EP2891444A1 - Robot vacuum cleaner with side brushes - Google Patents
Robot vacuum cleaner with side brushes Download PDFInfo
- Publication number
- EP2891444A1 EP2891444A1 EP14196861.0A EP14196861A EP2891444A1 EP 2891444 A1 EP2891444 A1 EP 2891444A1 EP 14196861 A EP14196861 A EP 14196861A EP 2891444 A1 EP2891444 A1 EP 2891444A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- brush
- rotary member
- rotation
- axis
- cleaned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000004140 cleaning Methods 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 description 11
- 238000006073 displacement reaction Methods 0.000 description 5
- 239000002245 particle Substances 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Definitions
- the invention relates to a vacuum robot for autonomous cleaning of surfaces, which has at least one side brush facing the surface to be cleaned, wherein the at least one side brush has a rotary element, wherein on the rotary member brush elements are arranged, wherein the rotary member is rotatably mounted rotatably about an axis of rotation.
- side brushes on vacuum robots in order to improve their cleaning performance, especially in edge and corner areas of surfaces.
- the side brushes are arranged in relation to the direction of travel of the vacuum robot in the front region of the device housing laterally next to the suction mouth.
- the side brushes thus capture dust and dirt particles on surface areas which are not or only insufficiently cleaned by the suction mouth of the vacuum robot.
- On the known side brushes usually three to six brush elements are arranged at approximately uniform intervals, which rotate about the axis of rotation of the side brush. Due to this comparatively small number of brush elements, it is necessary to operate the side brushes at high rotational speeds in order to ensure that the side brushes approximately completely grasp dust lying in edge and corner areas and return in the direction of the suction mouth.
- the vacuum robot for autonomous cleaning of surfaces is characterized in that the rotating about the rotation axis rotating element is perpendicular to the axis of rotation relative to this movable.
- the rotary member is movable in all directions of a plane which is substantially perpendicular to the rotation axis.
- the rotation element is simultaneously displaceable in all directions of a plane which is substantially perpendicular to the rotation axis.
- the vertical movement of the rotary member is independent of the axis of rotation, whose position remains constant in all positions of the rotary member. That is, the rotary member is adapted to be able to move in all directions of the vertical plane, the rotary shaft simultaneously maintaining a constant position.
- the rotation of the rotary member is disturbed or influenced in any form by the movements of the rotary member largely perpendicular to the plane. Both forms of movement of the rotary element, rotation and translation, are approximately independent of each other.
- the mobility of the rotary member perpendicular to the axis of rotation improves the ability of the side brushes to overcome obstacles on the surface to be cleaned and to adapt to specific surface geometries. If the brush elements arranged on the rotary element encounter an obstacle, for example a carpet edge, contact creates a compressive force which is transmitted to the rotary element via the brush elements which are in contact with the obstacle. This is displaced by the pressure force perpendicular to the axis of rotation in the direction that removes the rotational element causing the pressure force obstacle. This reduces the contact between the obstacle and the brush elements of the rotary element until the contact exerts no more compressive force on the brush elements and thus on the rotary element or this pressure force is not large enough to cause a further deflection of the rotary member.
- an obstacle for example a carpet edge
- the side brush will enable the side brush to laterally avoid obstacles that are on the surface to be cleaned and come in contact with the side brush. It does not matter from which direction the obstacles hit the brush elements of the side brush.
- the improved capabilities of side brush obstacles on surfaces sideways Dodge reduces the risk of the brush elements becoming caught or jammed at corners, edges, or objects on the surface.
- the optimized obstruction overcoming of the side brush allows the arrangement of additional brush elements on the rotary member, without significantly increasing the risk of catching or jamming the side brush.
- the additional brush elements in turn allows to reduce the rotational speeds of the side brushes without having to accept a deterioration of their cleaning performance in purchasing.
- the operation of the side brushes with lower rotational speeds reduces the power consumption of the side brush drives, which has a gentle effect on the battery capacity of the vacuum robot.
- the rotary element is mounted in a guide, which is effected by a joint upper part and a lower joint part.
- the rotary element facing the sides of the joint upper part and the hinge base are coordinated so that they form a guide for the rotary element in the final assembled state.
- the guide, formed by the joint upper part and joint lower part, thereby allows a movement in the direction perpendicular to the axis of rotation and blocks movements of the rotary element in the direction of the axis of rotation.
- the rotary member with the arranged brush elements on the side brush is also preferred.
- the bearing of the rotary member in a guide of hinge top and hinge base is a reliable and mechanically resilient mounting of the rotary member.
- both hinge parts prevent unwanted movement of the rotary member in the direction of the axis of rotation. Additional components for mounting the rotary member are not required. The production cost of Robotsaugers is thereby resulting.
- the joint upper part and the lower joint part provide a ball rail for sliding guidance of the rotary element.
- a first half of the ball rail and on the side facing the rotary member side of the joint lower part, a second half of the ball rail is arranged on the side facing the rotary member side of the joint upper part.
- the arrangement of a ball rail for sliding guidance of the rotary member reduces the friction between the two hinge parts and the rotary member to a minimum. This ensures that the pressure forces acting on the brush elements can be converted into movements of the rotary element without great frictional force losses. Due to the temperature resistance of ball rails an approximately wear-free and mechanically stable mounting of the rotary member is achieved.
- the guide between the upper hinge part and the lower hinge part have a substantially concave shape. That is, the sides of the joint upper part and the lower joint part facing the rotary element both have a curvature in cross-section, each of which faces away from the surface to be cleaned. With a combined arrangement of the upper hinge part and the lower hinge part in the final assembled state, this results in a guide for the rotary element, which largely has the shape of a circular arc cutout in cross section.
- other forms of leadership are conceivable, in particular a cross-sectionally approximately rectangular shape of the guide, which is formed by the upper hinge part and the lower hinge part.
- the rotary element has an approximately concave shape.
- the side of the rotary element facing the surface to be cleaned and the side of the rotary element facing away from the surface to be cleaned each have, in cross section, a curvature which faces away from the surface to be cleaned.
- the curvatures of the two sides of the rotary member are approximately identical pronounced.
- the brush elements that impinge on an obstacle are not only vertically displaced by the resulting pressure force and the resulting movement of the rotary member but also raised. Due to the rotating rotary element, this height adjustment is transmitted to the brush elements which follow the pressure-force-causing brush elements. This makes it easier to overcome obstacles that can hit the brush elements along the entire circumference of the side brush. The risk of snagging or jamming of brush elements and a resulting disruption or interruption of the autonomous cleaning drive can be excluded as far as possible. Additional elements arranged on the side brushes, which help to overcome obstacles used, for example. Motors for raising or tilting the side brush, this is not required.
- the angle of action with which the brush elements impinge on the floor covering to be cleaned, changes.
- the angle of action spans at the point where the brush elements impinge on the surface with their side facing the surface to be cleaned.
- the effective angle spans between the surface to be cleaned and the surface of the brush elements facing the surface to be cleaned.
- the flexible working angle with which the brush elements impinge on the floor covering to be cleaned improves the ability of the side brushes to overcome obstacles on the surface to be cleaned or to adapt to specific geometries on the surface to be cleaned.
- the adaptation of the effective angle to specific room geometries also leads to an improvement in the cleaning performance of the side brushes, especially in edge and corner areas.
- the orientation of the axis of rotation with respect to the surface to be cleaned remains constant during a movement of the rotary member perpendicular to the axis of rotation. That is, the axis about which rotates the rotary member and are arranged symmetrically about the joint upper part as well as lower joint part, undergoes no displacement during a movement of the rotary member perpendicular to the axis of rotation.
- the inner ring of the rotary member maintains its position perpendicular to the axis of rotation during a movement of the rotary member. Only the outer ring together with the arranged brush elements is moved perpendicular to the axis of rotation and thus also to the inner ring of the rotary member.
- the rotary member has an outer ring and an inner ring, which are connected to each other via at least one spring element.
