CN219438947U - Offset pressing structure and cleaning robot - Google Patents

Abstract

Bias pressure structure and cleaning robot relate to intelligent cleaning equipment technical field. The bias pressing structure comprises a suction module, a sac-like part and a bias pressing part, wherein the suction module is connected with an adsorption cavity of the cleaning element and is used for sucking air in the adsorption cavity so as to enable the cleaning robot to be adsorbed on a surface to be cleaned; the inner cavity of the saccular part is connected with the suction module and is configured to change the air pressure in the inner cavity to cause the saccular part to deform when the suction module works; the biasing and pressing component is driven to apply force to the outer side of the cleaning element by deformation of the bladder component, so that the pressure of the outer side of the cleaning element on the surface to be cleaned is larger than the pressure of other parts of the cleaning element on the surface to be cleaned. The bias pressing structure provided by the utility model has wide applicability, and the cleaning robot can more easily realize twisting type walking through the bias pressing structure, so that the problem of machine falling in the walking process of the machine is solved, and the running energy consumption of the machine is reduced.

Description

Offset pressing structure and cleaning robot

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to a bias pressing structure and a cleaning robot.

Background

Chinese patent document CN114468828A discloses a cleaning robot which applies a deflection force to a cleaning element by providing a deflection driving mechanism so that the resultant force of friction forces applied to the entire cleaning element is greater than zero, and under the action of the above friction force, the cleaning element in a rotating state deflects about a stationary cleaning element, i.e., the resultant force of friction applied to the cleaning element in the rotating state actually becomes a deflection force urging the cleaning element to deflect about the stationary cleaning element, so that the cleaning robot is easier to implement twist-type walking, thereby reducing the problem of machine failure caused by excessive torque force required during machine walking to some extent, and reducing machine operation energy consumption.

It should be noted that, the above-mentioned deflection driving mechanism deflects the cleaning elements (the rotation axes of the cleaning turntables form a certain included angle, when the cleaning elements are placed on the surface to be cleaned, one side of the cleaning elements is firstly contacted with the surface to be cleaned), so that after the cleaning elements are adsorbed on the surface to be cleaned, the pressure of the surface to be cleaned on the one side is greater than the pressure of the surface to be cleaned on other parts of the cleaning elements. It is known that, on the premise of the same friction coefficient, the greater the positive pressure, the greater the friction force, so that the friction force between the side with the greater pressure and the surface to be cleaned is necessarily greater than that of other parts, and the resultant of the friction forces applied to the whole cleaning element is greater than zero. However, the deflection driving mechanism in the aforementioned document is not applicable to the cleaning robot in which the cleaning member cannot deflect in the related art.

Disclosure of Invention

One of the problems to be solved by the present utility model is to provide a bias pressing structure with wider applicability.

In order to solve the problems, the utility model adopts the following technical scheme: a bias pressing structure, comprising:

the suction module is connected with the adsorption cavity of the cleaning element and is used for sucking air in the adsorption cavity so as to enable the cleaning robot to be adsorbed on the surface to be cleaned;

a bladder member having an interior cavity connected to the suction module and configured to change an air pressure in the interior cavity to cause deformation of the bladder member when the suction module is in operation;

and the biasing and pressing component is deformed through the bladder component to drive the bladder component to apply force to the outer side of the cleaning element, so that the pressure of the outer side of the cleaning element on the surface to be cleaned is larger than the pressure of other parts of the cleaning element on the surface to be cleaned.

In one embodiment of the utility model, the bias pressing component comprises a bridge frame connected with a capsule component, the suction module is arranged at the center of the bridge frame, the end heads of the bridge frame are respectively connected with the cleaning elements, the connection positions are positioned at the outer sides of the cleaning elements, and the capsule component can drive the bridge frame to apply a force directed to the surface to be cleaned to the outer sides of the cleaning elements through the end heads of the capsule component when being deformed.

