DE102010060876A1 - Automatic movable device, particularly automatically movable floor dust collecting device, has movable wheels driven by electric motor, where device housing and dust collecting container are provided - Google Patents

Abstract

The automatic movable device (1) has movable wheels driven by electric motor, where a device housing and a dust collecting container are provided. An obstacle detection unit (H) is provided, where an initiation of drive energy to a rotary part takes place by an elastic element which enables the function of a slip clutch.

Description

The invention relates firstly to an automatically movable device, in particular automatically movable ground dust collecting device, with electric motor driven traversing wheels, a device housing and preferably a dust collection container, the device is provided with an obstacle detection, which consists of optical transmitting and receiving units and wherein an element for Beam deflection is provided, wherein at least a portion of the transmitting and receiving units by 180 ° or more rotatable and preferably on a rotatable rotary part is further arranged for Rundum detection.

Devices of the type in question are known, so for example. In the form of automatically movable suction and / or cleaning equipment for cleaning of particular floors, in addition in a further embodiment, for example. In the form of an automatically movable transport device or further example. In the form of a Rasenmähgerätes. Such devices are preferably provided with distance sensors, so as to avoid, for example, a collision with stationary objects or the like. These sensors preferably operate without contact, so more preferably as light or ultrasonic sensors. For this purpose, it is further known to provide the device with means for all-around distance measurement, so on, for example, in the form of an optical triangulation system, which is arranged on a, preferably rotating about a vertical axis of the device rotary member. By means of such a system, distance measurements can be achieved according to reflections which distance measurements for spatial orientation, in particular in the course of the automatic work for obstacle detection and more preferably for creating a map of the space to be traveled and thus used accordingly to create a mapping. In this regard, for example, on the DE 10 2008 014 912 A1 directed. The content of this patent application is hereby incorporated in full into the disclosure of the present invention, also for the purpose of including features of this patent application in claims of the present invention. The space limitations detected according to the distance measurement, possibly taking into account any obstacles in the rooms, are preferably stored in the form of a mapping of the environment, in particular the apartment consisting of several rooms, more preferably in a non-volatile memory of the device, so that in the course of a Cleaning or transport process can be used on this mapping for guidance. For all-round or approximately all-around obstacle detection, the rotating part having at least a part of the transmitting and receiving units is driven continuously in one direction or alternately preferably around a vertical axis.

In view of the above-described prior art, a technical problem of the invention is seen in a device of the type in question to further improve.

This problem is solved first and foremost by the subject matter of claim 1, wherein it is pointed out that the introduction of drive energy to the rotary part via a, the function of a slip clutch enabling, elastic element takes place. As a result of this embodiment, a malfunction, in particular of the rotary part and / or of the actuator driving the rotary part, is counteracted, for example, in the event of a blockage of the rotary part to be driven. Such a blockage may, for example, then occur when the device undercuts an obstacle, for example. Under a piece of furniture moves, which has a free passage height (starting from the floor), which is slightly less than the vertical height of the device, so that it below Circumstances may lead to a pinching of the device. The turntable may be blocked. In the case of an immediate introduction of the drive energy to the rotary part, for example via a gear connection or in the case of a rigid shaft connection, this rotary part blockage can lead to a fault up to destruction, in particular of the drive train. By the proposed solution, a frictional connection between the rotary member and the drive energy to the rotary member transmitting element is provided which allows the function of a slip clutch, in particular in the blocking case of the rotary member. If the rotary member mechanically block, the output of the drive source, possibly to the electronic shutdown of the same, while lifting the direct clutch continue to slide over the intended elastic element.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 1 or with features of further claims. But they can also be in an assignment to only individual features of claim 1 or the respective further claim or each independently of importance.

The proposed and previously known from the prior art all-round sensor for distance measurement sends out a measuring beam. This determines the distance to the point of impact of the measuring beam on the next obstacle, z. B. a wall or a piece of furniture. As a method of measurement here preferably a light transit time method (ToF, time of flight) is used. A phase correlation method (PKS) is also possible in this regard. More preferably, a triangulation method is considered. The measuring beam can be formed as a line (divergence angle of the steel very small, smaller than 50 mrad, which preferably leads typically to a beam diameter in the range of 1 to 22 mm) or as an extended beam. In this case, a beam with a divergence of 2 to 4 mrad is preferably used, which reaches a diameter of 20 to 30 mm at a distance of 3 m. The receiving region of the sensor is preferably designed as a divergent receiving lobe in the same way, with its divergence being greater (for example by a factor of 2) than that of the transmitting beam in order to compensate for tolerances.