- the spring elements are arranged between the inner and outer ring so that they cause a concentric alignment of the two rings to each other when no pressure forces acting on the rotary member.
- the rotary member In the course of a obstacle-free ride, the rotary member is held in a neutral, that is not deflected position, whereby the side brush contributes in festlegbarer form to the cleaning performance of the vacuum robot.
- a receptacle for the inner ring of the rotary member is arranged on the upper hinge part and the lower hinge part.
- the arranged on both hinge parts recording ensures lossless transmission of torque from the side brush drive on the inner ring of the rotary member.
- brush elements are arranged on the rotary element 10 to 40 and in a particularly preferred embodiment 15 to 25 brush elements.
- the brush elements are radially outward from the rotary member and have an approximately constant length.
- the brush elements are arranged circumferentially in discrete groups uniformly on the rotary member. In an alternative embodiment, it is also conceivable to arrange the brush elements in continuous form on the rotary member.
- the arrangement of a comparatively high number of brush elements improves the cleaning performance of the side brushes to a significant extent. On the surface to be cleaned dust and dirt particles are reliably detected by such side brushes and swept in the direction of the suction port. Especially on deep-pile or structured floor coverings, the arrangement of additional brush elements on the side brushes leads to a significant increase in the cleaning performance.
- the relatively high number of brush elements simultaneously enables a reduction in the rotational speeds of the side brushes without significantly worsening their cleaning performance in terms of dust mobilization and dust entrainment. As a result, the power consumption of the side brush drives can be reduced, whereby the battery capacities of the vacuum robot are spared.
- FIG. 1 shows the cross section of a vacuum robot 10.
- a side brush 12 is arranged in the front region of the device housing 36.
- the side brush 12 and the side brush drive 34 operatively connected to the side brush 12 are arranged substantially inside the device housing 36.
- brush elements 16 are arranged circumferentially. The brush elements 16 are in contact with the surface to be cleaned.
- a suction opening 38 is arranged behind the side brush 12 on the side of the device housing 36 which faces the surface to be cleaned. In this suction opening 38, a rotating brush roller 40 is arranged, which is in contact with the surface to be cleaned.
- the dust or dirt particles dissolved by the side brush 12 or the brush roller 40 from the surface to be cleaned are received by the suction opening 38 of the vacuum robot 10.
- the suction opening 38 is connected via a suction channel 42 and a dust collecting chamber 44 in fluid communication with a likewise arranged in the device housing 36 of the vacuum robot 10 blower 46.
- the suction air flow generated by the blower 46 is suitable to that of the side brush 12 and the brush roller 40th to pick up dissolved dust and dirt particles through the suction opening 38.
- These are then passed via the suction channel 42 into the dust collecting space 44 and deposited there.
- a drive 48 is arranged behind the suction opening 38, on the side of the device housing 36, which faces the surface to be cleaned. This is suitable for autonomously moving the suction robot 10 over the surface to be cleaned.
- FIG. 2 shows the cross section of a side brush 12 for a vacuum cleaner 10 for autonomous cleaning of surfaces.
- the upper part of the side brush 12 facing away from the surface to be cleaned, is mounted in the device housing 36 of the vacuum robot 10.
- a hinge top 28 is arranged at the bottom.
- This joint upper part 28 has a curvature which is arched in the direction of the component interior.
- the hinge top 28 is centered about the axis of rotation 18 of the side brush 12.
- the joint upper part 28 has a centered about the rotation axis 18 opening 54 which is adapted to receive a pin 56 of the lower joint part 30 and releasably bind.
- a rotary member 14 is arranged rotationally symmetrical about the axis of rotation 18 of the side brush 12.
- the rotary element 14 has a curvature both on the surface to be cleaned and on the opposite side. The bends on both sides of the rotary member 14 are curved opposite to the cleaning surface.
- the curvature of the rotary member 14 on the hinge top 28 side facing is largely identical to the curvature of the hinge shell 28.
- the curvature of the rotary member 14 on the hinge base 30 side facing is largely identical to the curvature of the hinge base 30. This allows in the final assembled state of Side brush 12 a largely gap-free recording of the rotary member 14 both through the hinge top 28 and through the hinge base 30.
- the rotary member 14 Centered around the axis of rotation 18, the rotary member 14 has an inner ring 22 (not shown in FIG. 2 ). Circumferentially around this inner ring 22, the rotary member 14 on an outer ring 20, which is arranged concentrically around the inner ring 22 while maintaining a constant distance. Inner and outer ring 22, 20 are connected to each other via spring elements 24, which are arranged at equal intervals in the space between the two rings 20, 22. On the outwardly directed side of the outer ring 20, that is, facing away from the axis of rotation 18, brush elements 16 are arranged circumferentially. These brush elements 16 are in direct contact with the surface to be cleaned.
- a hinge base 30 is arranged, which is aligned symmetrically about the rotation axis 18 of the side brush 12. Centrally centered, the hinge base 30 has a pin 56 which engages through the opening of the inner ring 22 of the rotary member 14 into the arranged on the underside of the upper hinge part 28 opening 54.
- the hinge base 30 has a curvature on the side facing away from the surface to be cleaned. This is curved in the direction of the rotary member 14, wherein the curvature has a largely identical curvature, as the side of the rotary member 14 which faces the surface to be cleaned.
- FIG. 3 shows the cross section of hinge upper part 28, rotary member 14 and hinge bottom 30 of the side brush 12 in a not final mounted state.
- the joint upper part 28 is centered about the axis of rotation 18 of the side brush 12, an opening 54 is arranged, which is open in the direction of the surface to be cleaned.
- a Pin 56 disposed opposite to the cleaning surface of the joint bottom 30 protrudes. The pin 56 is so pronounced that it engages through the center-centered opening of the inner ring 22 into the opening 54 of the joint upper part 30. The pin 56 thus leads to a releasable bond between the joint base 30 and hinge top 28 and also secures the rotary member 14 against a vertical displacement along the axis of rotation 18.
- the diameter of the pin 56 and the diameter of the opening of the inner ring 22 are matched to one another the pin 56 is adapted to transmit a rotational movement to the rotary member 14.
- Both in the upper joint part 28 and in the joint lower part 30 are symmetrically centered, arranged on the rotary element 14 facing sides receiving elements 32. These are designed to store the inner ring 22 of the rotary member 14 in the final assembled state.
- FIG. 4 shows the cross section of a side brush 12 in a first position and the cross section of a side brush 12 in a second position.
- the cross section of a side brush 12 in a first position is on the left side of FIG FIG. 4 shown.
- an obstacle 50 is arranged, which is in contact with the brush elements 16 of the side brush 12.
- the contact between the obstacle 50 and the brush elements 16 causes a compressive force 58, which acts on the rotary member 14 of the side brush 12 via the brush elements 16.
- This pressure force 58 is directed in the direction of the side brush 12 and transmits via the brush elements 16 on the outer ring 20 of the rotary member 14.
- a spring element 24 is arranged, which the outer ring 20 on the obstacle 50th facing side with the inner ring 22 connects.
- a spring element 24 is also arranged, which connects the two rings 20, 22 of the rotary member 14 with each other. Both spring elements 24 are arranged in this first position of the side brush 12 in a neutral position. Since the inner ring 22 has a constant position due to its bearing, the spring elements 24 are adapted to receive the pressure force 58 acting on the outer ring 20 and to dispense in the opposite direction again.
- FIG. 4 On the right side of FIG. 4 the cross section of a side brush 12 is shown in a second position.
- an obstacle 50 is arranged, which is in contact with the brush elements 16 of the side brush 12.
- the pressure force 58 causing contact between the brush elements 16 and the obstacle 50 has a movement of the rotary member 14 perpendicular to the axis of rotation 18 of the side brush 12th caused.
- the rotary member 14 has shifted to the side brush 12 side remote from the obstacle 50.
- the spring member 24 between outer 20 and inner ring 22, which is disposed on the side of the rotary member 14 facing the obstacle 50, has been compressed.
