DE102019217329A1 - Vacuum robot - Google Patents

Abstract

The invention relates to a robot vacuum cleaner (1) for vacuuming particles from surfaces, in particular surfaces of an interior space of a motor vehicle and / or in particular soft surfaces such as carpet or leather or the like, having a drive device (2) for moving the robot vacuum cleaner (1) ) on the surfaces, a control device (3) for controlling the drive device (2), a suction device (4) for providing a negative pressure for sucking up the particles, an energy store (5) for storing and providing electrical energy and one with the suction device ( 4) Suction nozzle (6) coupled with fluid communication for sucking in the particles. The suction nozzle (6) has a contact element (7) for contacting the surface, the contact element (7) having at least one scratching section (8) made of a rigid material for contacting the surface.

Description

The present invention relates to a vacuum robot for vacuuming particles from surfaces, in particular surfaces of an interior space of a motor vehicle and / or in particular soft surfaces, such as, for example, carpet or leather or the like.

Conventional vacuum robots have a suction device for sucking up dust and other particles, the performance of which is severely limited due to the size and the limitation of the available energy storage compared to manually operated vacuum cleaners with a mains connection. To support the suction device and to loosen stuck dirt, such robotic vacuum cleaners therefore have additional mechanical cleaning devices, such as brushes arranged in a star shape and rotatable about a vertical axis or a brush roller rotatable about a horizontal axis. An alternative embodiment of a cleaning robot for cleaning a vehicle interior is, for example, from FIG DE 10 2018 124 731 A1 known.

Such mechanical cleaning devices usually have the disadvantage that they are structurally very complex, easily soiled and only provide a limited cleaning performance in the soiled state. These mechanical cleaning devices are particularly susceptible to failure, for example, in the case of hair, ribbons, wires or the like, which can wind around the axis or the brush roller during operation and thus increase a drive resistance for driving the cleaning device. This can result in a temporary standstill or even damage to a drive device of the cleaning device.

It is therefore the object of the present invention to remedy or at least partially eliminate the disadvantages described above in a vacuum robot for vacuuming particles from surfaces, in particular surfaces of an interior of a motor vehicle and / or in particular soft surfaces such as carpet or leather or the like to fix. In particular, it is the object of the present invention to create a vacuum robot that ensures reliable suction of particles in a simple and inexpensive manner and / or reduces the risk of operational failures caused by dirt and / or has a particularly compact design.

The above problem is solved by the patent claims. Accordingly, the object is achieved by a robot vacuum cleaner with the features of independent claim 1. Further features and details of the invention emerge from the subclaims, the description and the drawings.

According to the invention, the object is achieved by a vacuum robot for vacuuming particles from surfaces, in particular surfaces of an interior space of a motor vehicle and / or in particular soft surfaces such as carpet or leather or the like. The robot vacuum cleaner has a drive device for moving the robot vacuum cleaner on the surfaces, a control device for controlling the drive device, a suction device for providing a negative pressure for sucking up the particles, an energy storage device for storing and providing electrical energy and a suction nozzle for suction that is coupled to the suction device in fluid communication the particle. According to the invention, the suction nozzle has a contact element for contacting the surface, the contact element having at least one scraping section made of a rigid material for contacting the surface.

The robot vacuum cleaner is a device for collecting particles from a surface by means of negative pressure. The robot vacuum cleaner preferably has an underside, an upper side and a circumferential end face. A height of the robotic vacuum cleaner is preferably determined or at least largely determined by the width of the end face. The robot vacuum cleaner preferably has a round, semicircular, oval, rectangular, square, pentagonal, or hexagonal base area or a combination thereof. The robot vacuum cleaner has a height which is preferably designed to be significantly smaller than a width and / or a length of the robot vacuum cleaner. The height is preferably at least twice as great as the length and / or the width of the robotic vacuum cleaner.

To provide the negative pressure, the robot vacuum cleaner has the suction device. To provide the negative pressure, the suction device preferably has a suction unit which is designed to generate the negative pressure. The suction unit has, for example, a suction fan with a suction side and an outflow side, the suction side being coupled to the suction nozzle in a fluid-communicating manner. The outflow side is preferably coupled to a, in particular removable, collecting container of the robotic vacuum cleaner for collecting the sucked-in particles. The robot vacuum cleaner preferably has air outlets on the front side and / or the upper side for discharging air from the collecting container. The robot vacuum cleaner preferably also has air filters, in particular activated carbon, HEPA, water filters or the like, for filtering the air that is sucked in.