In an embodiment of the present utility model, the bladder member includes an air outlet and a plurality of air inlets, the air outlet is connected to the air suction end of the suction module, and the air inlets are respectively connected to the suction chambers of the cleaning elements in a one-to-one correspondence.

Preferably, the inner cavity of the capsule part is connected with the suction end of the suction module, and the suction module can be used for sucking air in the inner cavity and promoting the shrinkage and deformation of the capsule part when in operation.

In one embodiment of the utility model, the bladder member is fixedly arranged below the bridge and connected with the bridge, and the inner cavity of the bladder member communicates the adsorption cavities of the cleaning elements with each other.

Further, the center of the bridge is recessed downwards to form a suction module accommodating cavity, the lower part of the suction module accommodating cavity extends into the inner cavity of the saccular component and is provided with an air passage retainer at the bottom end of the suction module accommodating cavity, the air passage retainer is hollow and forms a main air passage connected with the suction module, a plurality of bypass air passages which are communicated with the inner cavity of the saccular component and the main air passage are arranged on the side wall of the air passage retainer at intervals, the height of the air passage retainer is smaller than that of the inner cavity of the saccular component, and the suction module is arranged in the suction module accommodating cavity.

Preferably, the capsule part comprises a capsule body made of elastic materials, the capsule body is arranged in the shell of the cleaning element, the periphery of the top end opening of the capsule body is folded to form a skirt edge, a pressing plate is arranged in the capsule body, the pressing plate is detachably connected with the bridge and tightly presses the skirt edge on the bridge, and the bottom end of the capsule body is fixedly connected with the shell of the cleaning element.

In an embodiment of the utility model, the end of the bridge is provided with a connecting part with a shape of a revolution body, the cleaning element is provided with a connecting seat which is adapted to the shape of the connecting part, and the connecting part is restrained by the connecting seat and is limited to rotate only relative to the connecting seat.

In addition, the utility model also relates to a cleaning robot, which is provided with the offset pressing structure, the cleaning element comprises a driving mechanism for driving the cleaning turntable to rotate, the driving mechanism is arranged outside an airflow path connected with the suction module, the driving mechanism comprises a motor, a transmission mechanism and a gear ring, the top of the cleaning turntable is provided with a sunk mounting groove, the gear ring is fixed in the mounting groove and is coaxially arranged with the cleaning turntable, and the motor is arranged in a shell of the cleaning element and drives the gear ring and the cleaning turntable to rotate through the transmission mechanism.

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

According to the utility model, the bladder-shaped component connected with the suction module is arranged, and the suction module is utilized to change the air pressure in the bladder-shaped component to deform the bladder-shaped component in the working process of the cleaning robot, and the bias pressing component connected with the bladder-shaped component is driven to apply acting force to the outer side of the cleaning element when the bladder-shaped component deforms, so that the pressure of the outer side of the cleaning element acting on the plane to be cleaned is larger than the pressure of other parts of the cleaning element on the plane to be cleaned. Compared with a deflection driving mechanism in the prior art, the bias pressing structure provided by the utility model has no limitation on whether the cleaning element can deflect, and can be suitable for a cleaning robot when the cleaning element cannot deflect and a cleaning robot when the cleaning element cannot deflect. In particular, after the offset pressing structure provided by the utility model is adopted in the cleaning robot with the deflectable cleaning element, before the suction module (the cleaning robot starts to work), the cleaning element is not loaded with the offset force (the offset force is the force applied to the outer side of the offset pressing component), so that the cleaning element can be easily rotated to a position which is jointed with the surface to be cleaned, and the cleaning robot can be firmly adsorbed on the surface to be cleaned after the suction module is started, in the process, the cleaning element is not required to be manually pushed to be jointed with the surface to be cleaned (the cleaning robot in the background art needs to be manually pushed to be jointed with the surface to be cleaned to form a seal when working), and the use convenience is also obviously improved.