- the rotary member 14 By the movement of the rotary member 14 largely perpendicular to the axis of rotation 18, it comes on the obstacle 50 side facing the side brush 12 to a shortening of the brush elements 16. That is, the corresponding brush elements 16 are due to the movement of the rotary member 14 less far in front of the Body of the side brush 12, formed by joint upper part 28 and joint bottom part 30, forth.
- the brush elements 16 are raised on the obstacle 50 side facing by the concave shape of the guide 26 and the rotary member 14. On the side facing away from the obstacle 50, the movement of the rotary element 14 leads to a corresponding extension of the brush elements 16.
- the brush elements 16 project on this side significantly further in front of the body of the side brush 12 than in the first position of the side brush.
- the concave shape of the guide 26 and the rotary member 14 on this side of the side brush 12 leads to a lowering of the brush elements 16 on the surface to be cleaned.
- the conditional by the contact between obstacle 50 and brush member 16 displacement of the rotary member 14 additionally facilitates the obstacle overcoming for the arranged on the side brush 12 brush elements 16.2, 12 follow the brush elements 16.1 due to the rotation of the side brush 12, the first contact with the obstacle 50th had.
- FIG. 5 shows the top view of a rotary member 14 in a first position and the top view of a rotary member 14 in a second position.
- the top view of a rotary member 14 in a first position is on the left side of FIG FIG. 5 shown.
- an obstacle 50 is shown, which is in contact with the brush elements 16 of the side brush 12.
- the brush elements 16 circumferentially distributed evenly distributed on the outer ring 20 of the rotary member 14 and project radially outwardly from this.
- an inner ring 22 is also centered about the axis of rotation 18.
- the inner and outer rings 22, 20 are interconnected via four spring elements 24, which are arranged at equal intervals between the inner and outer ring 22, 20.
- the inner and outer rings 22, 20 are concentric with each other in this first position of the rotary member 14.
- the top view of a rotary member 14 in a second position is on the right side of FIG. 5 shown.
- an obstacle 50 is arranged, which is in Contact with the brush elements 16 of the side brush 12 is located.
- the contact between obstacle 50 and brush elements 16 creates a compressive force 58, which is transmitted via the brush elements 16 to the outer ring 20 of the rotary member 14.
- an inner ring 22, centered about the axis of rotation 18, is arranged.
- the pressure force 58 transmitted to the outer ring 20 via the brush elements 16 results in a displacement of the outer ring 20 with respect to the position of the inner ring 22.
- the two rings 20, 22 of the rotary element 14 are no longer concentrically arranged about the axis of rotation 18 ,
- the inner and outer rings 22, 20 are interconnected via four spring elements 24, which are arranged at equal intervals between the inner and outer ring 22, 20.
- the spring element 24, which is arranged on the obstacle 50 facing side, is compressed due to the pressing force 58.
- the other spring elements 24 undergo an extension due to the pressure force 58.
Abstract
Die Erfindung betrifft einen Saugroboter zur autonomen Reinigung von Flächen, der mindestens eine der zu reinigenden Fläche zugewandte Seitenbürste aufweist, wobei die mindestens eine Seitenbürste ein Drehelement aufweist, wobei an dem Drehelement Bürstenelemente angeordnet sind, wobei das Drehelement rotatorisch drehbar um eine Drehachse gelagert ist.The invention relates to a vacuum robot for autonomous cleaning of surfaces, which has at least one side brush facing the surface to be cleaned, wherein the at least one side brush has a rotary element, wherein on the rotary member brush elements are arranged, wherein the rotary member is rotatably mounted rotatably about an axis of rotation.
Description
Die Erfindung betrifft einen Saugroboter zur autonomen Reinigung von Flächen, der mindestens eine der zu reinigenden Fläche zugewandte Seitenbürste aufweist, wobei die mindestens eine Seitenbürste ein Drehelement aufweist, wobei an dem Drehelement Bürstenelemente angeordnet sind, wobei das Drehelement rotatorisch drehbar um eine Drehachse gelagert ist.The invention relates to a vacuum robot for autonomous cleaning of surfaces, which has at least one side brush facing the surface to be cleaned, wherein the at least one side brush has a rotary element, wherein on the rotary member brush elements are arranged, wherein the rotary member is rotatably mounted rotatably about an axis of rotation.
Es ist bekannt Seitenbürsten an Saugrobotern anzuordnen, um deren Reinigungsleistung vor allem in Rand- und Eckbereichen von Flächen zu verbessern. Dazu sind die Seitenbürsten in Bezug auf die Fahrtrichtung des Saugroboters im vorderen Bereich des Gerätegehäuses seitlich neben dem Saugmund angeordnet. Die Seitenbürsten erfassen so Staub- und Schmutzpartikel auf Flächenbereichen, die durch den Saugmund des Saugroboters nicht oder nur unzureichend gereinigt werden. An den bekannten Seitenbürsten sind in der Regel drei bis sechs Bürstenelemente in annähernd gleichmäßigen Abständen angeordnet, die um die Drehachse der Seitenbürste rotieren. Durch diese vergleichsweise geringe Anzahl an Bürstenelementen ist es erforderlich, die Seitenbürsten mit hohen Rotationsgeschwindigkeiten zu betreiben, um zu gewährleisten, dass die Seitenbürsten in Rand- und Eckbereichen liegenden Staub annähernd vollständig erfassen und in Richtung des Saugmunds kehren. Solch hohe Rotationsgeschwindigkeiten erhöhen aber zum einen den Stromverbrauch des Saugroboters und führen zum anderen dazu, dass Staubpartikel zum Teil in entweder bereits gereinigte oder nicht erreichbare Flächenbereiche durch die Seitenbürste verschleudert werden. Da eine Reduktion der Rotationsgeschwindigkeit bei Seitenbürsten mit drei bis sechs Bürstenelementen zu nicht zufriedenstellenden Reinigungsleistungen des Saugroboters führt, liegt es nahe die Anzahl der an den Seitenbürsten angeordneten Bürstenelemente zu erhöhen.It is known to arrange side brushes on vacuum robots in order to improve their cleaning performance, especially in edge and corner areas of surfaces. For this purpose, the side brushes are arranged in relation to the direction of travel of the vacuum robot in the front region of the device housing laterally next to the suction mouth. The side brushes thus capture dust and dirt particles on surface areas which are not or only insufficiently cleaned by the suction mouth of the vacuum robot. On the known side brushes usually three to six brush elements are arranged at approximately uniform intervals, which rotate about the axis of rotation of the side brush. Due to this comparatively small number of brush elements, it is necessary to operate the side brushes at high rotational speeds in order to ensure that the side brushes approximately completely grasp dust lying in edge and corner areas and return in the direction of the suction mouth. On the one hand, such high rotational speeds increase the power consumption of the vacuum robot and, on the other hand, result in dust particles being partly thrown away into either already cleaned or unreachable surface areas by the side brush. Since a reduction of the rotational speed in side brushes with three to six brush elements leads to unsatisfactory cleaning performance of the vacuum robot, it is obvious to increase the number of brush elements arranged on the side brushes.
Problematisch ist hierbei, dass Seitenbürsten mit einer hohen Anzahl an Bürstenelementen sich schnell mit diesen an schmalen Öffnungen, Spalten oder Kanten der zu reinigenden Fläche verklemmen. Ein auf solche Weise festgefahrener Saugroboter kann die Reinigungsfahrt nicht autonom fortsetzen und muss manuell vom Nutzer befreit werden. Aus der
Der Erfindung stellt sich somit das Problem, einen Saugroboter mit Seitenarmen zur verbesserten Reinigung von Rand- und Eckenbereichen zur Verfügung zu stellen und dabei die genannten Nachteile zu vermeiden. Erfindungsgemäß wird dieses Problem durch eine Vorrichtung mit den Merkmalen des Patentanspruchs 1 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den nachfolgenden Unteransprüchen.The invention thus raises the problem of providing a suction robot with side arms for improved cleaning of edge and corner areas while avoiding the disadvantages mentioned. According to the invention, this problem is solved by a device having the features of patent claim 1. Advantageous embodiments and further developments of the invention will become apparent from the following subclaims.