The drive device is designed to move the robotic vacuum cleaner. In the context of the invention, moving the robotic vacuum cleaner is understood to mean, in particular, moving in one direction of travel. The direction of travel can be linear or curved, for example. The movement preferably also includes an alternating back and forth movement of the robotic vacuum cleaner in opposite directions in each case. The drive device preferably has an electric motor, in particular a flat electric motor, for generating a drive torque. The drive device further preferably has one or more drive wheels for transmitting the drive torque to the surface for moving the robotic vacuum cleaner. The drive wheels preferably have an adhesive surface that can be brought into contact with the surface, in particular made of rubber or the like, in order to achieve the highest possible friction between the drive wheel and the surface. Furthermore, the adhesive surface is preferably designed to counteract a detachment of the robotic vacuum cleaner from the surface in interaction with the surface. In this way, it is also possible to ensure that the robot vacuum cleaner moves on obliquely or vertically arranged surfaces.

To control the drive device, the robot vacuum cleaner has the control device. Movement maneuvers of the robotic vacuum cleaner, such as straight-ahead driving, cornering, circular driving, back and forth journeys, are preferably stored in the control device in order to improve targeted control of the drive device. The control device preferably has a data interface for receiving control commands from a remote control or the like.

The suction nozzle is preferably arranged on the underside of the robot vacuum cleaner, in particular in a base plate, and is open downwards, that is to say towards the surface. The drive device and the suction nozzle are designed in such a way that when a robot vacuum cleaner is parked on the surface, contact can be made with the surface through the scraping section of the contact element of the suction nozzle. This means, for example, that when the robot vacuum cleaner moves on the surface, the scraping section of the contact element of the suction nozzle scratches the surface. In order to improve a scratching effect, the scratching section has a stiff material such as ABS, CA, CAB, PBT, PEK, SAN, GFK, CFK, steel, aluminum or the like. In the context of the invention, a rigid material is understood to mean, in particular, a material with high strength and low elasticity, which thus retains or at least substantially retains its original shape when scratched over the surface. In order to avoid damage to the surface, it can be provided within the scope of the invention that the scraping section is designed to be rounded.

According to the invention, it can be provided that the robot vacuum cleaner, in particular in the area of the suction nozzle, has a fluid outlet for discharging a cleaning fluid, such as, for example, water, lye, foam, (water) steam or the like. According to the invention, it can be provided that the fluid outlet is designed to dispense a care product, in particular a carpet or leather care product. It is therefore preferred that the fluid outlet is arranged in the area of the suction nozzle, in particular in front of and / or behind the suction nozzle, in particular adjacent to the suction nozzle, in the forward direction of travel of the robotic vacuum cleaner. The control device is preferably designed to control a fluid flow flowing through the fluid outlet, for example by means of a fluid pump and / or a valve or the like. The robot vacuum cleaner further preferably has an externally accessible, in particular sealable, fluid tank for receiving the fluid. This has the advantage that particularly stubborn dirt can be cleaned in conjunction with the suction nozzle. In addition, an additional treatment of the surface with a care product can take place in this way. As a further addition, the robot vacuum cleaner preferably has a UV lighting device, in particular arranged on the underside, for killing bacteria on the surface. The robot vacuum cleaner preferably has a housing for protection against contamination, in particular dust, water or the like.

A vacuum robot according to the invention has the advantage over conventional vacuum robots that a vacuum robot is provided with simple means and in a cost-effective manner, which is designed for sucking in particles and for mechanically removing dirt from surfaces caused failure of the robotic vacuum cleaner compared to conventional robotic vacuum cleaners with rotating brush devices is significantly reduced.

According to a preferred further development of the invention, it can be provided in a robot vacuum that spaced apart side elements of the contact element form the at least one scraping section. This means that at least the side elements of the contact element of the suction nozzle have a stiff material and scratch the surface when the robot vacuum cleaner moves. The side elements are preferably aligned parallel to one another. The side elements are preferably designed parallel to the straight-ahead travel of the robotic vacuum cleaner. This has the advantage that a vertical distance between the suction nozzle and the surface can be kept constant or at least essentially constant with simple means and in a cost-effective manner. So is a nozzle opening of the suction nozzle can be prevented from being closed by the surface. In addition, this enables a higher contact pressure of the contact section of the suction nozzle on the surface, as a result of which the risk of inadvertent detachment of the suction nozzle from the surface can be reduced. A suction effect of the vacuum robot for sucking up the particles can thus be improved.