Drawings

Fig. 1 is a schematic perspective view of a cleaning robot in embodiment 1;

fig. 2 is a schematic view of an internal structure of the cleaning robot shown in fig. 1;

FIG. 3 is a schematic view of a longitudinal section of a cleaning robot;

FIG. 4 is a schematic view of the connection of the bridge to the bladder member;

FIG. 5 is an exploded view of FIG. 4;

FIG. 6 is a schematic view of the overall structure of the capsule body;

FIG. 7 is a schematic view of the overall structure of the bridge;

fig. 8 is a schematic view of the overall structure of the cleaning turntable driving mechanism.

In the figure:

1-cleaning element 2-suction module

3-bladder part 4-bias pressing part

1 a-adsorption cavity 1 b-shell

1 c-cleaning turntable 1 d-driving mechanism

3 a-inner cavity 3 b-exhaust port

3 c-air inlet 3 d-saccular body

3 e-pressing plate 4 a-bridge

4 b-connecting seat 1c 1-mounting groove

1d 1-motor 1d 2-driving mechanism

1d 3-gear ring 3d 1-skirt edge

4a 1-suction module accommodating cavity 4a 2-airway retainer

4a 3-connecting portion 4a2 a-main air passage

4a2 b-bypass airways.

Detailed Description

In the description of the present utility model, the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model. In addition, the "operation of the suction module 2" in the present utility model means that the suction module 2 is activated and draws air in the suction chamber 1a (i.e., makes the suction chamber 1a form negative pressure with respect to the external environment). The definition of "outside of cleaning element 1" is: the plane where the rotation axes of the two cleaning elements 1 are located is taken as a central plane, the plane which passes through the rotation axes of the cleaning elements 1 and is perpendicular to the central plane is taken as a dividing interface, the area between the two dividing interfaces is the inner side of the cleaning elements 1, and the area at the other side of the dividing interface is the outer side of the cleaning elements 1.

In general, the main means of the present utility model for achieving bias pressure on the outside of the cleaning element 1 are: the suction chamber 1a of the cleaning element 1 is connected with the suction module 2, and the deformable sac member 3 is arranged in the formed airflow path, so that the air pressure in the sac member 3 can be changed to cause deformation when the suction module 2 works, the sac member 3 is caused to deform by the suction module 2 to drive the bias pressing member 4 to apply force to the outer sides of the cleaning elements 1, and the pressure of the outer sides of the cleaning elements 1 on the surface A to be cleaned is further higher than the pressure of other parts of the cleaning elements 1 on the surface A to be cleaned.

In order to facilitate a clearer understanding of the inventive concept, a further description thereof will be provided below with reference to the accompanying drawings.

