Biased pressure structure, method and cleaning robot

Abstract

A biased pressure structure, method and cleaning robot relate to the technical field of intelligent cleaning equipment. The aforementioned biased pressure structure includes a suction module, a bladder component and a biased pressure component. The suction module is connected to the adsorption chambers of all cleaning elements and is used to extract the air in each adsorption chamber so that the cleaning robot can be adsorbed on the surface to be cleaned; the inner cavity of the bladder component is connected to the suction module, and is configured so that when the suction module is working, it can change the air pressure in the inner cavity to cause the bladder component to deform; the biased pressure component is connected to the bladder component, and drives it to apply a force to the outside of the cleaning element through the deformation of the bladder component, so that the pressure exerted by the outside of the cleaning element on the surface to be cleaned is greater than the pressure exerted by other parts of the cleaning element on the surface to be cleaned. Compared with the existing cleaning robots with deflectable cleaning elements, the present invention reduces the hardware cost and weight of the machine, and its use and operation are also more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a biased pressure structure, method and cleaning robot. Background Art

[0002] Chinese patent document CN114468828A discloses a cleaning robot with a deflectable cleaning element. When the cleaning element is in the deflected state, the rotation axes of the cleaning discs form a certain angle, allowing the cleaning discs to better fit the surface to be cleaned with a certain curvature. It is particularly worth mentioning that the solution in the document applies a deflection force to the cleaning element by providing a deflection drive mechanism. When the cleaning element is adsorbed on the surface to be cleaned and rotates relative to the surface to be cleaned, because the pressure on one side of the cleaning element on the surface to be cleaned is greater than the pressure on the other side of the cleaning element, the friction between this side and the surface to be cleaned is necessarily greater than that on the other side (assuming the friction coefficient is the same, the greater the positive pressure, the greater the friction). Under this condition, the resultant force of the friction acting on the entire cleaning element is greater than zero. Under the action of the above-mentioned frictional resultant force, the cleaning element in the rotating state will deflect with the stationary cleaning element as the center. That is, the resultant force of the friction acting on the cleaning element in the above-mentioned rotating state actually becomes a deflection force that causes it to deflect with the stationary cleaning element as the center. Therefore, the cleaning robot can more easily achieve twisting walking, which can reduce the problem of the machine falling off due to excessive torque required during walking to a certain extent, and reduce the energy consumption of the machine operation.

[0003] While the cleaning robot structure described above offers numerous advantages, it suffers from the following shortcomings in practical applications: 1. When cleaning flat surfaces, the angled cleaning elements lack contact with the surface being cleaned. After the suction module is activated, manual force is still required to push the cleaning elements (using human effort to overcome the deflection force applied by the bias drive mechanism) to force them into close contact with the surface to form a seal and prevent air leaks. This leaves room for improvement in ease of use. 2. Each cleaning element is equipped with a separate suction module, resulting in a relatively high hardware cost and weight. Summary of the Invention

[0004] One of the problems to be solved by the present invention is to further improve the ease of use of the cleaning robot and reduce the weight and hardware cost of the machine by improving the biased pressure structure of the cleaning element.

[0005] In order to solve the above problems, the present invention adopts the following technical solution: a biased pressure structure is applied to a cleaning robot with a deflectable cleaning element, comprising:

[0006] A suction module, connected to the adsorption chambers of all cleaning elements and used to extract the air in each adsorption chamber so that the cleaning robot can be adsorbed on the surface to be cleaned;

[0007] a bladder component, the inner cavity of which is connected to the suction module and configured so that the air pressure in the inner cavity can be changed when the suction module is in operation to cause the bladder component to deform;

[0008] The biasing pressure component is connected to the sac component and drives the sac component to apply force to the outside of the cleaning element by deforming the sac component, so that the pressure exerted by the outside of the cleaning element on the surface to be cleaned is greater than the pressure exerted by other parts of the cleaning element on the surface to be cleaned.

[0009] In one embodiment of the present invention, the biased pressure component includes a bridge connected to the sac-like component, the suction module is installed at the center of the bridge, the ends of the bridge are respectively rotatably connected to each cleaning element and the connection points are located on the outside of the cleaning element. When the sac-like component is deformed, it can drive the bridge to apply a force directed to the outside of the cleaning element through its end.

