a schematic view of a portion of the automated litter cleaning apparatus of FIG. 1;

FIG. 4 is a schematic view of a sand shoveling mechanism according to an embodiment of the present utility model;

fig. 5 is a schematic view of a part of a sand shoveling mechanism at another angle according to an embodiment of the present utility model.

Reference numerals illustrate:

100. cat litter automatic cleaning equipment;

1. a base; 11. a walking wheel; 2. a rotation mechanism; 21. a rotating frame; 3. a swinging mechanism; 31. a second driving device; 311. a first rotation shaft; 312. a second rotation shaft; 313. a second link mechanism; 314. a fixed body; 315. a rotating lever; 32. a swinging member; 321. a first swinging body; 322. a second swinging body; 323. a connecting shaft; 33. an auxiliary support assembly; 331. a mounting column; 332. a first rod member; 333. a second rod member; 334. a third lever; 335. a fourth lever; 336. a fifth lever; 4. a sand shoveling mechanism; 41. a third driving device; 411. a support body; 412. a support frame; 413. a connecting piece; 414. a first link mechanism; 415. a connection end; 416. a telescopic output end; 417. a first connecting rod; 418. a second connecting rod; 419. a delivery tube; 42. a sand shovel body; 421. a bottom plate; 422. a first side plate; 423. a second side plate; 424. a third side plate; 425. a receiving groove; 426. a through groove; 427. a first fixing rod; 428. a second fixing rod; 5. a camera is provided.

Detailed Description

In order that the utility model may be readily understood, a more particular description of specific embodiments thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

As used herein, the terms "first and second …" are used merely to distinguish between names and not to represent a particular number or order unless otherwise specified or defined.

The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items, unless specifically stated or otherwise defined.

The term "fixed" or "connected" as used herein may be directly fixed or connected to an element, or indirectly fixed or connected to an element.

The utility model provides a cat litter automatic cleaning device 100, as shown in fig. 1 to 5, the cat litter automatic cleaning device 100 comprises a base 1, a rotating mechanism 2, a swinging mechanism 3, a litter shoveling mechanism 4 and a camera 5. The bottom of the seat body 1 is provided with a travelling wheel 11; the movement of the travelling wheels 11 is controlled so as to control the base body 1 to walk on the ground; the camera 5 is arranged on the base 1.

The rotating mechanism 2 comprises a first driving device and a rotating frame 21, the first driving device is connected with the base 1, and the output end of the first driving device is connected with the rotating frame 21 and drives the rotating frame 21 to rotate around the central shaft of the rotating frame 21 relative to the base 1;

the swinging mechanism 3 comprises a second driving device 31 and a swinging piece 32, the second driving device 31 is arranged on the rotating frame 21, and the output end of the second driving device 31 is connected with the swinging piece 32 and drives the swinging piece 32 to swing up and down in a vertical plane;

the sand shoveling mechanism 4 is connected with the swinging member 32 and drives the swinging member 32 to swing up and down.

The automatic cat litter cleaning device 100 can be independently placed on the side edge of a cat litter basin, when a cat needs to scoop out excrement in the cat litter basin for cleaning after defecating or urinating in the cat litter basin, a camera 5 is used for taking pictures in the cat litter basin at regular time and then identifying pictures, and when the pictures taken are identified to have excrement and the position of the excrement is determined, the cleaning operation of automatically scooping the excrement in the cat litter basin is performed by controlling the seat body 1, the rotating mechanism 2, the swinging mechanism 3 and the sand scooping mechanism 4 to move in a matched mode. It should be noted that, conventional components such as a control circuit, a power source, function keys, a switch, etc. may be disposed on the base 1, so as to enable the automatic cleaning operation of the automatic cat litter cleaning apparatus 100, which is not described herein.