Example 1

It should be noted in advance that although the cleaning member 1 is configured to be deflectable in the present embodiment, it should be understood by those skilled in the art that the bias pressing structure in the present embodiment is equally applicable in a cleaning robot in which the cleaning member 1 is not deflectable. Fig. 1 shows the overall structure of a cleaning robot, in fig. 1, which includes two cleaning elements 1 (it should be noted that although the number of cleaning elements 1 in fig. 1 is 2, it will be understood by those skilled in the art that the structure shown in fig. 1 is merely for illustrative purposes, and that the cleaning elements 1 may be 3 or other numbers in practical applications) and a suction module 2 between the two cleaning elements 1. As can be seen in connection with fig. 3, the aforementioned suction module 2 is connected to the suction chambers 1a of the two cleaning elements 1 via air ducts, and the suction module 2 also sucks the cleaning robot to the surface to be cleaned by sucking air in the suction chambers 1 a. In addition, the cleaning member 1 also includes a cleaning turntable 1c and a driving mechanism 1d for driving the cleaning turntable 1c to rotate, and the driving mechanism 1d includes a motor 1d1, a transmission mechanism 1d2, and a ring gear 1d3. It should be noted that, in the prior art, the cleaning turntable 1c is usually driven to rotate by adopting a "central transmission" manner, and the "central transmission" refers to driving the cleaning turntable 1c to rotate by driving a rotating shaft located at the center of the cleaning turntable 1c (the cleaning turntable 1c is mounted on the rotating shaft), and because the rotating shaft is located in the adsorption cavity 1a, and the motor and the decelerator are located outside the adsorption cavity 1a (i.e. a part of a structure for driving the cleaning turntable 1c to rotate is located in the adsorption cavity 1a, and a part of the structure is located outside the adsorption cavity 1 a), a stable and reliable seal is difficult to be formed at the rotating position, so that the condition of air leakage and pressure release of the adsorption cavity 1a is easy to occur. Unlike the existing cleaning robot, the present embodiment adopts a "bias transmission" manner to drive the cleaning turntable 1c to rotate. The structure of the "offset transmission" is shown in fig. 2 and 8, the driving mechanism 1d is integrally disposed outside the air flow path connected with the suction module 2 (i.e., the driving mechanism 1d is integrally disposed outside the suction chamber 1a and the air duct connecting the suction chamber 1a and the suction module 2), wherein the top of the cleaning turntable 1c is provided with a sunk mounting groove 1c1, the gear ring 1d3 is fixed in the mounting groove 1c1 and coaxially disposed with the cleaning turntable 1c, the motor 1d1 is mounted in the housing 1b of the cleaning element 1 and drives the gear ring 1d3 to rotate with the cleaning turntable 1c through the transmission mechanism 1d2, and in order to ensure the thinness of the cleaning element 1, the top end of the gear ring 1d3 is further designed to be lower than or flush with the top edge of the mounting groove 1c 1. Because all the components of the driving mechanism 1d for driving the cleaning turntable 1c to rotate are positioned outside the adsorption cavity 1a and the air duct (i.e. the mechanical transmission structure and the air flow path are independent and do not interfere with each other), the problem of air leakage and pressure relief of the adsorption cavity 1a caused by the transmission structure can be avoided.

In order to make the cleaning robot easier to implement twist-type walking (reduce the problem of machine twisting off and reduce the energy consumption of machine operation), in this embodiment, a scheme is also adopted in which a biasing force is applied to each cleaning element 1 so that the pressure applied to the surface a to be cleaned from the outside is greater than the pressure applied to other parts of the surface a to be cleaned, unlike the prior art, the embodiment adopts a brand-new biasing and pressing structure. As shown in fig. 2 to 5, the structure for realizing the application of the biasing force to each cleaning element 1 in this embodiment mainly includes a suction module 2, a bladder member 3, and a biasing pressing member 4. Wherein the suction module 2 is connected with the suction cavity 1a of each cleaning element 1 and is used for sucking air in the suction cavity 1a so that the cleaning robot can be sucked on the surface A to be cleaned, the inner cavity 3a of the capsule part 3 is connected with the suction module 2 and is configured to change the air pressure in the inner cavity 3a to cause the capsule part 3 to deform when the suction module 2 works, and the bias pressing part 4 is designed to be connected with the capsule part 3 and is driven to apply a force to the outer side of the cleaning element 1 by the deformation of the capsule part 3 so that the pressure of the outer side of the cleaning element 1 on the surface A to be cleaned is larger than the pressure of other parts of the cleaning element 1 on the surface A to be cleaned.