It is preferred according to the invention that the side elements are connected to one another by a first connecting element of the contact element, the first connecting element forming the at least one scratching section or a flexible friction section. The first connecting element is preferably arranged in front of the nozzle opening of the suction nozzle in the direction of travel. More preferably, the first connecting element is arranged transversely, in particular by 90 ° transversely, to a straight-ahead driving direction of the robotic vacuum cleaner. According to the invention it can also be provided that the first connecting element is arranged in the direction of travel of the robot vacuum cleaner behind the nozzle opening of the suction nozzle. The first connecting element is designed, for example, as a scraping section made of rigid material or as a flexible friction section made of a flexible material, such as an elastomer, in particular rubber, silicone or the like. Alternatively or additionally, the first connecting element can have bristles, for example. The bristles are preferably formed from a moderately flexible material in order to improve a scratching effect for scraping dirt off the surface with little risk of scratching the surface. A first connecting element has the advantage that the mechanical loosening of dirt from the surface by scraping it off with simple means and in a cost-effective manner is improved. This further improves the cleaning performance of the robotic vacuum cleaner.

More preferably, the side elements are connected to one another by at least one second connecting element of the contact element, the second connecting element forming the at least one scraping section or a flexible friction section. Accordingly, the second connecting element is designed, for example, in accordance with the first connecting element. More preferably, the first connecting element is arranged transversely, in particular by 90 ° transversely, to a straight-ahead driving direction of the robotic vacuum cleaner. The second connecting element is preferably formed parallel to the first connecting element. It can be provided according to the invention that the first connecting element is designed as a scraping section and the second connecting element as a friction section or vice versa. The suction opening of the suction nozzle is preferably surrounded by the first connecting element, the side elements and the second connecting element. Preferably, the first connecting element, the side elements and the second connecting element together form a laterally closed frame in order to improve the aerodynamic properties of the suction nozzle. The frame preferably has a rectangular or trapezoidal base area, with a trapezoidal base area the first connecting element preferably being longer than the second connecting element arranged behind the first connecting element in the forward direction of travel. By means of the second connecting element, an improved mechanical cleaning effect of the suction nozzle can be achieved in a simple and inexpensive manner, since this allows the length of a contact between the suction nozzle and the surface to be lengthened.

In a particularly preferred embodiment of the invention, at least one scraping section is sharp-edged. The sharp-edged scraping section is preferably aligned transversely, in particular by 90 ° transversely, to a forward direction of travel of the robotic vacuum cleaner. According to the invention, a front edge and / or rear edge of the scraping section in the forward direction of travel, such as, for example, the first connecting element or the second connecting element, can be made sharp-edged. A mechanical cleaning effect can be improved with simple means and in a cost-effective manner by means of a sharp edge. By means of sharp edges on opposite edges of the scraping section, this effect can also be achieved when the robot vacuum cleaner is moving backwards.

Preferably, at least one scraper section has teeth that are spaced apart from one another. The teeth are preferably rectangular, trapezoidal or the like. Interdental spaces are arranged between the teeth. The interdental spaces preferably correspond to the teeth in shape and size. Alternatively, the interdental spaces can also be designed to be smaller, in particular narrower, than the teeth, so that the teeth are arranged closer to one another. Teeth have the advantage that the mechanical cleaning action of the robotic vacuum cleaner can be improved with simple means and in a cost-effective manner.

According to a preferred embodiment of the invention, the control device and the drive device are designed to move the robotic vacuum cleaner with a predefinable movement amplitude and a predefinable movement frequency in an oscillating manner.

An oscillating movement is understood to mean, in particular, a to-and-fro movement along an axis of movement. Here can According to the invention, the control device is designed to rotate the axis of movement during the to-and-fro movement, in particular over several to and fro movements in one direction of rotation, so that the oscillating movement of the robotic vacuum cleaner can be superimposed by a rotation about a vertical axis is. This has the advantage that a scrubbing or rubbing movement can be carried out with simple means and in a cost-effective manner by means of the vacuum robot, through which an improved mechanical cleaning result of the surface can be achieved in a particularly advantageous manner in interaction with the suction nozzle. In this way, the cleaning performance of the robot vacuum cleaner can be further improved.