[0010] In one embodiment of the present invention, the bag-shaped component includes an exhaust port and multiple air inlets, the exhaust port is connected to the suction end of the suction module, and the air inlets are connected to the adsorption chambers of each cleaning element one by one.

[0011] Preferably, the inner cavity of the sac-like component is connected to the suction end of the suction module, and the suction module can extract air in the inner cavity and cause the sac-like component to shrink and deform when in operation.

[0012] In one embodiment of the present invention, the sac-shaped component is fixedly disposed below the bridge and connected to the bridge, and the inner cavity of the sac-shaped component connects the adsorption cavities of the cleaning elements to each other.

[0013] Furthermore, the center of the bridge is recessed downward to form a suction module accommodating chamber, the lower part of the suction module accommodating chamber extends into the inner cavity of the sac-like component and an airway retainer is provided at its bottom end, the airway retainer is hollow and forms a main airway connected to the suction module, and a plurality of bypass airways connecting the inner cavity of the sac-like component and the main airway are spaced apart on the side walls of the airway retainer, the height of the airway retainer is smaller than the height of the inner cavity of the sac-like component, and the suction module is installed in the suction module accommodating chamber.

[0014] Preferably, the sac-like component includes a sac-like body made of elastic material, which is arranged in the shell of the cleaning element. The top opening of the sac-like body is folded around to form a skirt. A pressure plate is provided in the sac-like body, which is detachably connected to the bridge frame and presses the skirt seal tightly onto the bridge frame. The bottom end of the sac-like body is fixedly connected to the shell of the cleaning element.

[0015] In one embodiment of the present invention, the end of the bridge is provided with a connecting portion in the shape of a rotating body, and the cleaning element is provided with a connecting seat adapted to the shape of the connecting portion. The connecting portion is constrained by the connecting seat and is limited to being able to rotate only relative to the connecting seat.

[0016] In addition, the present invention also relates to a biased pressure method, which first connects the adsorption chamber of each cleaning element to the same suction module and arranges a deformable sac-like component in the formed airflow path, so that the suction module can change the air pressure in the sac-like component to cause it to deform when it is working, and connects a biased pressure component configured to apply a force to the outside of each cleaning element to the sac-like component, and then causes the sac-like component to deform through the suction module to drive the biased pressure component to apply a force to the outside of each cleaning element, so that the pressure exerted by the outside of the cleaning element on the surface to be cleaned is greater than the pressure exerted by other parts of the cleaning element on the surface to be cleaned.

[0017] Finally, the present invention also relates to a cleaning robot, which is provided with the aforementioned biased pressure structure or uses the aforementioned biased pressure method so that the pressure exerted by the outer side of each cleaning element on the surface to be cleaned is greater than the pressure exerted by other parts of the cleaning element on the surface to be cleaned.

[0018] In one embodiment of the present invention, further, the cleaning element includes a driving mechanism for driving the cleaning turntable to rotate, and the driving mechanism is arranged outside the airflow path connected to the suction module, and the driving mechanism includes a motor, a transmission mechanism and a ring gear. A sunken mounting groove is provided on the top of the cleaning turntable, and the ring gear is fixed in the mounting groove and is coaxially arranged with the cleaning turntable. The motor is installed in the housing of the cleaning element and drives the ring gear and the cleaning turntable to rotate through the transmission mechanism.

[0019] Preferably, the top end of the gear ring is lower than or flush with the top edge of the mounting groove.