Specifically, in this embodiment, the biasing and pressing member 4 includes a bridge 4a having a structure shown in fig. 7, and as can be seen in connection with fig. 2, the suction module 2 is installed at the center of the bridge 4a, and the ends of the bridge 4a are respectively rotatably connected to the cleaning elements 1 (where "rotatably connected" means that the ends of the bridge 4a are connected to the cleaning elements 1 and rotatable relative thereto) and the connection is located at the outer side of the cleaning elements 1 (in the cleaning robot in which the cleaning elements 1 are not rotatable, the bridge 4a and the cleaning elements 1 are connected in a completely fixed manner), for example, as can be seen in fig. 2 to 5, a connecting portion 4a3 having a shape of a revolution body is provided at the ends of the bridge 4a, and accordingly, a connecting seat 4b corresponding to the shape of the connecting portion 4a3 is provided on each cleaning element 1, and the connecting portion 4a3 is restrained and restricted from rotating relative to the connecting seat 4 b. The capsule 3 is fixedly connected under the bridge 4a and to the housing 1b of the cleaning element 1, so that the bridge 4a is driven to move downwards when the capsule 3 is deformed by shrinkage, and the bridge 4a transmits the force to the connection seat 4b located outside the cleaning element 1 through the connection portion 4a3 of its end, thereby realizing the application of the force directed to the surface a to be cleaned to the outside of the cleaning element 1. It should be noted that the biasing and pressing member 4 may be configured differently from the bridge 4a described above (i.e., instead of using the bridge 4a rotatably connecting the cleaning elements 1 as the biasing and pressing member 4), for example, a lever mechanism may be provided in the housing 1b of each cleaning element 1, the lever arm of which is hinged to the housing 1b, the hinge point constituting a fulcrum of the lever, and the lever being rotated about the fulcrum when the bladder member 3 is deformed by contraction, and a force directed to the surface a to be cleaned may be applied to the outside of the cleaning element 1. It should be understood by those skilled in the art that the above examples are only for illustrating the working principle of the biasing and pressing member 4, and the specific structure of the biasing and pressing member 4 is not exhaustive, so long as the mechanism capable of driving it to apply a force to the outside of the cleaning element 1 by deforming the bladder member 3 can be theoretically used in the present embodiment.

The structure of the bladder member 3 in this embodiment can be shown with reference to fig. 6, in which fig. 6, it includes an exhaust port 3b and a plurality of air inlets 3c, the exhaust port 3b is used for connecting the suction end of the suction module 2, and each air inlet 3c is used for connecting the suction chambers 1a of each cleaning element 1 in a one-to-one correspondence (it can be understood that the inner chamber 3a of the bladder member 3 corresponds to an air duct that connects the suction chambers 1a of each cleaning element 1 to each other and connects the suction chambers 1a to the suction module 2). When the suction module 2 works, air in the suction cavity 1a and air in the inner cavity 3a can be simultaneously extracted, and after the air pressure in the inner cavity 3a of the saccular part 3 is reduced, the air pressure is promoted to shrink and deform under the action of external atmospheric pressure. Further, in order to facilitate assembly and to ensure connection reliability between the bladder member 3 and the bridge 4a, as shown in fig. 3 to 6, the bladder member 3 includes a bladder body 3d made of an elastic material, a skirt 3d1 is formed by folding over a peripheral edge of a top opening of the bladder body 3d, the bladder body 3d is placed in a housing 1b of the cleaning member 1 and a bottom end thereof is fixedly connected with the housing 1b, a pressing plate 3e is provided in the bladder body 3d, the pressing plate 3e is detachably connected with the bridge 4a by a bolt, and the skirt 3d1 is tightly pressed on the bridge 4a by the pressing plate 3 e.

In view of both the reduction of the thickness and the center of gravity of the cleaning robot, as shown in fig. 2, 4-5 and 7, the present embodiment is formed by recessing down the center of the bridge 4a to form a suction module accommodating chamber 4a1, and as can be seen in conjunction with fig. 2, the lower portion of the suction module accommodating chamber 4a1 extends into the inner chamber 3a of the bladder 3, and in fig. 7, the bottom end of the bridge 4a is provided with an air passage retainer 4a2 for preventing collapse/closing of the air passage, and the air passage retainer 4a2 is hollow and forms a main air passage 4a2a for connecting with the suction module 2, and a plurality of bypass air passages 4a2b for communicating the inner chamber 3a of the bladder 3 with the main air passage 4a2a are provided on the side wall of the air passage retainer 4a2, and the height of the air passage retainer 4a2 is smaller than that of the inner chamber 3a of the bladder 3, and the suction module 2 is installed in the suction module accommodating chamber 4a1, so that the center of gravity of the machine is lower and the cleaner is more stable while the total thickness is reduced.