The amplitude of movement is particularly preferably between 1 cm and 5 cm, in particular 3 cm. Alternatively or additionally, it is preferred that the movement frequency is between 60 Hz and 240 Hz, in particular 120 Hz. Such movement amplitudes and movement frequencies can easily be implemented by means of the drive device and the control device and, in interaction with the suction nozzle, are particularly suitable for providing mechanical cleaning performance.

The drive device preferably has a drive chain. The drive chain is preferably guided between at least two drive wheels of the drive device. At least one of the two drive wheels can be driven electrically. The drive chain preferably has a flexible material, in particular an elastomer, rubber or the like. More preferably, the drive chain has a profile on an outer circumference in order to counteract slipping on the surface. The drive chain is preferably designed to improve the driving of the robotic vacuum cleaner on inclined surfaces and to reduce the risk of the robotic vacuum cleaner slipping or tipping over. The drive device particularly preferably has such a driven drive chain on each of two opposite sides of the robotic vacuum cleaner. A drive chain has the advantage that the adhesion of the vacuum robot to the surface is improved with simple means and in a cost-effective manner, so that the execution of driving maneuvers with oscillating changes of direction is improved. The mechanical cleaning of the surface by means of the scraping section of the suction nozzle is thus further improved.

It is preferred that the contact element of the suction nozzle is held on the robot vacuum cleaner via an elastic element, the elastic element being designed to allow a horizontal and / or vertical relative movement between the contact element and the robot vacuum cleaner. In other words, the contact element or the entire suction nozzle is not rigid, but is held on the robotic vacuum cleaner so that it can be moved elastically via the elastic element. The elastic element is preferably designed in such a way that free oscillation of the contact element to the robot vacuum cleaner is strongly damped and thus prevented. The elastic element has, for example, an elastomer, rubber, silicone, spring steel or the like. The elastic element is preferably designed as a holding frame for holding the suction nozzle or the contact element on the robot vacuum cleaner. The elastic element is preferably designed to allow a relative movement of the contact element to the robot vacuum cleaner of less than +/- 5 mm, in particular of less than +/- 2 mm. An elastic element has the advantage that the risk of damage to the surface is reduced with simple means and in a cost-effective manner. When the suction nozzle strikes an obstacle, such as a seam, embroidery or the like on the surface, the contact element can easily yield and thus slide better over the obstacle.

• 1 in einer Draufsicht eine Unterseite einer bevorzugten ersten Ausführungsform eines erfindungsgemäßen Saugroboters,
• 2 in einer perspektivischen Ansicht eine Unterseite einer bevorzugten zweiten Ausführungsform eines erfindungsgemäßen Saugroboters,
• 3 in einer perspektivischen Ansicht eine vergrößerte Darstellung der Saugdüse aus 2,
• 4 in einer perspektivischen Ansicht eine Unterseite einer bevorzugten dritten Ausführungsform eines erfindungsgemäßen Saugroboters,
• 5 in einer perspektivischen Ansicht eine vergrößerte Darstellung der Saugdüse aus 4,
• 6 in einer perspektivischen Ansicht eine Unterseite einer bevorzugten vierten Ausführungsform eines erfindungsgemäßen Saugroboters, und
• 7 in einer perspektivischen Ansicht eine vergrößerte Darstellung der Saugdüse aus 6.

A robot vacuum cleaner according to the invention is explained in more detail below with reference to drawings. They each show schematically:

• 1 in a plan view an underside of a preferred first embodiment of a robot vacuum cleaner according to the invention,
• 2 a perspective view of an underside of a preferred second embodiment of a robot vacuum cleaner according to the invention,
• 3 in a perspective view an enlarged illustration of the suction nozzle 2 ,
• 4th in a perspective view an underside of a preferred third embodiment of a robot vacuum cleaner according to the invention,
• 5 in a perspective view an enlarged illustration of the suction nozzle 4th ,
• 6th in a perspective view an underside of a preferred fourth embodiment of a robotic vacuum cleaner according to the invention, and
• 7th in a perspective view an enlarged illustration of the suction nozzle 6th .

Elements with the same function and mode of operation are in the 1 to X each provided with the same reference numerals.