The non-contact working sensor for measuring a distance to an object is equipped with at least one optical light source, which generates the measuring beam. The light source emits light in the visible or invisible wavelength range, eg. Red in the range of 650 nm or green in the range of 532 nm. Preference is given to light in the infrared range having a wavelength of more than 700 nm, more preferably beam sources (laser diodes or LEDs) having wavelengths of, for example, 785 nm, 850 nm or 980 nm. The light source may be a lamp or LED, but preferably laser diodes are provided.

Furthermore, the sensor is preferably equipped with at least one optical receiving element, which is sensitive at least in the selected wavelength range of the transmitting element, more preferably embodied, for example, as at least one photodiode, photoresistor, CCD chip or CMOS chip. The optical receiver can be designed as a single receiving element for detecting a single incoming light signal or as a multicell array or as a multicell line for simultaneous or sequential detection of a plurality of incoming light signals. There are also known in this regard extensive sensors, for example, linear or flat PSD elements.

Optionally, the light source and also the photosensitive element can be assigned optical elements (preferably for forming a transmission beam / transmission cone or reception beam / reception cone) without these being explicitly listed below. Optical elements may be lenses (converging lenses, diverging lenses, also designed as Fresnel lenses), aspherical or spherical), diaphragms (circular, slot-shaped, arbitrarily shaped, designed as separate parts or integrated in the housing of the sensor), prisms, mirrors (plan, concave, convex, freeform), light guides or free-form elements. Under optical elements are also protective or cover discs understood in the optical path, which serve the mechanical protection of the optical device. Preferably associated with the light source and / or the light-sensitive element optical filters are provided which are as permeable as possible for the intended optical wavelength, for others but as little as possible permeable. Optical filters may be provided as separate elements or integrated with other optical elements (eg, lens coloring or coating, protective windows, etc.). Dyeing, coating, vapor deposition etc. are also possible. If mirrors are used, then surface mirrors are preferred since they have lower optical losses. In this case, it further makes sense to perform the mirror as a plastic injection molded part and to provide the actual mirror surface as a surface coating with a reflective layer. Here, the use of metallic layers, for example, silver, gold or copper, more preferably aluminum. When using aluminum is further preferred as a further coating (passivation), a corrosion protection layer is provided.

Further, the elastic member is preferably arranged circumferentially to the rotation axis on the rotary member, alternatively revolving around the rotation axis of the drive member driving the rotary member, more preferably, the elastic member may be made of a rubber material or a soft plastic such as TPE (thermoplastic elastomer) , The elastic element is correspondingly preferably transversely to the direction of rotation, more preferably correspondingly resiliently configured in the radial direction such that the frictionally engaged connection achieved thereby is reliably retained until a preferably predetermined maximum load moment is reached.

The rotary member preferably has a structural body, for example. Having a plate-shaped mounting plate for arranging at least a portion of the transmitting and receiving unit. In one embodiment, the elastic element is formed separately from the structural body, more preferably, after production of the structural body, it can be assigned to it, for example glued or welded to the structural body, and optionally connected in a form-fitting manner. Thus, in a separate embodiment of the elastic element this preferably formed according to an O-ring, correspondingly has a circular or a circular shape ajar cross-section, wherein further the elastic element as a ring-shaped solid part or as an annular tube part with a considered in cross-section central chamber can be formed. In an alternative embodiment, the elastic element is formed by means of a separate plastic component, this further preferably in the context of the production of the rotating part in a two-component injection molding process, wherein a plastic hard component for forming the structural part and a Plastic soft component is used to form the elastic element.

The rotary member is further preferably supported by means of the element in both the axial and in the radial direction. Accordingly, the elastic element has a dual function, namely on the one hand as a transmission element for the drive energy and on the other as a bearing element of the rotary member, this further preferably in cooperation of the elastic member with separate from the rotating part bearing portions of the device.

Further preferably, the element in cross-section on a particular radially outwardly facing convex curvature, this further preferred embodiment of the element as an O-ring or when forming the element by means of a separate plastic component according to a corresponding, preferably provided in the two-component injection molding molding ,

The bearing of the rotary part is further preferably achieved by means of a plurality of bearing wheels distributed in a distributed manner with the element over the circumference, alternatively cooperation with a bearing ring running concentrically with the elastic element or the like. In a preferred arrangement of bearing wheels, further in a preferred arrangement of more than two, for example. Three, four or five circumferentially evenly distributed bearing wheels, these are circumferentially preferably formed to cooperate with, preferably having a convex curvature element correspondingly, more preferably according to a circumferential, concave in cross-section groove having. According to engagement of the elastic element in this groove of each bearing wheel, an axial bearing of the rotary member is achieved via the element in addition to the radial bearing. In an exemplary arrangement of three bearing wheels two of the bearing wheels are designed to be adjustable in the axial direction in a further embodiment, so that in this way the plane of the rotary member and thus the scanning plane of the element for beam deflection can be aligned within an adjustment.