Der Saugroboter zur autonomen Reinigung von Flächen zeichnet sich dadurch aus, dass das um die Drehachse rotierende Drehelement senkrecht zur Drehachse relativ zu dieser beweglich ist. Zusätzlich ist das Drehelement in alle Richtungen einer Ebene, die im Wesentlichen senkrecht zur Drehachse liegt, beweglich. Mit anderen Worten ist das Drehelement neben der Rotation um die Drehachse simultan in alle Richtungen einer Ebene, die im Wesentlichen senkrecht zur Drehachse liegt, verschiebbar. Die senkrechte Bewegung des Drehelements ist dabei unabhängig von der Drehachse, deren Position in allen Lagen des Drehelements konstant bleibt. Das heißt, das Drehelement ist dazu ausgebildet, sich in alle Richtungen der senkrechten Ebene bewegen zu können, wobei die Drehachse gleichzeitig eine konstante Position beibehält. Die Rotation des Drehelements wird in keiner Form durch die Bewegungen des Drehelements weitestgehend senkrecht zur Ebene gestört oder beeinflusst. Beide Bewegungsformen des Drehelements, Rotation als auch Translation, sind annähernd unabhängig voneinander.The vacuum robot for autonomous cleaning of surfaces is characterized in that the rotating about the rotation axis rotating element is perpendicular to the axis of rotation relative to this movable. In addition, the rotary member is movable in all directions of a plane which is substantially perpendicular to the rotation axis. In other words, in addition to the rotation about the rotation axis, the rotation element is simultaneously displaceable in all directions of a plane which is substantially perpendicular to the rotation axis. The vertical movement of the rotary member is independent of the axis of rotation, whose position remains constant in all positions of the rotary member. That is, the rotary member is adapted to be able to move in all directions of the vertical plane, the rotary shaft simultaneously maintaining a constant position. The rotation of the rotary member is disturbed or influenced in any form by the movements of the rotary member largely perpendicular to the plane. Both forms of movement of the rotary element, rotation and translation, are approximately independent of each other.
Die Beweglichkeit des Drehelements senkrecht zur Drehachse verbessert die Fähigkeiten der Seitenbürsten Hindernisse auf der zu reinigenden Fläche zu überwinden und sich an spezifische Oberflächengeometrien anzupassen. Treffen die am Drehelement angeordneten Bürstenelemente auf ein Hindernis, bspw. eine Teppichkante, entsteht durch den Kontakt eine Druckkraft die über die Bürstenelemente, die in Kontakt mit dem Hindernis stehen, auf das Drehelement übertragen wird. Dieses wird durch die Druckkraft senkrecht zur Drehachse in die Richtung verschoben, die das Drehelement vom Druckkraft verursachenden Hindernis entfernt. Dies reduziert den Kontakt zwischen Hindernis und den Bürstenelementen des Drehelements soweit, bis der Kontakt keine Druckkraft mehr auf die Bürstenelemente und somit auf das Drehelement ausübt oder diese Druckkraft nicht groß genug ist, eine weitergehende Auslenkung des Drehelements zu verursachen. Hierdurch wird die Seitenbürste in die Lage versetzt, Hindernissen, die sich auf der zu reinigenden Fläche befinden und in Kontakt mit der Seitenbürste geraten, seitlich auszuweichen. Es spielt dabei keine Rolle aus welcher Richtung die Hindernisse auf die Bürstenelemente der Seitenbürste treffen. Die verbesserten Fähigkeiten der Seitenbürste Hindernissen auf Flächen seitlich auszuweichen, reduziert das Risiko, dass sich die Bürstenelemente an Ecken, Kanten oder Objekten auf der Fläche verfangen oder verklemmen. Zudem ermöglicht die optimierte Hindernisüberwindung der Seitenbürste, die Anordnung zusätzlicher Bürstenelemente am Drehelement, ohne das Risiko eines Verfangens oder Verklemmens der Seitenbürste signifikant zu erhöhen. Die zusätzlichen Bürstenelemente ermöglicht wiederrum die Rotationsgeschwindigkeiten der Seitenbürsten zu reduzieren, ohne eine Verschlechterung von deren Reinigungsleistung in Kauf nehmen zu müssen. Der Betrieb der Seitenbürsten mit geringeren Rotationsgeschwindigkeiten reduziert den Stromverbrauch der Seitenbürstenantriebe, was sich schonend auf die Akkukapazitäten des Saugroboters auswirkt.The mobility of the rotary member perpendicular to the axis of rotation improves the ability of the side brushes to overcome obstacles on the surface to be cleaned and to adapt to specific surface geometries. If the brush elements arranged on the rotary element encounter an obstacle, for example a carpet edge, contact creates a compressive force which is transmitted to the rotary element via the brush elements which are in contact with the obstacle. This is displaced by the pressure force perpendicular to the axis of rotation in the direction that removes the rotational element causing the pressure force obstacle. This reduces the contact between the obstacle and the brush elements of the rotary element until the contact exerts no more compressive force on the brush elements and thus on the rotary element or this pressure force is not large enough to cause a further deflection of the rotary member. This will enable the side brush to laterally avoid obstacles that are on the surface to be cleaned and come in contact with the side brush. It does not matter from which direction the obstacles hit the brush elements of the side brush. The improved capabilities of side brush obstacles on surfaces sideways Dodge reduces the risk of the brush elements becoming caught or jammed at corners, edges, or objects on the surface. In addition, the optimized obstruction overcoming of the side brush allows the arrangement of additional brush elements on the rotary member, without significantly increasing the risk of catching or jamming the side brush. The additional brush elements in turn allows to reduce the rotational speeds of the side brushes without having to accept a deterioration of their cleaning performance in purchasing. The operation of the side brushes with lower rotational speeds reduces the power consumption of the side brush drives, which has a gentle effect on the battery capacity of the vacuum robot.
Bevorzugt ist zudem, dass das Drehelement in einer Führung gelagert wird, die durch ein Gelenkoberteil und ein Gelenkunterteil bewirkt wird. Die dem Drehelement zugewandten Seiten des Gelenkoberteils und des Gelenkunterteil sind dabei so aufeinander abgestimmt, dass sie im endmontierten Zustand eine Führung für das Drehelement bilden. Die Führung, gebildet durch das Gelenkoberteil und Gelenkunterteil, ermöglicht dabei eine Bewegung in senkrechter Richtung zur Drehachse und blockiert Bewegungen des Drehelements in Richtung der Drehachse. Gleichzeitig fixiert die kombinierte Anordnung von Gelenkoberteil, Drehelement und Gelenkunterteil im endmontierten Zustand, das Drehelement mit den angeordneten Bürstenelementen an der Seitenbürste.It is also preferred that the rotary element is mounted in a guide, which is effected by a joint upper part and a lower joint part. The rotary element facing the sides of the joint upper part and the hinge base are coordinated so that they form a guide for the rotary element in the final assembled state. The guide, formed by the joint upper part and joint lower part, thereby allows a movement in the direction perpendicular to the axis of rotation and blocks movements of the rotary element in the direction of the axis of rotation. At the same time fixes the combined arrangement of upper hinge part, rotary member and hinge base in the final assembled state, the rotary member with the arranged brush elements on the side brush.
Die Lagerung des Drehelements in einer Führung aus Gelenkoberteil und Gelenkunterteil stellt eine zuverlässige und mechanisch belastbare Lagerung des Drehelements dar. Im endmontierten Zustand verhindern beide Gelenkteile ungewollte Bewegung des Drehelements in Richtung der Drehachse. Zusätzliche Bauteile zur Lagerung des Drehelements sind nicht erforderlich. Der Fertigungsaufwand des Robotsaugers wird hierdurch resultiert.The bearing of the rotary member in a guide of hinge top and hinge base is a reliable and mechanically resilient mounting of the rotary member. In the final assembled state both hinge parts prevent unwanted movement of the rotary member in the direction of the axis of rotation. Additional components for mounting the rotary member are not required. The production cost of Robotsaugers is thereby resulting.