[0020] The present invention connects the adsorption chambers of each cleaning element to a single suction module. Compared to existing cleaning robots with deflectable cleaning elements, the present invention utilizes only a single suction module to extract air from the adsorption chambers of each cleaning element, effectively reducing the machine's hardware overhead and weight. Furthermore, the present invention utilizes a bladder-like component connected to the aforementioned suction module. During operation, the suction module alters the internal air pressure of the bladder component, causing it to deform. This deformation drives the biased pressure component connected to it to apply force to the outside of the cleaning element, thereby ensuring that the pressure exerted on the surface to be cleaned by the outside of the cleaning element is greater than the pressure exerted on the surface to be cleaned by other parts of the surface. Compared with the twisting cleaning robot in the prior art whose cleaning element can be deflected, after adopting the biased pressure structure in the present invention, before starting the suction module (the cleaning robot starts working), since there is no bias force loaded on the cleaning element (the "bias force" is the force applied by the biased pressure component to its outside), the cleaning element can be easily rotated to a position that fits the surface to be cleaned, and the cleaning robot can be firmly adsorbed on the surface to be cleaned after starting the suction module. In this process, there is no need to manually push the cleaning element to make the cleaning element fit the surface to be cleaned, and the convenience of use is significantly improved compared with the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the three-dimensional structure of the cleaning robot in Example 1;

[0022] Figure 2 for Figure 1 Schematic diagram of the internal structure of the cleaning robot shown;

[0023] Figure 3 This is a schematic diagram of the longitudinal structure of the cleaning robot;

[0024] Figure 4 is a schematic diagram of the connection structure between the bridge and the sac-shaped component;

[0025] Figure 5 for Figure 4 Exploded view of

[0026] Figure 6 Schematic diagram of the overall structure of the cystic body;

[0027] Figure 7 The figure is the overall structural diagram of the bridge;

[0028] Figure 8 It is a schematic diagram of the overall structure of the cleaning turntable drive mechanism.

[0029] In the picture:

[0030] 1——Cleaning element 2——Suction module

[0031] 3 - bladder component 4 - bias pressure component

[0032] 1a——Adsorption chamber 1b——Shell

[0033] 1c - Cleaning turntable 1d - Driving mechanism

[0034] 3a——Inner cavity 3b——Exhaust port

[0035] 3c——air inlet 3d——cystic body

[0036] 3e——Press plate 4a——Bridge

[0037] 4b——Connection seat 1c1——Mounting slot

[0038] 1d1——motor 1d2——transmission mechanism

[0039] 1d3——gear ring 3d1——skirt

[0040] 4a1——Suction module accommodating chamber 4a2——Airway retainer

[0041] 4a3——Connection 4a2a——Main airway

[0042] 4a2b—Bypass airway. DETAILED DESCRIPTION

[0043] In the description of the present invention, the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, in the present invention, "the suction module 2 is working" means that the suction module 2 is started and extracts the air in the adsorption chamber 1a (i.e., a negative pressure is formed in the adsorption chamber 1a relative to the external environment). The "outside of the cleaning element 1" is defined as: the plane where the rotation axes of the two cleaning elements 1 are located is the central plane, the plane passing through the rotation axes of the cleaning element 1 and perpendicular to the central plane is the dividing interface, the area between the two dividing interfaces is the inner side of the cleaning element 1, and the area on the other side of the dividing interface is the outer side of the cleaning element 1.

[0044] In general, the main means of the present invention to achieve biased pressure on the outside of the cleaning element 1 is: first, the adsorption chamber 1a of each cleaning element 1 is connected to the same suction module 2 and a deformable sac component 3 is set in the formed air flow path, so that the suction module 2 can change the air pressure in the sac component 3 when working to cause it to deform, and the biased pressure component 4 configured to apply a force to the outside of each cleaning element 1 is connected to the sac component 3, and then the suction module 2 is used to cause the sac component 3 to deform to drive the biased pressure component 4 to apply a force to the outside of each cleaning element 1, thereby causing the pressure of the outside of the cleaning element 1 on the surface A to be cleaned to be greater than the pressure of other parts of the cleaning element 1 on the surface A to be cleaned.