Specifically, the specific movement process of each mechanism of the automatic cat litter cleaning apparatus 100 is as follows: when the cat litter box is cleaned, the seat body 1 is driven to move to a position close to excrement to be shoveled through the travelling wheel 11, then the rotary frame 21 is driven to rotate through the first driving device, so that the second driving device 31 connected with the rotary frame 21 is driven to rotate, the swinging piece 32 connected with the second driving device 31 and the sand shoveling mechanism 4 connected with the swinging piece 32 are driven to synchronously rotate along with the driving, so that the sand shoveling mechanism 4 is adjusted to the position above the excrement to be shoveled, then the swinging piece 32 is driven to swing downwards through the second driving device 31, so that the sand shoveling mechanism 4 is driven to move downwards, after the excrement in the cat litter box is shoveled by the sand shoveling mechanism 4, the swinging piece 32 is driven to swing upwards through the second driving device 31, so that the sand shoveling mechanism 4 is driven to rise upwards to the upper region of the cat litter box, then the swinging frame 21 is driven to swing in a small amplitude through the first driving device, so that the cat litter which is not covered by the excrement is shoveled is driven to swing left and right, finally, the excrement is driven to rotate through the first driving device 4 to rotate, the excrement can be shoveled up to the place, and the excrement can be continuously released, and the excrement can be continuously operated, and the excrement can be continuously be collected.

Therefore, this cat litter self-cleaning equipment 100 is through setting up pedestal 1, rotary mechanism 2, swing mechanism 3, shovel sand mechanism 4 and camera 5 cooperation, wherein take the picture in the cat litter basin through camera 5 and obtain the position of waiting to shovel excrement, and through controlling pedestal 1, rotary mechanism 2, swing mechanism 3 and shovel sand mechanism 4's motion state, wherein can drive shovel sand mechanism 4 through pedestal 1, rotary mechanism 2 and swing mechanism 3's cooperation motion and reach the excrement of arbitrary position in the cat litter basin and shovel away this excrement, thereby realize carrying out self-cleaning operation to the excrement in the cat litter basin, and this cat litter self-cleaning equipment 100 can independently set up outside the cat litter basin, thereby can not occupy cat litter basin inner space, and can carry out cleaning operation to a plurality of cat litter basins in a flexible way.

In some embodiments, as shown in fig. 1 and 2, the sand shoveling mechanism 4 includes a third driving device 41 and two sand shovels 42, the third driving device 41 is connected with the swinging member 32, and the two sand shovels 42 are connected with the third driving device 41 and are driven by the third driving device 41 to form a mutually gathered state or a mutually opened state. It can be understood that through setting up two sand shovel bodies 42 to drive these two sand shovel bodies 42 through third drive arrangement 41 and gather together each other, thereby form to scoop up excrement in opposite directions and enclose excrement, on the one hand can cover excrement as far as possible and scoop up, on the other hand can avoid excrement to drop back into the cat litter basin when first drive arrangement drives shovel sand mechanism 4 and rocks about, influences cleaning effect and clean efficiency. When the scooped excrement needs to be released to the excrement collecting place, the third driving device 41 drives the two sand spades 42 to open mutually, so that the excrement is released to the excrement collecting place, and the operation is simple and convenient.

In some embodiments, as shown in fig. 3 and 5, the sand shovel 42 includes a bottom plate 421 and a side wall plate, where the bottom plate 421 and the side wall plate cooperate to form a receiving groove 425 with an opening at one side, the openings of the two sand shovel 42 are disposed opposite to each other, and when the two sand shovel 42 are gathered together, one side of the bottom plate 421 of one sand shovel 42 near the opening closely abuts against one side of the bottom plate 421 of the other sand shovel 42 near the opening. It can be appreciated that when the two sand shovel bodies 42 gather together, excrement is shoveled into the opening of the sand shovel body 42, the two accommodating grooves 425 cooperate to form a larger space for accommodating the excrement, and one side of the bottom plate 421 close to the opening closely abuts against one side of the other bottom plate 421 close to the opening, so that the excrement can be prevented from falling from the gap between the two sand shovel bodies 42, and the cleaning effect and the cleaning efficiency are affected.

In this embodiment, as shown in fig. 5, the side wall includes a first side plate 422, a second side plate 423 and a third side plate 424 all disposed on a bottom plate 421, the first side plate 422, the second side plate 423 and the third side plate 424 are sequentially connected, the second side plate 423 is in an arc-shaped plate structure, and the second side plate 423 extends upward along the bottom plate 421 to the top of the first side plate 422 and the third side plate 424 to partially close the top of the accommodating groove 425, so that the excrement can be better loaded.