Es ist zusätzlich bevorzugt, dass das Gelenkoberteil und das Gelenkunterteil eine Kugelschiene zur gleitenden Führung des Drehelements bereitstellen. Dabei ist auf der dem Drehelement zugewandten Seite des Gelenkoberteils eine erste Hälfte der Kugelschiene und auf der dem Drehelement zugewandten Seite des Gelenkunterteils eine zweite Hälfte der Kugelschiene angeordnet.It is additionally preferred that the joint upper part and the lower joint part provide a ball rail for sliding guidance of the rotary element. In this case, a first half of the ball rail and on the side facing the rotary member side of the joint lower part, a second half of the ball rail is arranged on the side facing the rotary member side of the joint upper part.
Die Anordnung einer Kugelschiene zur gleitenden Führung des Drehelements reduziert die Reibung zwischen den beiden Gelenkteilen und dem Drehelement auf ein Minimum. Dies gewährleistet, dass die auf die Bürstenelemente wirkenden Druckkräfte ohne große Reibkraftverluste in Bewegungen des Drehelements umgesetzt werden können. Aufgrund der Temperaturbeständigkeit von Kugelschienen wird eine annähernd verschleißfreie und mechanisch stabile Lagerung des Drehelements erreicht.The arrangement of a ball rail for sliding guidance of the rotary member reduces the friction between the two hinge parts and the rotary member to a minimum. This ensures that the pressure forces acting on the brush elements can be converted into movements of the rotary element without great frictional force losses. Due to the temperature resistance of ball rails an approximately wear-free and mechanically stable mounting of the rotary member is achieved.
In einer bevorzugten Ausführungsform weisen die Führung zwischen Gelenkoberteil und Gelenkunterteil eine im Wesentlichen konkave Form auf. Das heißt, die dem Drehelement zugewandten Seiten des Gelenkoberteils und des Gelenkunterteils weisen beide im Querschnitt jeweils eine Krümmung auf, die der zu reinigenden Fläche abgewandt ist. Bei kombinierter Anordnung von Gelenkoberteil und Gelenkunterteil im endmontierten Zustand ergibt sich so eine Führung für das Drehelement, die im Querschnitt weitestgehend die Form eines Kreisbogenausschnitts aufweist. In alternativen Ausführungsformen sind aber auch andere Formen der Führung denkbar, insbesondere eine im Querschnitt annähernd rechteckige Form der Führung, die durch das Gelenkoberteil und das Gelenkunterteil gebildet wird.In a preferred embodiment, the guide between the upper hinge part and the lower hinge part have a substantially concave shape. That is, the sides of the joint upper part and the lower joint part facing the rotary element both have a curvature in cross-section, each of which faces away from the surface to be cleaned. With a combined arrangement of the upper hinge part and the lower hinge part in the final assembled state, this results in a guide for the rotary element, which largely has the shape of a circular arc cutout in cross section. In alternative embodiments, however, other forms of leadership are conceivable, in particular a cross-sectionally approximately rectangular shape of the guide, which is formed by the upper hinge part and the lower hinge part.
In einer besonders bevorzugten Ausführungsform weist das Drehelement eine annähernd konkave Form auf. Dabei weisen die der zu reinigenden Fläche zugewandte Seite des Drehelements und die der zu reinigenden Fläche abgewandte Seite des Drehelements im Querschnitt jeweils eine Krümmung auf, die der zu reinigenden Fläche abgewandt ist. Die Krümmungen der beiden Seiten des Drehelements sind dabei annähernd identisch ausgeprägt. In einer alternativen Ausführungsform ist es aber auch denkbar, das Drehelement ohne Krümmung, bspw. mit rechteckigem Querschnitt auszuführen.In a particularly preferred embodiment, the rotary element has an approximately concave shape. In this case, the side of the rotary element facing the surface to be cleaned and the side of the rotary element facing away from the surface to be cleaned each have, in cross section, a curvature which faces away from the surface to be cleaned. The curvatures of the two sides of the rotary member are approximately identical pronounced. In an alternative embodiment, however, it is also conceivable to carry out the rotary element without curvature, for example with a rectangular cross section.
Die Anordnung einer Führung zwischen den beiden Gelenkelementen mit konkaver Form in Kombination mit einem Drehelement, das ebenfalls eine konkave Form aufweist, führt zu einer zusätzlichen Verbesserung der Hindernisüberwindung durch die Seitenbürste. Trifft ein Bürstenelement auf ein Hindernis, bewirkt die durch den Kontakt zwischen Hindernis und Bürstenelement entstehende Druckkraft eine Bewegung des Drehelements. Diese ist dabei annähernd senkrecht zur Drehachse in Richtung der vom Hindernis abgewandten Seite des Drehelements gerichtet. Da sowohl das Drehelement als auch die Führung im Querschnitt eine weitestgehend konkave Form aufweisen, führt die Druckkraft bedingte Verschiebung des Drehelements auf der Seite die dem Hindernis abgewandt ist, zu einem Abheben der Bürstenelemente. Das heißt, die Bürstenelemente, die auf ein Hindernis auftreffen, werden durch die entstehende Druckkraft und die daraus resultierenden Bewegung des Drehelements nicht nur senkrecht verschoben sondern auch angehoben. Diese Höhenverstellung überträgt sich aufgrund des rotierenden Drehelements auf die Bürstenelemente, die den druckkraftverursachenden Bürstenelementen nachfolgen. Dies erleichtert die Überwindung von Hindernissen, die am gesamten Umfang der Seitenbürste auf die Bürstenelemente auftreffen können. Das Risiko eines Verhaken oder Verklemmens von Bürstenelemente und einer daraus resultierende Störung oder Unterbrechung der autonomen Reinigungsfahrt kann so weitestgehend ausgeschlossen werden. Zusätzliche an den Seitenbürsten angeordnete Elemente, die zur Verbesserung der Hindernisüberwindung eingesetzt werden, bspw. Motoren zum Anheben oder Neigen der Seitenbürste, sind dadurch nicht erforderlich.The arrangement of a guide between the two concave-shaped hinge elements in combination with a rotary element which also has a concave shape results in an additional improvement of the obstacle overcoming by the side brush. When a brush element hits an obstacle, the pressure force resulting from the contact between the obstacle and the brush element causes the rotary element to move. This is directed approximately perpendicular to the axis of rotation in the direction of the side facing away from the obstacle side of the rotary member. Since both the rotary member and the guide have a largely concave shape in cross-section, the pressure force caused displacement of the rotary member on the side facing away from the obstacle, leads to a lifting of the brush elements. That is, the brush elements that impinge on an obstacle are not only vertically displaced by the resulting pressure force and the resulting movement of the rotary member but also raised. Due to the rotating rotary element, this height adjustment is transmitted to the brush elements which follow the pressure-force-causing brush elements. This makes it easier to overcome obstacles that can hit the brush elements along the entire circumference of the side brush. The risk of snagging or jamming of brush elements and a resulting disruption or interruption of the autonomous cleaning drive can be excluded as far as possible. Additional elements arranged on the side brushes, which help to overcome obstacles used, for example. Motors for raising or tilting the side brush, this is not required.