In 1 is an underside of a preferred first embodiment of a robot vacuum cleaner according to the invention 1 shown schematically in a plan view. The vacuum robot 1 has a drive device 2 with four drive wheels 15th which are in pairs on a track on the outside of the Vacuum robot 1 are arranged. The drive wheels 15th are each via an electric motor 16 the drive device 2 drivable. According to the invention, it can also be provided that only two drive wheels 15th an electric motor 16 is arranged. In an alternative embodiment of the drive device 2 is an electric motor 16 via a gearbox with several drive wheels 15th to drive the drive wheels 15th mechanically coupled.

Furthermore, the vacuum robot 1 a control device 3 for controlling the drive device 2 on. The control device 3 and drive device 2 are preferably designed such that the drive wheels 15th to operate separately from each other so that the vacuum robot 1 for example, can drive tight curves or turn on the spot. Moreover, they are control devices 3 and drive device 2 preferably designed to set the vacuum robot in an oscillating movement, in particular with an amplitude between 1 cm and 5 cm, in order to imitate a scratching, scrubbing or rubbing movement in this way.

To suck up particles from a surface, the robot vacuum 1 a suction device 4th with one on the underside, in particular a base plate 17th , the vacuum robot 1 arranged suction nozzle 6th on. The suction nozzle 6th has a circumferential, trapezoidal contact element 7th to contact the surface. The contact element 7th has two as a scratch section 8th trained side elements 9 , one of the page elements 9 connecting front first connecting element 10 as well as one the side elements 9 connecting rear second connecting element 12th on. In this preferred first embodiment, the first connecting element 10 and the second connecting element 12th each also as a scratch section 8th educated. The scratch sections 8th are formed from a rigid, non-flexible material. In this preferred first embodiment, the contact element is 7th by means of an optional elastic element on the vacuum robot that is concealed in this view 1 held to small relative movements to the vacuum robot 1 to be able to perform.

To provide electrical energy to operate the drive device 2 , the control device 3 as well as the suction device 4th instructs the vacuum robot 1 an energy store 5 on. The energy storage 5 is preferably designed as a rechargeable battery, in particular as a Li-ion battery, and / or exchangeable on the vacuum robot 1 coupled. The robot vacuum cleaner further preferably has 1 one on the bottom plate 17th arranged charging interface 18th for charging the energy storage 5 on.

2 shows an underside of a preferred second embodiment of a robot vacuum cleaner according to the invention 1 schematically in a perspective view. The second embodiment differs from the first embodiment essentially in the design of the drive device 2 and the suction nozzle 6th . The drive device 2 has two drive chains 14th , for example made of an elastomer, rubber or the like on. The drive chains 14th are each around two drive wheels 15th curious; excited. This has the advantage that particularly good adhesion to the surface can be achieved.

In 3 is the suction nozzle 6th out 2 shown enlarged. The suction nozzle 6th has a circumferential, rectangular contact element 7th to contact the surface. The contact element 7th has two as a scratch section 8th trained short side elements 9 , one of the page elements 9 connecting, long front first connecting element 10 as well as one the side elements 9 connecting, long rear second connecting element 12th on. In this preferred first embodiment, the first connecting element 10 and the second connecting element 12th each also as a scratch section 8th educated. The scratch sections 8th are formed from a rigid, non-flexible material and preferably have sharp edges. Preferably are the sharp edges of the first connecting element 10 and / or the second connecting element 12th Aligned to the rear in the forward direction of travel, so that a special scratching effect only develops due to these sharp edges when the robotic vacuum cleaner moves backwards. The edges of the first connecting element which are oriented forwards in the forward direction of travel are preferably 10 and / or the second connecting element 12th rounded so that the suction nozzle 6th a smaller scratching effect unfolds when driving forward.

4th shows an underside of a preferred third embodiment of a robot vacuum cleaner according to the invention 1 schematically in a perspective view. This third embodiment differs from the second embodiment in the design of the suction nozzle 6th .