Further alternatively, each bearing wheel freely rotatable about the respective axial axis may be provided with a circumferential elastic element of the type described above, which elastic elements preferably engage in a groove provided on the turntable and circumferential with respect to its axial axis. Again, according to the elastic configuration of the elements a frictional connection between the bearing wheels and the rotary member given, which further enable the function of a slip clutch. This also allows both radial and axial bearing of the rotating part.

In the case of the arrangement of bearing wheels, one of the bearing wheels can be used for the introduction of drive energy to the rotary member, this in a preferred embodiment according to direct or indirect rotary drive of a bearing wheel. The drive is preferably carried out by electric motor, but may alternatively be derived, for example, from the movement of the device. Preference is further in this respect that separately from a bearing wheel, the drive shaft of an electric motor interacts directly with the element, so in particular with the circumferentially provided on the rotary member elastic element, alternatively with an elastic member of a cooperating with the rotary bearing wheel. The drive shaft in this case presses on the elastic element, whereby, according to the frictionally engaged connection achieved via the drive shaft drive energy is transmitted to the rotary member, so that, as further preferred, the drive shaft cooperates with the element corresponding to a friction clutch.

Further alternatively, the turntable can be rotatably mounted directly above, for example, a ball bearing on a preferably central, hollow shaft-like extension of the tray bottom, wherein further preferably in the interior of the rotary member, more preferably in the interior of the rotary member overlapping hollow shaft, the receiving and transmitting device is positioned.

In a further embodiment, it is preferred that the element and / or the hereby cooperating part of the drive shaft is profiled in the drive direction. Thus, by a slight tooth-shaped profiling of the elastic element, a (small) positive connection can be achieved in conjunction with an equally designed drive shaft or a portion of the drive shaft. The flank overlap is chosen here, as well as the driving force of the drive shaft is limited to the elastic element to a minimum, that also in this embodiment, the function of a friction clutch is ensured.

Furthermore, in particular, the element arranged on the rotary part for beam deflection is preferably covered by means of a protective hood which, for example, is made transparent to the passage of the beam in the corresponding regions. Despite this closed design, it may, for example. According to abrasion come to a dust accumulation. If the dust settles on the inside of the optically relevant protective cover or on the element for beam deflection, the measurement performance may be reduced. It proves to be advantageous if associated with the rotary part, a fan wheel is arranged to generate a cleaning effect respect. An arranged on the rotary member optical element, such as a deflection mirror, wherein the drive of the fan wheel from the drive of the rotating part is derived. The driven fan prevents settling of any dust particles on the optical element and / or on the radiated area of the protective hood. According to the derivation of the Lüfterradantriebes from the drive of the rotary member is correspondingly the fan always active when the rotary member is activated. In this context, it proves to be further advantageous if the fan is formed on one of the bearing wheels, wherein more preferably the bearing wheels each have a relation to the diameter of the rotary member in the region of Reibschlusskupplung significantly reduced diameter, so further preferably a diameter corresponding to the 0th , 2 to 0.5 times the turntable diameter corresponds. As a result, the bearing wheels rotate with an increased rotational speed relative to the rotary part, correspondingly preferably also the one or more fan wheels arranged on the one or more bearing wheels. In a preferred embodiment, in which two or more bearing wheels are designed as fan wheels, the protective cover covering the optical element is acted upon from the inside during operation by an air flow which keeps loose particles and dust particles away from the transparent area of the protective hood and from the optical element.

The forces to be applied by the drive are determined by the moving masses, the bearing friction and the flexing work caused by bearing greases and rubber elements. In a preferred embodiment, the pressing force of the drive shaft is chosen so that the sum of the aforementioned forces is transmitted securely, however, a substantial exceeding of this sum of forces leads to a decoupling. The sum of the aforementioned forces is preferably between 1 N and 5 N.