[0045] In order to help those skilled in the art to more clearly understand the concept of the present invention, it is further described below with reference to the accompanying drawings. Example 1

[0046] Figure 1 The overall structure of the cleaning robot in this embodiment is shown in FIG. Figure 1 As shown, it includes two cleaning elements 1 (it should be noted that although Figure 1 The number of cleaning elements 1 is 2, but those skilled in the art understand that Figure 1 The structure shown is only for illustrative purposes. In actual application, the cleaning elements 1 may also be three or other numbers) and a suction module 2 located between the two cleaning elements 1, similar to the cleaning robot with deflectable cleaning elements in the prior art. Figure 1 The two cleaning elements 1 shown also have a deflectable structure. Figure 3 In the figure, the suction module 2 is connected to the adsorption chambers 1a of the two cleaning elements 1 via an air duct. The suction module 2 similarly draws air from the adsorption chambers 1a to attach the cleaning robot to the surface to be cleaned. Furthermore, the cleaning element 1 also includes a cleaning turntable 1c and a drive mechanism 1d for rotating the cleaning turntable 1c. The drive mechanism 1d comprises a motor 1d1, a transmission mechanism 1d2, and a ring gear 1d3. It should be noted that in the prior art, a "central drive" approach is typically used to drive the rotation of the cleaning turntable 1c. This refers to rotating a shaft located at the center of the cleaning turntable 1c (on which the cleaning turntable 1c is mounted). Because the shaft is located within the adsorption chamber 1a, while the motor and reducer are located outside (i.e., the structure driving the cleaning turntable 1c is partially located inside and partially outside the adsorption chamber 1a), the rotating parts are difficult to form a stable and reliable seal, making it prone to air leakage and pressure release in the adsorption chamber 1a. Different from the existing cleaning robots, this embodiment adopts the "bias transmission" method to drive the cleaning turntable 1c to rotate. Figure 2 and Figure 8 As shown, the drive mechanism 1d is entirely disposed outside the airflow path connected to the suction module 2 (i.e., the drive mechanism 1d is entirely located outside the adsorption chamber 1a and the air duct connecting the adsorption chamber 1a and the suction module 2). A sunken mounting slot 1c1 is provided at the top of the cleaning disc 1c. A ring gear 1d3 is secured within the mounting slot 1c1 and coaxially disposed with the cleaning disc 1c. A motor 1d1 is mounted within the housing 1b of the cleaning element 1 and drives the ring gear 1d3 and the cleaning disc 1c for rotation via a transmission mechanism 1d2. To ensure the thinness of the cleaning element 1, the top of the ring gear 1d3 is further designed to be lower than or flush with the top edge of the mounting slot 1c1. Because all components of the drive mechanism 1d that drives the cleaning disc 1c are located outside the adsorption chamber 1a and the air duct (i.e., the mechanical transmission structure and the airflow path are independent and do not interfere with each other), leakage and pressure relief in the adsorption chamber 1a due to the transmission structure is prevented.

[0047] In order to make it easier for the cleaning robot to achieve twisting walking (to reduce the problem of the machine twisting and falling off, and to reduce the energy consumption of the machine), this embodiment also adopts a solution of applying a biasing force to each cleaning element 1 so that the pressure exerted by its outer side on the surface to be cleaned A is greater than the pressure exerted by other parts on the surface to be cleaned A. Different from the existing technology, this embodiment adopts a new biasing pressure structure, see Figure 2-5 As shown, in this embodiment, the structure for applying a biasing force to each cleaning element 1 mainly includes a suction module 2, a bladder component 3, and a biasing pressure component 4. Among them, the suction module 2 is connected to the adsorption chamber 1a of each cleaning element 1 and is used to extract the air in the adsorption chamber 1a so that the cleaning robot can adsorb on the surface to be cleaned A. The inner cavity 3a of the bladder component 3 is connected to the suction module 2 and is configured so that when the suction module 2 is in operation, it can change the air pressure in the inner cavity 3a to cause the bladder component 3 to deform. The biasing pressure component 4 is designed to be connected to the bladder component 3 and drive it to apply a force to the outside of the cleaning element 1 through the deformation of the bladder component 3, so that the pressure applied by the outside of the cleaning element 1 on the surface to be cleaned A is greater than the pressure applied by other parts of the cleaning element 1 on the surface to be cleaned A.