Es ist zusätzlich bevorzugt, dass bei einer Bewegung des Drehelements senkrecht zur Drehachse sich der Wirkwinkel, mit der die Bürstenelemente auf den zu reinigenden Bodenbelag auftreffen, verändert. Der Wirkwinkel spannt sich an dem Punkt auf, an dem die Bürstenelemente mit ihrer der zu reinigenden Fläche zugewandten Seite auf die Fläche auftreffen. Der Wirkwinkel spannt sich dabei zwischen der zu reinigenden Fläche und der zu reinigenden Fläche zugewandten Seite der Bürstenelemente auf. Die Bewegung des Drehelements in die Richtung einer Ebene, die im Wesentlichen senkrecht zur Drehachse steht, bewirkt so eine Anpassung der Wirkwinkel mit der die Bürstenelemente auf den zu reinigenden Bodenbelag oder Hindernisse, die sich auf den zu reinigenden Bodenbelag befinden, treffen. Entsteht durch ein Auftreffen der Bürstenelemente auf ein Hindernis eine Druckkraft, die zu einer Bewegung des Drehelements senkrecht zur Drehachse führt, flacht sich der Wirkwinkel, mit der Bürstenelemente auf das Hindernis auftreffen, ab.It is additionally preferred that during a movement of the rotary element perpendicular to the axis of rotation, the angle of action, with which the brush elements impinge on the floor covering to be cleaned, changes. The angle of action spans at the point where the brush elements impinge on the surface with their side facing the surface to be cleaned. The effective angle spans between the surface to be cleaned and the surface of the brush elements facing the surface to be cleaned. The movement of the rotary member in the direction of a plane that is substantially perpendicular to the axis of rotation, thus effecting an adjustment of the operating angle with which the brush elements on the floor to be cleaned or obstacles that are on the floor to be cleaned meet. If, as a result of an impact of the brush elements on an obstacle, a compressive force results, which leads to a movement of the rotary element perpendicular to the axis of rotation, the effective angle at which the brush elements strike the obstacle flattens off.
Der flexible Wirkwinkel mit dem die Bürstenelemente auf den zu reinigenden Bodenbelag auftreffen, verbessert die Fähigkeit der Seitenbürsten Hindernisse auf der zu reinigenden Fläche zu überwinden oder sich an spezifische Geometrien auf der zu reinigenden Fläche anzupassen. Die Anpassung des Wirkwinkels an spezifische Raumgeometrien führt zusätzlich zu einer Verbesserung der Reinigungsleistung durch die Seitenbürsten insbesondere in Rand- und Eckbereichen.The flexible working angle with which the brush elements impinge on the floor covering to be cleaned improves the ability of the side brushes to overcome obstacles on the surface to be cleaned or to adapt to specific geometries on the surface to be cleaned. The adaptation of the effective angle to specific room geometries also leads to an improvement in the cleaning performance of the side brushes, especially in edge and corner areas.
In einer bevorzugten Ausführungsform bleibt bei einer Bewegung des Drehelements senkrecht zur Drehachse die Ausrichtung der Drehachse in Bezug auf die zu reinigende Fläche konstant. Das heißt die Achse, um die das Drehelement rotiert und um die sowohl Gelenkoberteil als auch Gelenkunterteil symmetrisch angeordnet sind, erfährt bei einer Bewegung des Drehelements senkrecht zur Drehachse keine Verschiebung. Mit anderen Worten behält der innere Ring des Drehelements bei einer Bewegung des Drehelements senkrecht zur Drehachse seine Position bei. Lediglich der äußere Ring mitsamt den angeordneten Bürstenelementen wird senkrecht zur Drehachse und somit auch zum inneren Ring des Drehelements bewegt.In a preferred embodiment, the orientation of the axis of rotation with respect to the surface to be cleaned remains constant during a movement of the rotary member perpendicular to the axis of rotation. That is, the axis about which rotates the rotary member and are arranged symmetrically about the joint upper part as well as lower joint part, undergoes no displacement during a movement of the rotary member perpendicular to the axis of rotation. In other words, the inner ring of the rotary member maintains its position perpendicular to the axis of rotation during a movement of the rotary member. Only the outer ring together with the arranged brush elements is moved perpendicular to the axis of rotation and thus also to the inner ring of the rotary member.
Die Unabhängigkeit zwischen der Position der Drehachse und der Bewegung des Drehelements senkrecht zur Drehachse ermöglicht die verbesserte Hindernisüberwindung der Seitenbürste, ohne diese selber in der Höhe zu verstellen oder deren Wirkwinkel zu verändern. Dadurch entfällt die Anordnung von zusätzlichen Bauteilen im Gerätegehäuse des Saugroboters, die dazu geeignet sind, die Seitenbürste als solche in der Höhe zu verstellen oder deren Neigungswinkel zu verändern.The independence between the position of the axis of rotation and the movement of the rotary member perpendicular to the axis of rotation allows the improved obstacle overcoming the side brush, without adjusting the height itself or to change the effective angle. This eliminates the arrangement of additional components in the device housing of the vacuum robot, which are adapted to adjust the side brush as such in height or to change the angle of inclination.
Bevorzugt ist zudem, dass das Drehelement einen äußeren Ring und einen inneren Ring aufweist, die über mindestens ein Federelement miteinander verbunden sind. Die Federelemente sind dabei so zwischen dem inneren und äußeren Ring angeordnet, dass diese eine konzentrische Ausrichtung der beiden Ringe zueinander bewirken, wenn keine Druckkräfte auf das Drehelement wirken. Im Zuge einer hindernisfreien Fahrt wird das Drehelement so in einer neutralen, das heißt nicht ausgelenkten Position gehalten, wodurch die Seitenbürste in festlegbarer Form zur Reinigungsleistung des Saugroboters beiträgt.It is also preferred that the rotary member has an outer ring and an inner ring, which are connected to each other via at least one spring element. The spring elements are arranged between the inner and outer ring so that they cause a concentric alignment of the two rings to each other when no pressure forces acting on the rotary member. In the course of a obstacle-free ride, the rotary member is held in a neutral, that is not deflected position, whereby the side brush contributes in festlegbarer form to the cleaning performance of the vacuum robot.
Bevorzugt ist zudem, dass am Gelenkoberteil und am Gelenkunterteil jeweils eine Aufnahme für den inneren Ring des Drehelements angeordnet ist. Die auf beiden Gelenkteilen angeordnete Aufnahme gewährleistet eine verlustfreie Übertragung des Drehmoments vom Seitenbürstenantrieb auf den inneren Ring des Drehelements.It is also preferred that in each case a receptacle for the inner ring of the rotary member is arranged on the upper hinge part and the lower hinge part. The arranged on both hinge parts recording ensures lossless transmission of torque from the side brush drive on the inner ring of the rotary member.
In einer bevorzugten Ausführungsform sind am Drehelement 10 bis 40 Bürstenelemente und in einer besonders bevorzugten Ausführungsform 15 bis 25 Bürstenelemente angeordnet. Die Bürstenelemente stehen dabei radial nach außen vom Drehelement ab und weisen eine annähernd konstante Länge auf. Die Bürstenelemente sind dabei umlaufend in diskreten Gruppen gleichmäßig am Drehelement angeordnet. In einer alternativen Ausführungsform ist es aber auch denkbar, die Bürstenelemente in kontinuierlicher Form am Drehelement anzuordnen.In a preferred embodiment, brush elements are arranged on the
Die Anordnung einer vergleichsweisen hohen Anzahl an Bürstenelementen verbessert die Reinigungsleistung der Seitenbürsten im signifikanten Umfang. Auf der zu reinigenden Fläche befindliche Staub- und Schmutzpartikel werden durch solche Seitenbürsten sicher erfasst und in Richtung der Saugöffnung gekehrt. Insbesondere auf hochflorigen oder strukturierten Bodenbelägen führt die Anordnung von zusätzlichen Bürstenelementen an den Seitenbürsten zu einer deutlichen Steigerung der Reinigungsleistung. Die relativ hohe Anzahl an Bürstenelementen ermöglicht gleichzeitig eine Reduktion der Rotationsgeschwindigkeiten der Seitenbürsten ohne deren Reinigungsleistung in Bezug auf die Staubmobilisation und Staubmitnahme nennenswert zu verschlechtern. In der Folge lässt sich der Stromverbrauch der Seitenbürstenantriebe reduzieren, wodurch die Akkukapazitäten des Saugroboters geschont werden.The arrangement of a comparatively high number of brush elements improves the cleaning performance of the side brushes to a significant extent. On the surface to be cleaned dust and dirt particles are reliably detected by such side brushes and swept in the direction of the suction port. Especially on deep-pile or structured floor coverings, the arrangement of additional brush elements on the side brushes leads to a significant increase in the cleaning performance. The relatively high number of brush elements simultaneously enables a reduction in the rotational speeds of the side brushes without significantly worsening their cleaning performance in terms of dust mobilization and dust entrainment. As a result, the power consumption of the side brush drives can be reduced, whereby the battery capacities of the vacuum robot are spared.