For synchronism control and in the context of eye protection, the rotation of the rotating part must be monitored. Thus, one or more of the bearing wheels are preferably designed as a rotary encoder disk for rotational monitoring of the rotary part. Thus, in the plane of the rotating part, the rotational speed can be measured, for example by means of a light barrier or by means of a Hall sensor.

According to the above-described solution, in which the rotary member is mounted in the radially outer region, the complete rotary part surface is free for optical elements or for the central Lichtein- and light exit in particular vertically down into the fixed relative to the rotary member device housing.

Furthermore, the invention relates to an automatically movable device according to the features of the preamble of claim 1 or claim 1.

In order to improve a device of the type in question further, it is proposed that the element for beam deflection is arranged on a turntable and that the turntable is arranged in an upwardly open shell part above a tray bottom and that a drive motor is arranged below the tray bottom, with a drive shaft, wherein the drive shaft passes through a plane of the shell bottom, for driving interaction with the rotary part above the shell bottom. As a result, a total of - considered in the vertical direction - flat design of the particular to be rotated optical element for beam deflection supporting turntable in the area above the device cover is reached. The vertical height of the area of the turntable projecting beyond the preferably flat ceiling surface of the device housing or the device hood is preferably determined solely by the corresponding vertical extension length of the optical element to be rotated. The turntable carrying the optical element is arranged on the shell bottom of the shell part, which shell part is more preferably supported on the facing surface of the housing cover by means of a circumferential shell collar. Correspondingly, the rotary part preferably extends at least for the most part below the plane passing through the surface of the housing cover. The drive of the rotary member is arranged advantageously below the tray bottom, so in particular engaging in the interior of the covered by the hood portion of the device, wherein one driven via the drive motor drive shaft for the rotary drive of the rotary member passes through the tray bottom.

The height is further preferably obtained from the necessary free height for the optical concerns (preferably 10 mm to 30 mm, more preferably 20 mm), plus the material thickness of the turntable covering protective hood and possibly applied externally thereto shock-absorbing coating. Thus, a height above the plane of the device ceiling of 20 mm to 50 mm is more preferably provided, more preferably 30 mm.

Further features of the invention are explained below, also in the description of the figures, often in their preferred association with the subject matter of claim 9 or with features of further claims. But they can also be in an assignment to only individual features of claim 9 or the respective further Anpruches or each independently of importance.

Thus, it is further provided that the shell part below the shell bottom forms a bearing for the electric motor, with a mobility of the electric motor transverse to a longitudinal axis of the drive shaft, thus correspondingly also the drive shaft is transversely directed to its longitudinal extent movable, in particular in the direction of the to be driven rotary member or in the direction of an element driving the rotary member and in the opposite direction thereto. In conjunction with a further preferred resilient support of the electric motor to the shell part, a bias voltage of the drive shaft against the rotary member or against a rotary member driving transmission element is achieved, whereby further conditionally, the pressing force of the drive shaft against the rotary member or against the transmission part is inevitably limited. When a preferably predetermined maximum load of the drive train is exceeded, the electric motor deviates with the drive shaft against the force of the spring.

In addition, a bearing part for the axial and radial mounting of the rotary member is preferably arranged on the tray bottom, more preferably a plurality of over the circumference of the rotary member evenly spaced bearing parts, more preferably in the form of bearing wheels. With regard to additional or alternative features in connection with the bearing part, in particular in the form of a bearing wheel or further example. In the form of a bearing ring applies to their demanding assignment the same as above respect. The features of claims 1 to 14 executed.

The invention with reference to the accompanying drawings, which only illustrates several embodiments, explained in more detail. It shows:

1 an automatically movable device in the form of a ground dust collecting device in perspective, with a captured by a protective cover rotating part;

2 the rotary member in a perspective single representation, recorded and supported in a can be arranged on the device shell part;

3 the rotary member in perspective single representation with schematically illustrated, associated bearing wheels and drive shaft;

4 a vertical sectional view through the arrangement according to 2 ;

5 the section along the line VV in 4 , the operational state of installation concerning;

6 the section according to the line VI-VI in 2 ;

7 one of the 2 corresponding representation relating to an alternative embodiment, with the formation of fan wheels on the bearing wheels, leaving out a protective hood;

8th a bearing wheel in perspective detail view, concerning a further alternative embodiment, when forming the bearing wheel as a rotary encoder disk;

9 a sectional view according to 6 relating to an alternative embodiment of the bearing wheel;

10 another one 6 corresponding sectional view, in forming the drive shaft for axial and radial mounting of the rotary member;

11 in a further embodiment, a sectional view according to 6 ;

12 the cut according to 6 in a further embodiment;

13 a cross-sectional view through the hood covered by a rotating part area, an alternative embodiment concerning.