[0048] Specifically, in this embodiment, the biasing pressure component 4 includes: Figure 7 The bridge 4a of the structure shown is combined with Figure 2 It can be seen that the suction module 2 is installed at the center of the bridge 4a, and the ends of the bridge 4a are respectively connected to the cleaning elements 1 (the "rotational connection" here means that the ends of the bridge 4a are connected to the cleaning elements 1 and can rotate relative to them) and the connection is located on the outside of the cleaning elements 1. The rotational connection method can be, for example, as follows Figure 2-5As shown, a connection portion 4a3 in the shape of a body of revolution is provided at the end of the bridge 4a. Correspondingly, a connection seat 4b adapted to the shape of the connection portion 4a3 is provided on each cleaning element 1. The connection seat 4b constrains the connection portion 4a3 and limits its rotation relative to the connection seat 4b. The bladder component 3 is fixedly connected to the bottom of the bridge 4a and connected to the shell 1b of the cleaning element 1. In this way, when the bladder component 3 shrinks and deforms, it can drive the bridge 4a to move downward. The bridge 4a then transmits the force to the connection seat 4b located on the outside of the cleaning element 1 through the connection portion 4a3 at its end, thereby applying a force directed to the surface A to be cleaned to the outside of the cleaning element 1. It should be noted that the biasing pressure component 4 may also adopt a structure different from the above-mentioned bridge 4a (i.e., the bridge 4a that rotatably connects the cleaning elements 1 is not used as the biasing pressure component 4). For example, a lever mechanism may be provided in the housing 1b of each cleaning element 1, and the lever arm of the lever mechanism is hinged to the housing 1b. The hinge point constitutes the fulcrum of the lever. When the bladder component 3 contracts and deforms, it drives the lever to rotate around the fulcrum, and can also apply a force directed to the surface A to be cleaned to the outside of the cleaning element 1. Those skilled in the art should understand that the above examples are only used to illustrate the working principle of the biasing pressure component 4. The specific structure of the biasing pressure component 4 is difficult to enumerate. As long as the mechanism can drive the bladder component 3 to apply a force to the outside of the cleaning element 1 by causing it to deform, it can theoretically be used in this embodiment.

[0049] The structure of the bladder component 3 in this embodiment can be referred to Figure 6 As shown, in Figure 6 It includes an exhaust port 3b and multiple air inlets 3c. The exhaust port 3b is used to connect to the suction end of the suction module 2, and each air inlet 3c is used to be connected to the adsorption chamber 1a of each cleaning element 1 one by one (it can be understood that the inner cavity 3a of the sac-like component 3 is equivalent to becoming an air duct that connects the adsorption chambers 1a of each cleaning element 1 to each other and connects the adsorption chamber 1a to the suction module 2). When the suction module 2 is working, it can extract the air in the adsorption chamber 1a and the inner cavity 3a at the same time, and after the air pressure in the inner cavity 3a of the sac-like component 3 is reduced, it will be caused to shrink and deform under the action of the external atmospheric pressure. Furthermore, in order to facilitate assembly and ensure the reliability of the connection between the sac-like component 3 and the bridge 4a, as shown Figure 3-6 As shown, the sac-like component 3 includes a sac-like body 3d made of elastic material, and a skirt 3d1 is folded around the top opening of the sac-like body 3d. The sac-like body 3d is placed in the shell 1b of the cleaning element 1 and its bottom end is fixedly connected to the shell 1b. A pressure plate 3e is provided in the sac-like body 3d, and the above-mentioned pressure plate 3e is detachably connected to the bridge frame 4a by bolts, and the skirt 3d1 is sealed and pressed on the bridge frame 4a through the pressure plate 3e.

[0050] In order to reduce the thickness and center of gravity of the cleaning robot, Figure 2 、 Figure 4-5 and Figure 7 As shown, in this embodiment, the center of the bridge 4a is recessed downward to form a suction module accommodating chamber 4a1, combined with Figure 2 It can be seen that the lower part of the suction module accommodating chamber 4a1 extends into the inner cavity 3a of the sac-shaped component 3. Figure 7 In the figure, an airway retainer 4a2 is provided at the bottom end of the bridge 4a to prevent the airway from collapsing / closing, and the airway retainer 4a2 is hollow and forms a main airway 4a2a for connecting to the suction module 2, and a plurality of bypass airways 4a2b for connecting the inner cavity 3a of the sac-like component 3 with the main airway 4a2a are also spaced apart on the side wall of the airway retainer 4a2. The height of the airway retainer 4a2 is less than the height of the inner cavity 3a of the sac-like component 3, and the suction module 2 is installed in the suction module accommodating cavity 4a1. In this way, while reducing the total thickness of the cleaning robot, the center of gravity of the machine is lower and the walking is more stable.