In some embodiments, as shown in fig. 5, the bottom plate 421 is at least partially in a hollow structure, so that when the first driving device drives the sand shoveling mechanism 4 to shake left and right, the cat sand that is shoveled up along with and is not covered by the excrement falls from the hollow structure, so that the cat sand that is not adhered by the excrement can be separated from the excrement. In this embodiment, the bottom plate 421 is provided with a plurality of through slots 426 penetrating from top to bottom, and each through slot 426 is arranged in a row and matched to form a hollow structure. The arrangement of the through groove 426 can adapt to falling of cat litter of different shapes, such as cat litter of round or long strip shape can fall from the through groove 426.

In some embodiments, as shown in fig. 4, the third driving device 41 includes a telescopic driving device, a supporting frame 412, a connecting piece 413, and two first link mechanisms 414; the support frame 412 is disposed on the swinging member 32, the connecting member 413 and the telescopic driving device are both disposed on the support frame 412, the end of the connecting member 413, which is far away from the support frame 412, diverges to form two connecting ends 415, the two connecting ends 415 are respectively hinged with the two sand shovel bodies 42, the telescopic driving device is provided with two telescopic output ends 416, the two telescopic output ends 416 are respectively hinged with the two sand shovel bodies 42, and each telescopic output end 416 is in transmission connection with one connecting end 415 through one first connecting rod mechanism 414. It may be appreciated that, the telescopic output end 416 is driven by the telescopic driving device to perform telescopic movement, and through the cooperation of the connecting piece 413 and the first connecting rod mechanism 414, the sand shovel body 42 can be driven to rotate around the hinge position of the sand shovel body 42 and the connecting end 415, so that the two sand shovel bodies 42 rotate to a gathering state in opposite directions or rotate to an opening state in opposite directions. Specifically, the first link mechanism 414 includes a first link 417 and a second link 418, wherein a first end of the first link 417 is hinged to the connection end 415, a second end of the first link 417 is hinged to a first end of the second link 418, and a second end of the second link 418 is hinged to the telescopic output end 416. Further, a support body 411 is arranged at the tail end of the telescopic output end 416, and the support body 411 is hinged with the sand shovel body 42 and the second connecting rod 418.

In some embodiments, as shown in fig. 4, the telescopic driving device may be a cylinder telescopic driving device, and may specifically supply air to two telescopic output ends 416 simultaneously through one cylinder, so as to drive two sand shovel bodies 42 to move mutually through one telescopic driving device simultaneously. In this embodiment, the connecting member 413 is formed into a hollow structure near one end of the supporting frame 412, each of the telescopic output ends 416 is communicated with the hollow structure of the connecting member 413 through a conveying pipe 419, the air cylinder is communicated with the hollow structure of the connecting member 413, and the air cylinder supplies air to the telescopic output ends 416 through the hollow structure of the connecting member 413 and the corresponding conveying pipe 419 to drive the telescopic output ends 416 to perform telescopic movement, so that the structure is compact, and the two sand shovel bodies 42 can move synchronously.

In some embodiments, as shown in fig. 4 and 5, the second side plate 423 is disposed at a position where the tops of the first side plate 422 and the third side plate 424 are located, and is vertically provided with a first fixing rod 427 and a second fixing rod 428, where the first fixing rod 427 is hinged to the connection end 415, the second fixing rod 428 is hinged to the telescopic output end 416, and the first fixing rod 427 and the second fixing rod 428 cooperate to form a movement space of the sand shovel 42, so that structural interference between the sand shovel 42 and the connection end 415 and between the sand shovel and the telescopic output end 416 are avoided.

In some embodiments, as shown in fig. 2 and 3, the second driving device 31 includes a first rotation driving device, a first rotation shaft 311; the swinging member 32 includes a first swinging body 321;

the first rotation driving device is arranged on the rotating frame 21; the output end of the first rotary driving device is connected with the first rotary shaft 311 and drives the first rotary shaft 311 to reciprocate, the first rotary shaft 311 is connected with the first swinging body 321 and drives the first swinging body 321 to swing up and down in a vertical plane, and the first swinging body 321 is connected with the sand shoveling mechanism 4 so as to drive the sand shoveling mechanism 4 to swing up and down. Specifically, the first rotation driving device may be a device capable of driving the first rotation shaft 311 to rotate, such as a rotating motor, and is not particularly limited herein.