Shown and described is first with reference to 1 a self-moving device 1 in the form of a self-propelled ground dust collecting device, with a chassis, which on the underside, facing the floor to be cared, carries electric motor driven Verfahrräder and beyond the lower edge of the chassis floor, also driven by electric motor brush. The chassis is covered by a device hood 2 , where the device 1 the illustrated embodiment has a circular floor plan.

Next, the device can 1 additionally or alternatively to the brush have a suction mouth. In this case is in the device 1 further arranged a suction fan motor, which is electrically operated.

The electrical supply of the individual electrical components of the device 1 as for the electric motor of the Verfahrräder, for the electric drive of the brush, possibly for the suction fan and beyond for the further provided electronics in the device 1 to control the same is achieved via a non-illustrated, rechargeable battery.

There is a need for such devices 1 Detecting obstacles to a jamming of the device 1 to prevent. For this purpose, a sensory obstacle detection H is provided. This is also preferably used to create a map of the environment by means of distance measurements to objects and room boundaries.

The obstacle detection H essentially consists of an optical transmission unit 3 and an optical receiver unit 4 , Both units are based on an optical measuring method, such as in particular on a phase correlation method, time of flight measurement or a heterodyne method.

As transmitting unit 3 serves a laser diode or alternatively an LED or OLED, further alternatively a working based on the electroluminescent light source. Preference is given to a laser diode with red visible light having a wavelength of 650 nm, green visible light in the range of 532 nm or invisible light in the infrared range between 780 nm and 1100 nm. In addition, light in the ultraviolet range is also possible.

As a receiver unit 4 an optical receiver is used which, at least in the selected wavelength range of the transmitting unit 3 is sensitive. The receiver unit 4 is embodied as at least one phototransistor, a photodiode, photoresistor, CCD chip or CMOS chip, wherein the optical receiver as a single receiving element for detecting a single incoming light signal or as a multicell array or as a multi-cell row for simultaneous or sequential detection is formed of several incoming light signals.

The transmitting unit 3 and the receiver unit 4 is summarized in a modular manner on a circuit board in the illustrated embodiment 5 arranged The module thus combined is still an element 6 assigned to the beam deflection, preferably in the form of a plane mirror. The transmitting unit 3 and the receiver unit 4 are aligned so that the emitted light beam or the light beam to be received vertically, preferably parallel to a device 1 is aligned centrally enforcing body axis. The element 6 is positioned in the light beam so that a deflection by 90 ° in the horizontal or a deflection from the horizontal to vertical bottom is achieved. Accordingly, that is the element 6 forming plane mirror aligned at an angle of 45 ° to the horizontal.

The beam deflecting element 6 is about the central vertical axis x of the device 1 rotatable by 360 °, so as to realize an all-around obstacle detection. The transmitting unit 3 and the receiver unit 4 are opposite to the beam deflecting element 6 fixedly arranged, further this way on the board 5 are aligned so that a along the vertical axis x directed light beam can be sent or received.

The obstacle detection H is further carried out so that a single measuring or light beam is used to perform a number of measurements (typically 60 to 360 measurements, preferably 180 measurements, in a 360 ° revolution) on the circumference. This is achieved in that the beam deflecting element 6 rotated about the vertical axis x and clocked at intervals Measurements can be performed.

The guiding of the light beam takes place in such a way that a central ray of a ray bundle in the region between the beam deflecting element and the transmitting and receiving units 3 . 4 the rotation and vertical axis x intersects or coincides with it.

The beam deflecting element 6 is on a, a circular disk-shaped plan having rotating part 7 arranged rotationally fixed. This turned part 7 leaves central, coaxial with the axis of rotation x a passage 8th for the light beam or the beam.

Wandungsaußenseitig circumferential is the rotary part 7 with an open-edged receiving groove 9 Mistake. In this lies an elastic element 10 a, consisting of a rubber material or a soft plastic such as TPE. The elastic element 10 is designed according to an O-ring, is due to the given elasticity stretched in the receiving groove 9 and protrude radially outward freely over the associated, circumferential wall surface of the rotating part 7 out.

The turned part 7 is essentially as a structural body 11 formed, preferably made of a hard plastic material. The elastic element shown as a separate part 10 can be formed in an alternative embodiment by a separate plastic component (soft plastic component), so that the structural body 11 and the elastic element 10 together, for example, are produced in a two-component injection molding process.