[0051] Compared to conventional cleaning robots with deflectable cleaning elements 1, this embodiment connects the suction chambers 1a of each cleaning element to a single suction module 2, reducing the number of suction modules 2 and, consequently, the machine's hardware cost and weight. Of particular note, this embodiment utilizes a bladder component 3 connected to the suction module 2. During operation, the suction module 2 modulates the internal pressure of the bladder component 3, causing it to deform. This deformation drives the biasing pressure component 4 connected to it to apply a force to the exterior of the cleaning element 1. Because no biasing force (the "biasing force" refers to the force applied by the biasing pressure component 4 to the exterior of the cleaning element 1) is applied to the cleaning element 1 before the suction module 2 (which initiates the cleaning robot's operation) is activated, the cleaning element 1 can easily rotate into a position that aligns with the surface being cleaned. Upon activation of the suction module 2, the suction chamber 1a generates a negative pressure relative to the external environment, firmly adhering to the surface being cleaned. Furthermore, the pressure exerted on the surface by the exterior of the cleaning element 1 is greater than the pressure exerted on the surface by other parts of the cleaning element 1. It can be seen from the above analysis process that the cleaning robot involved in this embodiment does not need to manually push the cleaning element 1 to make it adhere to the surface to be cleaned during use, and the operation is more convenient. Example 2

[0052] The structure of the cleaning robot in this embodiment is similar to that in Example 1, except that, in this embodiment, the adsorption chamber 1a of each cleaning element 1 is connected through a branch pipe (such as a rubber air pipe) that can bend and deform (to avoid affecting the rotation of the cleaning element 1) and then connected to the suction end of the suction module 2 through a main pipe. The branch pipes connecting each adsorption chamber 1a are respectively connected to a bladder component 3 (for example, a bladder component 3 is provided for each cleaning element 1, and the entire cleaning robot includes multiple bladder components 3). The above-mentioned independent bladder components 3 can also produce contraction and deformation when the suction module 2 is working, thereby driving the biased pressure component 4 to apply a force to the outside of each cleaning element 1, and causing the pressure exerted by the outside of the cleaning element 1 on the surface to be cleaned A to be greater than the pressure exerted by other parts of the cleaning element 1 on the surface to be cleaned A.

[0053] Considering that the change of this embodiment compared with Example 1 is mainly to adjust the sac component 3 from a "centralized structure" to a "distributed structure", that is, the scheme of one sac component 3 in Example 1 to apply a force to the outside of each cleaning element 1 is adjusted to multiple sac components 3 respectively applying a force to the outside of their corresponding cleaning elements 1. In order to simplify the expression, the description of its specific structure is omitted in the drawings of the specification. Example 3

[0054] The structure of the bladder component 3 in this embodiment is similar to that in Example 1. It should be noted that, in Example 1, the bladder component 3 is disposed between the adsorption chamber 1a of the cleaning element 1 and the suction module 2 (equivalent to the bladder component 3 constituting an airway connecting the adsorption chamber 1a and the suction module 2), while in this embodiment, the bladder component 3 is disposed at the rear end of the suction module 2, that is, the bladder component 3 is connected to the exhaust end of the suction module 2. The adsorption chamber 1a of each cleaning element 1 can be connected via a bendable branch pipe (such as a rubber air pipe) and then connected to the suction end of the suction module 2 via a main pipe. When the suction module 2 is operating, the bladder component 3 expands and deforms, thereby driving the biased pressure component 4 connected thereto to move, and similarly, the biased pressure component 4 can apply a force directed toward the surface A to be cleaned to the outside of the cleaning element 1. Those skilled in the art should understand that in order to prevent the sac-like component 3 from continuing to expand and rupture, a corresponding exhaust structure can be provided for it, for example, a pressure relief valve can be provided for the sac-like component 3. When the air pressure in the inner cavity 3a exceeds a limit value, the pressure relief valve opens to relieve the pressure on the sac-like component 3.