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Einander entsprechende Gegenstände oder Elemente sind in allen Figuren mit den gleichen Bezugszeichen versehen. Das oder jedes Ausführungsbeispiel ist nicht als Einschränkung der Erfindung zu verstehen. Vielmehr sind im Rahmen der vorliegenden Offenbarung auch Abänderungen und Modifikationen möglich, die durch Kombination oder Abwandlung von einzelnen in Verbindung mit den im allgemeinen oder speziellen Beschreibungsteil beschriebenen sowie in den Ansprüchen und/oder den Zeichnungen enthaltenen Merkmalen oder Verfahrensschritten für den Fachmann in Hinblick auf die Lösung der Aufgabe entnehmbar sind und durch kombinierbare Merkmale zu einem neuen Gegenstand oder zu neuen Verfahrensschritten führen. Es zeigen:
- Figur 1
- Querschnitt eines Saugroboters mit Seitenbürsten;
- Figur 2
- Querschnitt einer Seitenbürste;
- Figur 3
- Querschnitt der Lagerung eines Drehelements;
- Figur 4
- Querschnitt einer Seitenbürste in einer ersten Position und Querschnitt einer Seitenbürste in einer zweiten Position;
- Figur 5
- Aufsicht eines Drehelements in einer ersten Position und Aufsicht eines Drehelements in einer zweiten Position.
- FIG. 1
- Cross section of a vacuum robot with side brushes;
- FIG. 2
- Cross section of a side brush;
- FIG. 3
- Cross section of the mounting of a rotary member;
- FIG. 4
- Cross section of a side brush in a first position and cross section of a side brush in a second position;
- FIG. 5
- Top view of a rotary member in a first position and a plan view of a rotary member in a second position.
Die von der Seitenbürste 12 oder der Bürstenwalze 40 aus der zu reinigenden Fläche gelösten Staub- oder Schmutzpartikel werden durch die Saugöffnung 38 des Saugroboters 10 aufgenommen. Die Saugöffnung 38 steht über einen Saugkanal 42 und einen Staubsammelraum 44 in strömungstechnischer Verbindung mit einem ebenfalls im Gerätegehäuse 36 des Saugroboters 10 angeordneten Gebläse 46. Auf diese Weise ist der vom Gebläse 46 erzeugte Saugluftstrom dazu geeignet, die von der Seitenbürste 12 und der Bürstenwalze 40 gelösten Staub- und Schmutzpartikel durch die Saugöffnung 38 aufzunehmen. Anschließend werden diese über den Saugkanal 42 in den Staubsammelraum 44 geleitet und dort abgelagert. In Bezug auf die Fahrrichtung 52 des Saugroboters 10 ist hinter der Saugöffnung 38, auf der Seite des Gerätegehäuses 36, das der zu reinigenden Fläche zugewandt ist, ein Fahrantrieb 48 angeordnet. Dieser ist dazu geeignet den Saugroboter 10 autonom über die zu reinigenden Fläche zu bewegen.The dust or dirt particles dissolved by the
Unterhalb des Gelenkoberteils 28 ist ein Drehelement 14 rotationssymmetrisch um die Drehachse 18 der Seitenbürste 12 angeordnet. Das Drehelement 14 weist sowohl auf der der zu reinigenden Fläche zugewandten als auch auf der abgewandten Seite eine Krümmung auf. Die Krümmungen auf beiden Seiten des Drehelements 14 sind entgegengesetzt zur reinigenden Fläche gewölbt. Die Krümmung des Drehelements 14 auf der dem Gelenkoberteil 28 zugewandten Seite ist weitestgehend identisch mit der Krümmung des Gelenkoberteils 28. Die Krümmung des Drehelements 14 auf der dem Gelenkunterteil 30 zugewandten Seite ist weitestgehend identisch mit der Krümmung des Gelenkunterteils 30. Dies ermöglicht im endmontierten Zustand der Seitenbürste 12 eine weitestgehend spaltfreie Aufnahme des Drehelements 14 sowohl durch das Gelenkoberteil 28 als auch durch das Gelenkunterteil 30. Mittig um die die Drehachse 18 zentriert weist das Drehelement 14 einen inneren Ring 22 auf (nicht dargestellt in
Unterhalb des Drehelements 14 ist ein Gelenkunterteil 30 angeordnet, das symmetrisch um die Drehachse 18 der Seitenbürste 12 ausgerichtet ist. Mittig zentriert weist das Gelenkunterteil 30 einen Zapfen 56 auf, der durch die Öffnung des inneren Rings 22 des Drehelements 14 hindurch in die auf der Unterseite des Gelenkoberteils 28 angeordnete Öffnung 54 eingreift. Das Gelenkunterteil 30 weist auf der Seite, die der zu reinigenden Fläche abgewandt ist, eine Krümmung auf. Diese ist in Richtung des Drehelements 14 gewölbt, wobei die Wölbung eine weitestgehend identische Krümmung aufweist, wie die Seite des Drehelements 14, die der zu reinigenden Fläche zugewandt ist.Below the
Auf der rechten Seite von
Die Aufsicht eines Drehelements 14 in einer zweiten Position ist auf der rechten Seite der
- 1010
- Saugroboterrobotic vacuum
- 1212
- Seitenbürsteside brush
- 1414
- Drehelementrotating member
- 1616
-
Bürstenelemente
16.1 erste Bürstenelemente
16.2 zweite Bürstenelementebrush elements
16.1 first brush elements
16.2 second brush elements - 1818
- Drehachseaxis of rotation
- 2020
- äußerer Ringouter ring
- 2222
- innerer Ringinner ring
- 2424
- Federelementspring element
- 2626
- Führungguide
- 2828
- GelenkoberteilJoint shell
- 3030
- GelenkunterteilHinge base
- 3232
- Aufnahmeadmission
- 3434
- SeitenbürstenantriebSide brush drive
- 3636
- Gerätegehäusedevice housing
- 3838
- Saugöffnungsuction opening
- 4040
- Bürstenwalzebrush roll
- 4242
- Saugkanalsuction
- 4444
- StaubsammelraumDust collection chamber
- 4646
- Gebläsefan
- 4848
- Fahrantriebtraction drive
- 5050
- Hindernisobstacle
- 5252
- Fahrtrichtung SaugroboterDriving direction Vacuum robot
- 5454
- Öffnung GelenkoberteilOpening joint upper part
- 5656
- Zapfen GelenkunterteilSpigot hinge base
- 5858
- Druckkraftthrust
- 6060
- Rotationrotation
Claims (11)
dadurch gekennzeichnet,
dass das um die Drehachse (18) rotierende Drehelement (14) senkrecht zur Drehachse (18) relativ zu dieser beweglich ist.Suction robot (10) for the autonomous cleaning of surfaces which has at least one side brush (12) facing the surface to be cleaned, the at least one side brush (12) having a rotary element (14), brush elements (16) being mounted on the rotary element (14) are arranged, wherein the rotary member (14) is rotatably mounted rotatably about an axis of rotation (18),
characterized,
in that the rotary element (14) rotating about the axis of rotation (18) is movable perpendicular to the axis of rotation (18) relative thereto.
dadurch gekennzeichnet,
dass das Drehelement (14) in alle Richtungen einer Ebene, die im Wesentlichen senkrecht zur Drehachse (18) liegt, beweglich ist.Suction robot (10) according to claim 1,
characterized,
in that the rotary element (14) is movable in all directions of a plane which is substantially perpendicular to the axis of rotation (18).
dadurch gekennzeichnet,
dass das Drehelement (14) in einer Führung (26) gelagert wird, die durch ein Gelenkoberteil (28) und ein Gelenkunterteil (30) bewirkt wird.Suction robot (10) according to one of the preceding claims,
characterized,
in that the rotary element (14) is mounted in a guide (26) which is brought about by a joint upper part (28) and a joint lower part (30).