The turned part 7 is in a shell part 12 taken up, having a tray bottom 13 and one vertically spaced from the bottom of the tray 13 around running, radially outward and parallel to the tray bottom 13 extending shell collar 14 , The shell part 12 is preferably formed as a hard plastic part, further in particular as a plastic injection molded part.

In the illustrated embodiment, the tray bottom 13 two-stage design, with a central lower shell floor area.

Overall, the shell part 12 rotationally symmetrical, with a in the installed position pointing vertically above the shell opening.

The shell part 12 lies in a ceiling-side central opening 15 the device hood 2 one and rests on the shell collar 14 on the ceiling surface of the device hood 2 from. Over the shell collar 14 is an attachment of the shell part 12 on the device hood 2 reached.

The shell bottom 13 extends in the radially outer step level approximately at the height of the plane of the ceiling underside of the device hood 2 while the central lowered tray bottom portion, which substantially diametrically the outer diameter of the rotating part 7 by 1.2 to 1.5 times, about the measure of the ceiling thickness of the device hood 2 is further offset.

With reference to a floor plan of the rotating part 7 are circumferential of the rotating part 7 evenly spaced bearing parts 16 in the form of bearing wheels 17 intended. In the illustrated embodiment, three bearing wheels 17 upper side of the shell bottom 13 arranged, with axes of rotation y, which are aligned parallel to the vertical axis x. The vertical height of each bearing wheel 17 is more preferably chosen so that their surfaces in the plane of the ceiling surface of the device hood 2 extend. Every bearing wheel 17 has circumferentially coaxial with the respective axis of rotation y aligned radially outwardly open groove 18 on, the cross-section is adapted to the receiving groove 9 of the turned part 7 , Next, the arrangement is chosen so that the grooves 18 the bearing wheels 17 extending in the same plane as the receiving groove 9 of the turned part 7 , wherein further a radial distance dimension of the bearing wheels 17 to the turned part 7 it is chosen that on the rotating part 7 attached elastic element 10 in the grooves 18 the bearing wheels 17 a guide learns what the rotary part 7 both in the radial and in the axial direction by the on the tray bottom 13 rotatably supported bearing wheels 17 is stored. By a not shown vertical displacement of two bearing wheels 17 is an adjustment of the rotating part 7 allows, wherein further a lower surface of the rotating part 7 vertically spaced from the facing surface of the tray bottom 13 , The turned part 7 is accordingly free flying over the bearing wheels 17 stored. The central area of the passage 8th of the turned part 7 is free to undisturbed passage of the beam.

As further in particular in the 2 and 5 to recognize, is the turning part 7 below the receiving groove 9 in the form of a rotary disk 19 designed for rotation monitoring of the rotating part 7 by means of light barrier measurement or the like.

The turned part 7 is powered by an electric motor 20 , This is below the shell bottom 13 , according to the inside of the device 1 arranged. The electric motor 20 has a drive shaft 21 on, with the drive shaft 21 the level of the shell bottom 13 in the area of a correspondingly positioned hole 22 interspersed to the drive interaction with the rotating part 7 , which is above the bottom of the tray 13 is arranged. The drive shaft 21 is aligned parallel to the vertical axis x of the device 1 , further such that the drive shaft 21 radially outward against the elastic element 10 of the turned part 7 occurs, so that between drive shaft 21 and elastic element 10 a friction clutch is reached.

The electric motor 20 is underside of the shell bottom 13 on one, on the shell part 12 molded-on carrier 23 held, which further storage of the electric motor 20 offering. The electric motor 20 is pivotable about pins on the carrier 23 held, further about an axis z, which is directed transversely to the axis of the drive shaft 21 , About a boom 24 and one on the boom 24 acting pressure spring 25 is the electric motor 20 and over this the drive shaft 21 against the lower surface of the shell bottom 13 supported, for spring preload of the drive shaft 21 against the turned part 7 or against the elastic element 10 , The pressure force is thereby limited, so that correspondingly the drive energy to the rotating part 7 via a kind of slip clutch.

In particular, the beam deflecting element 6 , continue the cup part 12 especially in the area of the tray bottom 13 is covered by a protective cover 26 , This is in the area of the shell collar 14 fixed, comprising an opaque hood ceiling and a circumferential, transparent in the beam path hood wall 28 ,

The proposed solution is a flat structure on the device hood 2 reached. The height of the structure is at least approximately defined solely by the vertical height of the drehautreibenden beam deflecting element 6 , The mechanical structure for driving the rotating part 7 is solved in a structurally favorable manner. The number and weight of the rotating components is reduced to a minimum.