[0055] Since the main change of this embodiment compared with embodiment 1 is to adjust the position of the sac-shaped component 3 from between each adsorption chamber 1a and the suction module 2 to the rear end of the suction module 2, the description of its specific structure is omitted in the drawings of the specification for simplicity. Example 4

[0056] The structure of the cleaning robot in this embodiment is similar to that of Example 3. Compared with Example 3, the main change in this embodiment is that the bladder component 3 adopts the "distributed structure" in Example 2, that is, the bladder component 3 is not connected to the rear end of the suction module 2 with a "centralized structure". Instead, a main pipe is connected to the rear end of the suction module 2, and the main pipe is connected to multiple branch pipes that can be bent and deformed (the number of branch pipes corresponds to the cleaning element 1), and a bladder component 3 is connected to each branch pipe (for example, a bladder component 3 is provided for each cleaning element 1, and the entire cleaning robot contains multiple bladder components 3), and each bladder component 3 is further provided with a corresponding exhaust structure. When the suction module 2 is working, the bladder component 3 will also expand and deform and drive the biased pressure component 4 connected to it to move, and then apply a force directed to the surface A to be cleaned to the outside of the cleaning element 1 through the biased pressure component 4.

[0057] Similar to Examples 2 and 3, for simplicity of description, the description of the specific structure of the cleaning robot is also omitted in the drawings of the specification.

[0058] The above embodiments are preferred implementation schemes of the present invention. Any obvious replacements without departing from the concept of the present technical solution are within the protection scope of the present invention.

[0059] In order to make it easier for those skilled in the art to understand the improvements of the present invention over the prior art, some drawings and descriptions of the present invention have been simplified, and for the sake of clarity, some other elements have been omitted in this application document. Those skilled in the art should realize that these omitted elements may also constitute the content of the present invention.

Claims

1. A biased pressure structure, applied to a cleaning robot in which a cleaning element (1) can be deflected, characterized in that: include: A suction module (2) connected to the adsorption chambers (1a) of all cleaning elements (1) and used to extract air from each adsorption chamber (1a) so that the cleaning robot can be adsorbed on the surface (A) to be cleaned; A sac-shaped component (3), whose inner cavity (3a) is connected to the suction module (2), and is configured so that when the suction module (2) is in operation, the air pressure in the inner cavity (3a) can be changed to cause the sac-shaped component (3) to deform; The biasing pressure component (4) is connected to the sac-shaped component (3) and drives the sac-shaped component (3) to apply a force to the outside of the cleaning element (1) by deforming the sac-shaped component (3), so that the pressure exerted by the outside of the cleaning element (1) on the surface to be cleaned (A) is greater than the pressure exerted by other parts of the cleaning element (1) on the surface to be cleaned (A).

2. The biased pressure structure according to claim 1, wherein: The biased pressure component (4) includes a bridge (4a) connected to the sac-shaped component (3); the suction module (2) is installed at the center of the bridge (4a); the ends of the bridge (4a) are respectively rotatably connected to each cleaning element (1) and the connection points are located outside the cleaning element (1); when the sac-shaped component (3) is deformed, it can drive the bridge (4a) to apply a force directed to the surface (A) to be cleaned to the outside of the cleaning element (1) through its ends.

3. The biased pressure structure according to claim 1 or 2, characterized in that: The sac-shaped component (3) comprises an exhaust port (3b) and a plurality of air inlets (3c); the exhaust port (3b) is connected to the air suction end of the suction module (2); and the air inlets (3c) are connected to the adsorption chambers (1a) of the cleaning elements (1) in a one-to-one correspondence.

4. The biased pressure structure according to claim 2, wherein: The inner cavity (3a) of the sac-like component (3) is connected to the suction end of the suction module (2); when the suction module (2) is in operation, it can extract air from the inner cavity (3a) and cause the sac-like component (3) to shrink and deform.