In 5 is the suction nozzle 6th out 4th shown enlarged. The suction nozzle 6th has a circumferential, rectangular contact element 7th to contact the surface. The contact element 7th has two as a scratch section 8th trained short side elements 9 , one of the page elements 9 connecting, long front first connecting element 10 as well as one the side elements 9 connecting, long rear second connecting element 12th on. In this preferred first embodiment, the first connecting element 10 and the second connecting element 12th each also as a scratch section 8th designed and for this purpose have a plurality of teeth arranged at a distance from one another 13th on. The scratch sections 8th are formed from a stiff, non-flexible material and preferably have sharp edges. Preferably are the sharp edges of the first connecting element 10 and / or the second connecting element 12th Aligned to the rear in the forward direction of travel, so that a special scratching effect only develops due to these sharp edges when the robotic vacuum cleaner moves backwards. The edges of the first connecting element which are oriented forwards in the forward direction of travel are preferably 10 and / or the second connecting element 12th rounded so that the suction nozzle 6th a smaller scratching effect unfolds when driving forward.

6th shows an underside of a preferred fourth embodiment of a robot vacuum cleaner according to the invention 1 schematically in a perspective view. This fourth embodiment differs from the second embodiment and the third embodiment in the design of the suction nozzle 6th .

In 7th is the suction nozzle 6th out 6th shown enlarged. The suction nozzle 6th has a circumferential, rectangular contact element 7th to contact the surface. The contact element 7th has two as a scratch section 8th trained short side elements 9 , one of the page elements 9 connecting, long front first connecting element 10 as well as one the side elements 9 connecting, long rear second connecting element 12th on. The scratch sections 8th are formed from a rigid, non-flexible material. In this preferred first embodiment, the first connecting element 10 and the second connecting element 12th each as a flexible friction section 11 designed and have for this purpose, for example, an elastomer, rubber or the like.

List of reference symbols

1

Vacuum robot

2

Drive device

3

Control device

4th

Suction device

5

Energy storage

6th

Suction nozzle

7th

Contact element

8th

Scratch section

9

Side element

10

first connecting element

11

flexible friction section

12th

second connecting element

13th

tooth

14th

Drive chain

15th

drive wheel

16

Electric motor

17th

Base plate

18th

Charging interface

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102018124731 A1 [0002]

Claims (10)

Robot vacuum cleaner (1) for vacuuming particles from surfaces, in particular surfaces of the interior of a motor vehicle, comprising a drive device (2) for moving the robot vacuum cleaner (1) on the surfaces, a control device (3) for controlling the drive device (2), a Suction device (4) for providing a negative pressure for sucking in the particles, an energy store (5) for storing and providing electrical energy and a suction nozzle (6) coupled in fluid communication with the suction device (4) for sucking in the particles, characterized in that the suction nozzle (6) has a contact element (7) for contacting the surface, the contact element (7) having at least one scratching section (8) made of a rigid material for contacting the surface. The robot vacuum cleaner (1) according to the preceding claim, characterized in that spaced apart side elements (9) of the contact element (7) form the at least one scraping section (8). Robot vacuum cleaner (1) Claim 2 , characterized in that the side elements (9) are connected to one another by a first connecting element (10) of the contact element (7), the first connecting element (10) forming the at least one scraping section (8) or a flexible friction section (11). Robot vacuum cleaner (1) Claim 3 , characterized in that the side elements (9) are connected to one another by at least one second connecting element (12) of the contact element (7), the second connecting element (12) forming the at least one scraping section (8) or a flexible friction section (11). Robot vacuum cleaner (1) according to one of the preceding claims, characterized in that at least one scraping section (8) is sharp-edged. Robot vacuum cleaner (1) according to one of the preceding claims, characterized in that at least one scraping section (8) has teeth (13) which are spaced apart from one another. Robot vacuum cleaner (1) according to one of the preceding claims, characterized in that the control device (3) and the drive device (2) are designed to move the robot vacuum cleaner (1) in an oscillating manner with a predefinable movement amplitude and a predefinable movement frequency. Robot vacuum cleaner (1) Claim 7 , characterized in that the movement amplitude is between 1 cm and 5 cm, in particular 3 cm, and / or that the movement frequency is between 60 Hz and 240 Hz, in particular 120 Hz. Robot vacuum cleaner (1) according to one of the preceding claims, characterized in that the drive device (2) has a drive chain (14). Robot vacuum cleaner (1) according to one of the preceding claims, characterized in that the contact element (7) of the suction nozzle (6) is held on the robot vacuum cleaner (1) via an elastic element, the elastic element being designed to have a horizontal and / or vertical relative movement allow between contact element (7) and robot vacuum cleaner (1).

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