In the through the protective hood 26 covered space can be z. B. come due to abrasion to a dust accumulation. To a deposition of such particles and dust grains, especially on the inside of the transparent hood wall 28 , moreover on the beam deflecting element 6 counteract, according to another embodiment (see. 7 ) the turned part 7 impellers 29 assigned. These are further preferably formed on each bearing wheel 17 , whose outer diameter absorbing. Accordingly, the drive of the fan wheels 29 derived from the drive of the rotating part 7 because the bearing wheels 17 over the turned part 7 and the spanned elastic element 6 to be rotated.

Alternatively to the formation of a rotary encoder disk 19 on the rotary part 7 can also use a bearing wheel 17 with a rotary disc 19 Be provided with a light barrier arrangement 30 interacts.

Every bearing wheel 17 is formed according to the first embodiment by a, wall outside the groove 18 having plastic ring 31 , which is on an outer ring of a ball bearing 32 For example, pressed or otherwise fixed in a rotationally fixed manner. The ball bearing 32 is defined on the inner ring side at a perpendicular from the shell bottom 13 growing trunnions 33 ,

Instead of the ball bearing 32 surrounding plastic ring 31 It is also possible to use a molded part which itself has the properties of bearings, for example a plain bearing made of sintered material or a sliding-modified plastic. Next alternatively, the plastic ring 31 omitted, which is the elastic element 10 receiving groove 18 immediately surrounding the outer ring of the ball bearing 32 is formed (see. 9 ).

In a further alternative embodiment eliminates the addition of the three bearing wheels 17 on the elastic element 10 acting drive shaft 21 , In this case, one of the bearing wheels 17 directly through the electric motor 20 rotatably driven.

Another embodiment shows 10 in which to save a bearing wheel 17 the drive shaft 21 with a correspondingly positioned and adapted groove 34 is provided, bringing about two bearing wheels 17 and the drive shaft 21 a radial and axial bearing of the rotating part 7 is reachable. The two bearing wheels are preferred 17 and the drive shaft 21 evenly over the circumference of the rotating part 17 arranged distributed.

Also, as shown in FIG 11 every bearing wheel 17 from an elastic element 10 includes which element 10 in the respective groove 18 of the bearing wheel 17 strained. In this case, then grip the three elastic elements 10 in the exposed circumferential groove 9 of the turned part 7 on, to the friction clutch. The drive is also done here via a drive shaft 21 on one of the elastic elements 10 a bearing wheel 17 acts frictionally.

In a further alternative embodiment, the individual bearing wheels 17 replaced by a circumferentially completely encircling bearing ring 35 in the form of a ball bearing ring, wherein an inner ring against rotation with the rotating part 7 is connected and an outer ring against rotation on a vertical wall in the region of the shell bottom 13 supported. This also causes both axial and radial bearing of the rotating part 7 reached. Vertically below the arrangement of the bearing ring 35 is in a corresponding circumferential receiving groove 9 the annular elastic element 10 recorded, which via a frictionally cooperating with this drive shaft 21 is charged.

13 shows in a further embodiment a solution in which a central bearing below the turntable 7 is provided. Central on the tray bottom 13 , the vertical axis x centrally receiving, is a hollow shaft 36 formed. This extends from the bottom of the tray 13 to vertically above, where further through the hollow shaft 36 formed central cavity in a vertical projection in this overlapping hole in the shell bottom 13 passes.

Wall outside on the hollow shaft 36 is the inner ring of a ball bearing 32 arranged rotationally fixed. The outer ring of the ball bearing 32 is further rotatably connected to the rotating part 7 , the latter carries accordingly.

In the interior of the rotary part is in the illustrated embodiment on the vertically upwardly facing free end face of the hollow shaft 36 the transceiver units 3 . 4 having board 5 attached. The contacting of the board 5 is reached via through the hollow shaft 36 guided lines 37 ,

The drive shaft 21 of the electric motor 20 accesses a designed as an O-ring elastic element 10 which is the turning part 7 surrounds radially; here according to the embodiments described above in a groove 9 rests.

All disclosed features are essential to the invention. The disclosure of the associated / attached priority documents (copy of the prior application) is hereby also incorporated in full in the disclosure of the application, also for the purpose of including features of these documents in claims of the present application. The subclaims characterize in their optional sibling version independent inventive development of the prior art, in particular to make on the basis of these claims divisional applications.