Compared with the cleaning robot in which the cleaning elements 1 are of a deflectable structure in the prior art, the present embodiment connects all suction chambers 1a of the respective cleaning elements to one suction module 2, reducing the number of suction modules 2, thereby enabling the hardware overhead and weight of the machine to be reduced. It is particularly worth mentioning that in this embodiment, by providing the bladder member 3 connected to the suction module 2, during the operation of the cleaning robot, the air pressure inside the bladder member 3 is changed by the suction module 2 to deform, and the biasing and pressing member 4 connected to the bladder member 3 is driven to apply a force to the outside of the cleaning element 1 when the bladder member 3 is deformed. Since the suction module 2 (cleaning robot opening operation) is not loaded with the biasing force (the "biasing force" is the force applied to the outer side of the cleaning element 1 by the biasing pressing member 4) on the cleaning element 1 before the cleaning element 1 is started, the cleaning element 1 can be easily rotated to a position to be attached to the surface to be cleaned, and after the suction module 2 is started, the suction chamber 1a forms a negative pressure with respect to the external environment, at this time, the cleaning robot will be firmly sucked to the surface to be cleaned, and at the same time, the pressure applied to the surface to be cleaned by the outer side of the cleaning element 1 will be greater than the pressure applied to the surface to be cleaned by other parts. As can be seen from the above analysis, the cleaning robot according to the present embodiment does not need to manually push the cleaning element 1 to make it fit the surface to be cleaned during use, and is more convenient to operate.

Example 2

The cleaning robot in this embodiment is similar to embodiment 1 in structure, except that in this embodiment, the suction chambers 1a of the cleaning elements 1 are connected through a branch pipe (such as a rubber air pipe, for example, a rigid/non-flexible branch pipe, for example, a rigid plastic pipe) capable of bending and deforming (avoiding affecting the rotation of the cleaning elements 1), the cleaning robot for the non-rotatable cleaning elements 1 may also be connected to the suction end of the suction module 2 through a main pipe, the branch pipes connected to the suction chambers 1a are respectively connected with the bladder members 3 (such as one bladder member 3 is provided for each cleaning element 1, and the whole cleaning robot includes a plurality of bladder members 3), and when the suction module 2 is in operation, the bladder members 3 independent of each other are also capable of generating shrinkage deformation, thereby driving the biasing and pressing members 4 to apply a force to the outer sides of the cleaning elements 1, and making the pressure of the outer sides of the cleaning elements 1 on the surfaces a to be cleaned be greater than the pressure of the other parts of the cleaning elements 1.

In view of the fact that the present embodiment is changed from the embodiment 1 mainly in that the bladder member 3 is adjusted from the "centralized structure" to the "distributed structure", that is, in the embodiment 1, the solution in which one bladder member 3 applies the force to the outside of each cleaning element 1 is adjusted in such a manner that the plural bladder members 3 apply the force to the outside of each corresponding cleaning element 1, the description of the specific structure thereof is omitted in the drawings of the specification for the sake of simplicity of description.