In some embodiments, as shown in fig. 2 and 3, the second driving device 31 further includes a second rotation driving device, a second rotation shaft 312, and a second link mechanism 313; the swinging member 32 includes a second swinging body 322; the second rotation driving device is arranged on the rotating frame 21; the output end of the second rotary driving device is connected with the second rotary shaft 312 and drives the second rotary shaft 312 to rotate, the second swinging body 322 is rotatably arranged at the tail end of the first swinging body 321, the second rotary shaft 312 drives the second swinging body 322 to swing up and down in a vertical plane relative to the first swinging body 321 through the second connecting rod mechanism 313, and the second swinging body 322 is connected with the sand shoveling mechanism 4. It can be appreciated that, by matching the first swinging body 321 with the second swinging body 322, the first swinging body 321 swings up and down in the vertical plane relative to the base body 1, and the second swinging body 322 swings up and down in the vertical plane relative to the first swinging body 321, so that the movement space can be increased, the sand shoveling mechanism 4 at the tail end of the second swinging body 322 can accurately reach the required position, and the position control is more flexible. Specifically, the second rotation driving device may be a device capable of driving the second rotation shaft 312 to rotate, such as a rotating motor, and is not particularly limited herein.

In some embodiments, as shown in fig. 2 and 3, two first swinging bodies 321 are provided, the two first swinging bodies 321 are connected through a connecting plate, one of the first swinging bodies 321 is connected with the first rotating shaft 311, and the other first swinging body 321 is rotatably sleeved on the second rotating shaft 312, that is, the second rotating shaft 312 is only used for limiting the relative position of the first swinging body 321, but the respective movements of the first swinging body 321 and the second rotating shaft 312 do not affect each other, and the tail ends of the two first swinging bodies 321 are connected through a connecting shaft 323; the two first swinging bodies 321 cooperate to improve the structural strength so as to better support the second swinging bodies 322 and the sand shoveling mechanism 4.

The second swinging body 322 is rotationally sleeved on the connecting shaft 323, the second connecting rod mechanism 313 comprises a fixed body 314 and a rotating rod 315, the fixed body 314 is sleeved on the second rotating shaft 312, the fixed body 314 can be driven to rotate through the second rotating shaft 312, the first end of the rotating rod 315 is hinged with the fixed body 314, and the second end is hinged with the second swinging body 322. The second rotation driving device drives the second rotation shaft 312 to reciprocate, so as to drive the fixed body 314 to reciprocate, and the fixed body 314 drives the second swinging body 322 to swing in a vertical plane relative to the first swinging body 321 through the rotation rod 315. Furthermore, in the present embodiment, the second driving device 31 further includes an auxiliary supporting member 33. The auxiliary supporting assembly 33 comprises a mounting post 331, a first rod 332, a second rod 333, a third rod 334, a fourth rod 335 and a fifth rod 336, wherein the mounting post 331 is disposed on the base 1, the first end of the first rod 332 is hinged to the mounting post 331, the second end of the first rod 332 is hinged to the first end of the second rod 333, the second end of the second rod 333 is hinged to the first end of the third rod 334, the second end of the third rod 334 is hinged to the supporting frame 412, the opposite ends of the fourth rod 335 are respectively hinged to the second end of the second rod 333 and the connecting shaft 323, and the opposite ends of the fifth rod 336 are respectively hinged to the first end of the second rod 333 and the connecting shaft 323, so that the second rod 333, the fourth rod 335 and the fifth rod 336 form a triangular supporting structure. By the cooperative movement of the mounting post 331, the first rod 332, the second rod 333, the third rod 334, the fourth rod 335, and the fifth rod 336, on the one hand, the sand shovel 4 can be supported in an auxiliary manner, and on the other hand, the sand shovel 4 can be controlled to maintain a stable state.

The above examples are also not an exhaustive list based on the utility model, and there may be a number of other embodiments not listed. Any substitutions and modifications made without departing from the spirit of the utility model are within the scope of the utility model.