LIST OF REFERENCE NUMBERS

1

device

2

device hood

3

transmission unit

4

receiver unit

5

circuit board

6

element

7

turned part

8th

passage

9

receiving groove

10

elastic element

11

body structure

12

shell part

13

shell bottom

14

shell collar

15

opening

16

bearing part

17

bearing wheel

18

groove

19

Encoder disc

20

electric motor

21

drive shaft

22

drilling

23

carrier

24

boom

25

compression spring

26

guard

27

cover roof

28

shroud wall

29

fan

30

Light barrier arrangement

31

Plastic ring

32

ball-bearing

33

pivot

34

groove

35

bearing ring

36

hollow shaft

37

cables

x

vertical axis

y

axis of rotation

z

axis

H

obstacle detection

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008014912 A1 [0002]

Claims (10)

Automatically movable device ( 1 ), in particular automatically movable floor dust collecting device, with electric motor driven traversing wheels, a device housing and preferably a dust collecting container, wherein the device ( 1 ) is provided with obstacle detection (H) consisting of optical transceiver units ( 3 . 4 ) and where an element ( 6 ) is provided for beam deflection, wherein further for all-around detection at least a part of the transmitting and receiving unit ( 3 . 4 ) rotatable by 180 ° or more and preferably on a driven rotary member ( 7 ), characterized in that the introduction of drive energy to the rotary part ( 7 ) via a, the function of a slip-enabling elastic element ( 10 ) he follows. Apparatus according to claim 1 or in particular according thereto, characterized in that the elastic element ( 10 ) circumferentially to the axis of rotation (x) on the rotary part ( 7 ) and may be made of a rubber material or a soft plastic such as TPE. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the rotary part ( 7 ) a structural body ( 11 ) and that the element ( 10 ) of the structural body ( 11 ) is formed separately or by means of a separate plastic component. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the element ( 10 ) has a convex curvature in cross-section and / or that the element ( 10 ) is formed according to an O-ring. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the rotary part ( 7 ) by means of the element ( 10 ) is mounted in the axial and radial directions and / or preferred that the bearing of the rotary part ( 7 ) by means of a plurality of with the element ( 10 ) bearing wheels interacting around the circumference ( 17 ) is reached. Device according to one or more of the preceding claims or in particular according thereto, characterized in that separately from a bearing wheel ( 17 ) the drive shaft ( 21 ) of an electric motor ( 20 ) directly with the element ( 10 ) cooperates and / or preferred that the drive shaft ( 21 ) with the element ( 10 ) cooperates according to a friction clutch. Device according to one or more of the preceding claims or in particular according thereto, characterized in that the element ( 10 ) and / or the part of the drive shaft cooperating therewith ( 21 ) is profiled in the drive direction. Device according to one or more of the preceding claims or in particular according thereto, characterized in that assigned to the rotary part ( 7 ) a fan wheel ( 29 ) is provided for generating a cleaning effect with respect. One on the rotary part ( 8th ), optical element ( 6 ) such as a deflection mirror and that the drive of the fan wheel ( 29 ) from the drive of the rotating part ( 7 ) is derived and / or preferred that the fan ( 29 ) on one of the bearing wheels ( 17 ) and / or that two or more bearing wheels ( 17 ) as fan wheels ( 29 ) are formed and / or preferred that one or more of the bearing wheels ( 17 ) as a rotary disk ( 19 ) for rotation monitoring of the rotating part ( 7 ) are formed. Automatically movable device according to the features of the preamble of claim 1 or according to claim 1, characterized in that the element for beam deflection on a rotary part ( 7 ) is arranged and that the rotary part ( 7 ) in an upwardly open shell part ( 12 ) above a tray bottom ( 13 ) and that a drive motor ( 20 ) below the tray bottom ( 13 ) is arranged, with a drive shaft ( 21 ), wherein the drive shaft ( 21 ) a level of the tray bottom ( 13 ), for driving interaction with the rotating part ( 7 ) above the tray bottom ( 13 ). Apparatus according to claim 9 or in particular according thereto, characterized in that the shell part ( 12 ) below the tray bottom ( 13 ) a bearing for the electric motor ( 20 ), with a mobility of the electric motor ( 20 ) transversely to a longitudinal axis of the drive shaft ( 21 ) and / or preferred that the drive shaft ( 21 ) against the rotating part ( 7 ) is biased and / or preferred that on the tray bottom ( 13 ) a bearing part ( 16 ) for the axial and radial mounting of the rotary part ( 7 ) is arranged.

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