Example 3

In this embodiment, the structure of the bladder member 3 is similar to that of embodiment 1, and it should be noted that in embodiment 1, the bladder member 3 is disposed between the suction chamber 1a of the cleaning element 1 and the suction module 2 (corresponding to the bladder member 3 forming the air passage connecting the suction chamber 1a and the suction module 2), whereas in this embodiment, the bladder member 3 is disposed at the rear end of the suction module 2, that is, the bladder member 3 is connected to the exhaust end of the suction module 2, and the suction chamber 1a of each cleaning element 1 may be connected to the suction end of the suction module 2 through a flexible branch pipe (e.g., a rubber air pipe), similar to that of embodiment 2, for the cleaning robot in which the cleaning element 1 is not rotatable, a rigid/non-flexible branch pipe, such as a rigid plastic pipe, may be used. When the suction module 2 is operated, the bladder member 3 is expanded and deformed, and a force directed to the surface a to be cleaned can be applied to the outside of the cleaning element 1 by the biasing and pressing member 4 as well. It will be appreciated by those skilled in the art that in order to avoid rupture of the bladder 3 by constant inflation, it is possible to provide it with a corresponding venting structure, for example by providing the bladder 3 with a relief valve which opens to relieve the pressure in the bladder 3 when the air pressure in the cavity 3a exceeds a defined value.

Whereas the present embodiment is changed from embodiment 1 mainly in that the position of the bladder member 3 is adjusted from between each suction chamber 1a and the suction module 2 to the rear end of the suction module 2, the description of the specific structure thereof is omitted in the drawings of the specification for the sake of simplicity of description.

Example 4

In this embodiment, the cleaning robot is similar to embodiment 3 in structure, and compared with embodiment 3, the change of this embodiment mainly is that the bladder 3 adopts a "distributed structure" in embodiment 2, that is, instead of one bladder 3 of a "centralized structure" connected to the rear end of the suction module 2, a main tube is connected to the rear end of the suction module 2, and the main tube is connected to a plurality of branches capable of bending deformation (the number of branches corresponds to that of the cleaning elements 1, for the cleaning robot with the non-rotatable cleaning elements 1, hard/non-bendable deformation branches such as hard plastic pipes may also be used), and each branch tube is connected with a bladder 3 (for example, each cleaning element 1 is provided with a bladder 3, and the whole cleaning robot includes a plurality of bladders 3), and each bladder 3 is provided with a corresponding exhaust structure. When the suction module 2 is operated, the bladder member 3 is also expanded and deformed and drives the biasing and pressing member 4 to apply a force directed to the surface a to be cleaned to the outside of the cleaning element 1.

Similar to embodiments 2 and 3, descriptions of specific structures of the cleaning robot described above are omitted in the drawings of the specification for simplicity of description.

The above embodiments are preferred embodiments of the present utility model, and any obvious substitution is within the scope of the present utility model without departing from the concept of the present technical solution.

In order to facilitate understanding of the improvements of the present utility model over the prior art, some of the figures and descriptions of the present utility model have been simplified, and some other elements have been omitted from this document for clarity, as will be appreciated by those of ordinary skill in the art.

Claims (10)

1. A bias pressing structure, comprising:

a suction module (2) connected to the suction chamber (1 a) of the cleaning member (1) and configured to suck air in the suction chamber (1 a) so that the cleaning robot is sucked to the surface (A) to be cleaned;

a bladder (3) having an inner cavity (3 a) connected to the suction module (2) and configured to be operable by the suction module (2) to vary the air pressure in the inner cavity (3 a) to cause deformation of the bladder (3);

and the biasing and pressing part (4) is deformed through the saccular part (3) to drive the saccular part to apply a force to the outer side of the cleaning element (1) so that the pressure of the outer side of the cleaning element (1) on the surface (A) to be cleaned is larger than the pressure of other parts of the cleaning element (1) on the surface (A) to be cleaned.

2. The bias pressing structure of claim 1, wherein: the bias pressing component (4) comprises a bridge frame (4 a) connected with the capsule component (3), the suction module (2) is arranged at the center of the bridge frame (4 a), the ends of the bridge frame (4 a) are respectively connected with the cleaning elements (1) and the connection positions are positioned at the outer sides of the cleaning elements (1), and the capsule component (3) can drive the bridge frame (4 a) to apply a force directed to the surface (A) to be cleaned to the outer sides of the cleaning elements (1) through the ends of the bridge frame (4 a) when being deformed.