Claims (10)

1. The cat litter automatic cleaning device is characterized by comprising a base body, a rotating mechanism, a swinging mechanism, a litter shoveling mechanism and a camera; the bottom of the seat body is provided with travelling wheels; the camera is arranged on the base body;

the rotating mechanism comprises a first driving device and a rotating frame, the first driving device is connected with the base body, and the output end of the first driving device is connected with the rotating frame and drives the rotating frame to rotate around a central shaft of the rotating frame relative to the base body;

the swinging mechanism comprises a second driving device and a swinging piece, the second driving device is arranged on the rotating frame, and the output end of the second driving device is connected with the swinging piece and drives the swinging piece to swing up and down in a vertical plane;

the sand shoveling mechanism is connected with the swinging piece and drives the swinging piece to swing up and down.

2. The automatic cat litter cleaning apparatus of claim 1 wherein said litter shoveling mechanism comprises a third drive means and two litter shovels, said third drive means being connected to said swinging member, both of said litter shovels being connected to said third drive means and being driven by said third drive means to form a mutually gathered or mutually expanded state.

3. The automatic cat litter cleaning apparatus of claim 2 wherein said litter spade body comprises a bottom plate and a side wall plate, said bottom plate and side wall plate cooperate to form a receiving slot with one side open, said openings of two said litter spade bodies are arranged in opposition, and when said two said litter spade bodies are gathered together, one side of the bottom plate of one said litter spade body adjacent to said opening is in close contact with one side of the bottom plate of the other said litter spade body adjacent to said opening.

4. The litter automatic cleaning apparatus of claim 3 wherein said side wall comprises a first side plate, a second side plate and a third side plate all disposed on said bottom plate, said first side plate, second side plate and third side plate being connected in sequence, said second side plate being of an arcuate plate configuration, and said second side plate extending up said bottom plate to the top of said first side plate and third side plate to partially enclose the top of said holding tank.

5. The automated litter cleaning apparatus of claim 3, wherein the bottom plate is at least partially hollowed out.

6. The automatic cat litter cleaning apparatus of claim 5 wherein said bottom plate is provided with a plurality of vertically extending through slots, each of said through slots being arranged in a row and mated to form said hollowed-out structure.

7. The litter automatic cleaning apparatus of claim 2, wherein said third drive means comprises a telescoping drive means, a support frame, a connector, and two first link mechanisms;

the support frame set up in on the swinging member, the connecting piece with flexible drive arrangement all set up in on the support frame, the connecting piece keep away from the terminal bifurcation of support frame forms two link, two the link respectively with two the sand shovel body is articulated, flexible drive arrangement has two flexible output, two flexible output respectively with two the sand shovel body is articulated, and each flexible output is through one first link mechanism with one link transmission is connected.

8. The automatic litter cleaning apparatus of any one of claims 1-7, wherein said second drive means comprises a first rotary drive means, a first rotary shaft; the swinging piece comprises a first swinging body;

the first rotary driving device is arranged on the rotary frame; the output end of the first rotary driving device is connected with the first rotary shaft and drives the first rotary shaft to rotate, the first rotary shaft is connected with the first swinging body and drives the first swinging body to swing up and down in a vertical plane, and the first swinging body is connected with the sand shoveling mechanism.

9. The automated litter cleaning apparatus of claim 8, wherein said second drive means further comprises a second rotary drive means, a second rotary shaft, and a second linkage; the swinging piece further comprises a second swinging body; the second rotary driving device is arranged on the rotary frame;

the output end of the second rotary driving device is connected with the second rotary shaft and drives the second rotary shaft to rotate, the second swinging body is rotatably arranged at the tail end of the first swinging body, the second rotary shaft drives the second swinging body to swing up and down in a vertical plane relative to the first swinging body through the second connecting rod mechanism, and the second swinging body is connected with the sand shoveling mechanism.

10. The automatic cat litter cleaning device of claim 9, wherein two first swinging bodies are provided, the two first swinging bodies are connected through a connecting plate, one of the first swinging bodies is connected with the first rotating shaft, the other first swinging body is rotatably sleeved on the second rotating shaft, and the tail ends of the two first swinging bodies are connected through a connecting shaft;

the second swinging body is rotationally sleeved on the connecting shaft, the second connecting rod mechanism comprises a fixed body and a rotating rod, the fixed body is sleeved on the second rotating shaft, the fixed body can drive the second rotating shaft to rotate, the first end of the rotating rod is hinged to the fixed body, and the second end of the rotating rod is hinged to the second swinging body.

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