dadurch gekennzeichnet,
dass das Gelenkoberteil (28) und das Gelenkunterteil (30) eine Kugelschiene zur gleitenden Führung (26) des Drehelements (14) bereitstellen.Suction robot (10) according to one of the preceding claims,
characterized,
in that the upper joint part (28) and the lower joint part (30) provide a ball rail for the sliding guide (26) of the rotary element (14).
dadurch gekennzeichnet,
dass die Führung (26) zwischen Gelenkoberteil (28) und Gelenkunterteil (30) eine im Wesentlichen konkave Form aufweist.Suction robot (10) according to one of the preceding claims,
characterized,
that the guide (26) between joint upper part (28) and joint lower part (30) has a substantially concave shape.
dadurch gekennzeichnet,
dass das Drehelement (14) eine annähernd konkave Form aufweist.Suction robot (10) according to one of the preceding claims,
characterized,
that the rotary element (14) has an approximately concave shape.
dadurch gekennzeichnet,
dass bei einer Bewegung des Drehelements (14) senkrecht zur Drehachse (18) sich der Wirkwinkel, mit der die Bürstenelemente (16) auf den zu reinigenden Bodenbelag auftreffen, verändert.Suction robot (10) according to claim 1 or 2, wherein the brush elements (16) arranged on the rotary element (14) impinge on the floor surface to be cleaned in the normal cleaning mode with an approximately constant angle of action.
characterized,
that during a movement of the rotary member (14) perpendicular to the axis of rotation (18) of the Operating angle, with which the brush elements (16) impinge on the floor to be cleaned, changed.
dadurch gekennzeichnet,
dass bei einer Bewegung des Drehelements (14) senkrecht zur Drehachse (18) die Ausrichtung der Drehachse (18) in Bezug auf die zu reinigende Fläche konstant bleibt.Suction robot (10) according to one of the preceding claims,
characterized,
that during a movement of the rotary member (14) perpendicular to the axis of rotation (18), the orientation of the axis of rotation (18) with respect to the surface to be cleaned remains constant.
dadurch gekennzeichnet,
dass das Drehelement (14) einen äußeren Ring (20) und einen inneren Ring (22) aufweist, die über mindestens ein Federelement (24) miteinander verbunden sind.Suction robot (10) according to one of the preceding claims,
characterized,
in that the rotary element (14) has an outer ring (20) and an inner ring (22) which are connected to one another via at least one spring element (24).
dadurch gekennzeichnet,
dass am Gelenkoberteil (28) und am Gelenkunterteil (30) jeweils eine Aufnahme (32) für den inneren Ring (22) des Drehelements (14) angeordnet sind.Suction robot (10) according to one of the preceding claims,
characterized,
in that a receptacle (32) for the inner ring (22) of the rotary element (14) is arranged on the joint upper part (28) and on the joint lower part (30).
dadurch gekennzeichnet,
dass am Drehelement (14) in einer bevorzugten Form 10 bis 40 Bürstenelemente (16) und in einer besonders bevorzugten Ausführungsform 15 bis 25 Bürstenelemente (16) angeordnet sind.Suction robot (10) according to one of the preceding claims,
characterized,
that in a preferred form of 10 to 40 brush elements (16) and in a particularly preferred embodiment 15 to 25 brush elements (16) are arranged on the rotary member (14).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014100013.7A DE102014100013A1 (en) | 2014-01-02 | 2014-01-02 | Autonomous tillage implement |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2891444A1 true EP2891444A1 (en) | 2015-07-08 |
EP2891444B1 EP2891444B1 (en) | 2020-04-15 |
Family
ID=52021033
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14196861.0A Active EP2891444B1 (en) | 2014-01-02 | 2014-12-09 | Robot vacuum cleaner with side brushes |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP2891444B1 (en) |
DE (1) | DE102014100013A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014118136A1 (en) * | 2014-12-08 | 2016-06-09 | Miele & Cie. Kg | Side brush for a vacuum robot and robotic vacuum cleaner with a side brush |
WO2021021844A1 (en) | 2019-07-29 | 2021-02-04 | Sharkninja Operating Llc | Robotic cleaner |
EP3900592A3 (en) * | 2020-03-30 | 2022-01-05 | Bissell Inc. | Edge cleaning brushes for floor cleaner |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3420873A1 (en) | 2017-06-30 | 2019-01-02 | Koninklijke Philips N.V. | Vacuum cleaning utensil having rotating brush |
Citations (6)
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JPS62292124A (en) * | 1986-06-12 | 1987-12-18 | 松下電器産業株式会社 | Self-propelling cleaner |
US20050166356A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Self-propelled vacuum cleaner |
EP2561785A2 (en) | 2011-08-23 | 2013-02-27 | Bissell Homecare, Inc. | Auxiliary brush for vacuum cleaner |
US20130086760A1 (en) * | 2011-10-06 | 2013-04-11 | Samsung Electronics Co., Ltd | Robot cleaner |
EP2606798A2 (en) * | 2011-12-22 | 2013-06-26 | Samsung Electronics Co., Ltd | Robot cleaner |
US20130291331A1 (en) * | 2011-09-23 | 2013-11-07 | Haeseock Yang | Automatic cleaner |
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US3354488A (en) * | 1966-03-31 | 1967-11-28 | Electrolux Ab | Surface treating apparatus |
DE10357636B4 (en) * | 2003-12-10 | 2013-05-08 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collecting device |
DE102010037672B4 (en) * | 2010-09-21 | 2023-03-23 | Vorwerk & Co. Interholding Gmbh | Rotatable sweeping brush and automatically movable floor device with such a sweeping brush |
-
2014
- 2014-01-02 DE DE102014100013.7A patent/DE102014100013A1/en not_active Withdrawn
- 2014-12-09 EP EP14196861.0A patent/EP2891444B1/en active Active
Patent Citations (6)
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JPS62292124A (en) * | 1986-06-12 | 1987-12-18 | 松下電器産業株式会社 | Self-propelling cleaner |
US20050166356A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Self-propelled vacuum cleaner |
EP2561785A2 (en) | 2011-08-23 | 2013-02-27 | Bissell Homecare, Inc. | Auxiliary brush for vacuum cleaner |
US20130291331A1 (en) * | 2011-09-23 | 2013-11-07 | Haeseock Yang | Automatic cleaner |
US20130086760A1 (en) * | 2011-10-06 | 2013-04-11 | Samsung Electronics Co., Ltd | Robot cleaner |
EP2606798A2 (en) * | 2011-12-22 | 2013-06-26 | Samsung Electronics Co., Ltd | Robot cleaner |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014118136A1 (en) * | 2014-12-08 | 2016-06-09 | Miele & Cie. Kg | Side brush for a vacuum robot and robotic vacuum cleaner with a side brush |
DE102014118136B4 (en) * | 2014-12-08 | 2017-08-17 | Miele & Cie. Kg | Side brush for a vacuum robot and robotic vacuum cleaner with a side brush |
US9955839B2 (en) | 2014-12-08 | 2018-05-01 | Miele & Cie. Kg | Side brush for a robotic vacuum cleaner and robotic vacuum cleaner comprising a side brush |
WO2021021844A1 (en) | 2019-07-29 | 2021-02-04 | Sharkninja Operating Llc | Robotic cleaner |
EP4003119A4 (en) * | 2019-07-29 | 2023-08-23 | SharkNinja Operating LLC | Robotic cleaner |
EP3900592A3 (en) * | 2020-03-30 | 2022-01-05 | Bissell Inc. | Edge cleaning brushes for floor cleaner |
US11284759B2 (en) | 2020-03-30 | 2022-03-29 | Bissell Inc. | Edge cleaning brushes for floor cleaner |
Also Published As
Publication number | Publication date |
---|---|
EP2891444B1 (en) | 2020-04-15 |
DE102014100013A1 (en) | 2015-07-02 |
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