3. A biasing and pressing structure according to claim 1 or 2, characterized in that: the saccular part (3) comprises an exhaust port (3 b) and a plurality of air inlets (3 c), the exhaust port (3 b) is connected with the air suction end of the suction module (2), and the air inlets (3 c) are respectively connected with the adsorption cavities (1 a) of the cleaning elements (1) in a one-to-one correspondence.

4. The biasing and pressing structure of claim 2, wherein: the inner cavity (3 a) of the saccular part (3) is connected with the air suction end of the suction module (2), and the suction module (2) can extract air in the inner cavity (3 a) and promote the contraction and deformation of the saccular part (3) when in operation.

5. The biasing and pressing structure of claim 4, wherein: the capsule part (3) is fixedly arranged below the bridge (4 a) and is connected with the bridge (4 a), and the inner cavity (3 a) of the capsule part (3) communicates the adsorption cavities (1 a) of the cleaning elements (1) with each other.

6. The biasing and pressing structure of claim 5, wherein: the center department of crane span structure (4 a) is sunken downwards to form suction module holding chamber (4 a 1), the lower part in suction module holding chamber (4 a 1) extends to in inner chamber (3 a) of sacculus part (3) and is equipped with air flue holder (4 a 2) in its bottom, air flue holder (4 a 2) cavity and form main air flue (4 a2 a) that link to each other with suction module (2), the interval is equipped with a plurality of intercommunication sacculus part (3) inner chamber (3 a) and bypass air flue (4 a2 b) of main air flue (4 a2 a) on the lateral wall of air flue holder (4 a 2), the height of air flue holder (4 a 2) is less than the height of sacculus part (3) inner chamber (3 a), suction module (2) are installed in suction module holding chamber (4 a 1).

7. The biasing and pressing structure of claim 5, wherein: the novel cleaning device is characterized in that the capsule part (3) comprises a capsule body (3 d) made of elastic materials, the capsule body (3 d) is arranged in a shell (1 b) of the cleaning element (1), a top opening periphery of the capsule body (3 d) is folded to form a skirt edge (3 d 1), a pressing plate (3 e) is arranged in the capsule body (3 d), the pressing plate (3 e) is detachably connected with the bridge (4 a) and tightly presses the skirt edge (3 d 1) on the bridge (4 a), and the bottom end of the capsule body (3 d) is fixedly connected with the shell (1 b) of the cleaning element (1).

8. The bias pressing structure of claim 7, wherein: the end of the bridge (4 a) is provided with a connecting part (4 a 3) with a revolving body shape, the cleaning element (1) is provided with a connecting seat (4 b) which is matched with the shape of the connecting part (4 a 3), and the connecting part (4 a 3) is restrained by the connecting seat (4 b) and limited to rotate only relative to the connecting seat (4 b).

9. Cleaning robot, its characterized in that: the offset pressing structure according to any one of claims 1-8 is provided, each cleaning element (1) comprises a driving mechanism (1 d) for driving the cleaning rotary table (1 c) to rotate, the driving mechanism (1 d) is arranged outside an air flow path connected with the suction module (2), the driving mechanism (1 d) comprises a motor (1 d 1), a transmission mechanism (1 d 2) and a gear ring (1 d 3), a sunken mounting groove (1 c 1) is formed in the top of the cleaning rotary table (1 c), the gear ring (1 d 3) is fixed in the mounting groove (1 c 1) and is coaxially arranged with the cleaning rotary table (1 c), and the motor (1 d 1) is mounted in a shell (1 b) of the cleaning element (1) and drives the gear ring (1 d 3) to rotate with the cleaning rotary table (1 c) through the transmission mechanism (1 d 2).

10. The cleaning robot of claim 9, wherein: the top end of the gear ring (1 d 3) is lower than or flush with the top edge of the mounting groove (1 c 1).