5. The biased pressure structure according to claim 4, wherein: The sac-shaped component (3) is fixedly arranged below the bridge frame (4a) and connected to the bridge frame (4a); the inner cavity (3a) of the sac-shaped component (3) connects the adsorption cavities (1a) of the cleaning elements (1) to each other.

6. The biased pressure structure according to any one of claims 2, 4, and 5, characterized in that: The center of the bridge (4a) is recessed downward to form a suction module accommodating chamber (4a1); the lower part of the suction module accommodating chamber (4a1) extends into the inner chamber (3a) of the sac-shaped component (3) and an airway retainer (4a2) is provided at its bottom end; the airway retainer (4a2) is hollow and forms a main airway (4a2a) connected to the suction module (2); a plurality of bypass airways (4a2b) connecting the inner chamber (3a) of the sac-shaped component (3) and the main airway (4a2a) are provided on the side wall of the airway retainer (4a2); the height of the airway retainer (4a2) is less than the height of the inner chamber (3a) of the sac-shaped component (3); and the suction module (2) is installed in the suction module accommodating chamber (4a1).

7. The biased pressure structure according to any one of claims 2, 4, and 5, characterized in that: The sac-shaped component (3) includes a sac-shaped body (3d) made of elastic material, the sac-shaped body (3d) is arranged in the shell (1b) of the cleaning element (1), the top opening of the sac-shaped body (3d) is folded around to form a skirt (3d1), a pressure plate (3e) is provided in the sac-shaped body (3d), the pressure plate (3e) is detachably connected to the bridge frame (4a) and seals and presses the skirt (3d1) onto the bridge frame (4a), and the bottom end of the sac-shaped body (3d) is fixedly connected to the shell (1b) of the cleaning element (1).

8. The biased pressure structure according to any one of claims 2, 4, and 5, characterized in that: The end of the bridge (4a) is provided with a connecting portion (4a3) in the shape of a rotating body, and the cleaning element (1) is provided with a connecting seat (4b) adapted to the shape of the connecting portion (4a3). The connecting portion (4a3) is constrained by the connecting seat (4b) and is limited to being able to rotate only relative to the connecting seat (4b).

9. Biased pressure method, characterized in that: First, the adsorption chamber (1a) of each cleaning element (1) is connected to the same suction module (2) and a deformable sac-shaped component (3) is set in the formed air flow path, so that the suction module (2) can change the air pressure in the sac-shaped component (3) when working to cause it to deform, and a biasing pressure component (4) configured to apply a force to the outside of each cleaning element (1) is connected to the sac-shaped component (3), and then the suction module (2) causes the sac-shaped component (3) to deform to drive the biasing pressure component (4) to apply a force to the outside of each cleaning element (1), so that the pressure of the outside of the cleaning element (1) on the surface to be cleaned (A) is greater than the pressure of other parts of the cleaning element (1) on the surface to be cleaned (A).

10. Cleaning robot, characterized by: A biased pressure structure as described in any one of claims 1 to 8 is provided, or a biased pressure method as described in claim 9 is used so that the pressure exerted by the outer side of each cleaning element (1) on the surface to be cleaned (A) is greater than the pressure exerted by other parts of the cleaning element (1) on the surface to be cleaned (A).

11. The cleaning robot according to claim 10, characterized in that: The cleaning element (1) includes a driving mechanism (1d) for driving the cleaning turntable (1c) to rotate. The driving mechanism (1d) is arranged outside the airflow path connected to the suction module (2). The driving mechanism (1d) includes a motor (1d1), a transmission mechanism (1d2) and a gear ring (1d3). A sunken mounting groove (1c1) is provided on the top of the cleaning turntable (1c). The gear ring (1d3) is fixed in the mounting groove (1c1) and is coaxially arranged with the cleaning turntable (1c). The motor (1d1) is installed in the housing (1b) of the cleaning element (1) and drives the gear ring (1d3) and the cleaning turntable (1c) to rotate through the transmission mechanism (1d2).

12. The cleaning robot according to claim 11, characterized in that: The top end of the gear ring (1d3) is lower than or flush with the top edge of the mounting groove (1c1).

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